public static bool Circle2dWithOrientedRectangle2d(Circle2d circle, OrientedRectangle2d rectangle)
{
Vector3L forward = RotateHelper.GetForward(rectangle.m_rotation);
Vector3L right = Vector3L.Cross(Vector3L.up, forward);
Vector3L pos = new Vector3L(rectangle.m_pos.x, 0, rectangle.m_pos.y);
Vector3L a = pos + forward * rectangle.m_length * 0.5f + -right * rectangle.m_width * 0.5f;
Vector3L b = pos + forward * rectangle.m_length * 0.5f + right * rectangle.m_width * 0.5f;
Vector3L c = pos + -forward * rectangle.m_length * 0.5f + right * rectangle.m_width * 0.5f;
Vector3L d = pos + -forward * rectangle.m_length * 0.5f + -right * rectangle.m_width * 0.5f;
List <Vector2L> lineList = new List <Vector2L>();
lineList.Add(new Vector2L(a.x, a.z));
lineList.Add(new Vector2L(b.x, b.z));
lineList.Add(new Vector2L(c.x, c.z));
lineList.Add(new Vector2L(d.x, d.z));
for (int i = 0; i < lineList.Count; ++i)
{
Segment2d segment = new Segment2d();
segment.m_point1 = lineList[i];
segment.m_point2 = lineList[(i + 1) % lineList.Count];
if (Segment2dWithCircle2d(segment, circle))
{
return(true);
}
}
return(false);
}
public static bool Line2dWithOrientedRectangle2d(Line2d line, OrientedRectangle2d rectangle2d)
{
Vector3L forward = RotateHelper.GetForward(rectangle2d.m_rotation);
Vector3L right = Vector3L.Cross(Vector3L.up, forward);
Vector3L pos = new Vector3L(rectangle2d.m_pos.x, 0, rectangle2d.m_pos.y);
Vector3L a = pos + forward * rectangle2d.m_length * 0.5f + -right * rectangle2d.m_width * 0.5f;
Vector3L b = pos + forward * rectangle2d.m_length * 0.5f + right * rectangle2d.m_width * 0.5f;
Vector3L c = pos + -forward * rectangle2d.m_length * 0.5f + right * rectangle2d.m_width * 0.5f;
Vector3L d = pos + -forward * rectangle2d.m_length * 0.5f + -right * rectangle2d.m_width * 0.5f;
List <Vector2L> lineList = new List <Vector2L>();
lineList.Add(new Vector2L(a.x, a.z));
lineList.Add(new Vector2L(b.x, b.z));
lineList.Add(new Vector2L(c.x, c.z));
lineList.Add(new Vector2L(d.x, d.z));
for (int i = 0; i < lineList.Count; ++i)
{
if (IsTwoSegmentIntersection(lineList[i], lineList[(i + 1) % lineList.Count], line.m_point1, line.m_point2))
{
return(true);
}
}
return(false);
}
public static bool Point2dWithRectangle2d(Vector2L point2d, OrientedRectangle2d rectangle2d)
{
Vector3L forward = RotateHelper.GetForward(rectangle2d.m_rotation);
Vector3L right = Vector3L.Cross(Vector3L.up, forward);
Vector3L pos = new Vector3L(rectangle2d.m_pos.x, 0, rectangle2d.m_pos.y);
Vector3L a = pos + forward * rectangle2d.m_length * 0.5f + -right * rectangle2d.m_width * 0.5f;
Vector3L b = pos + forward * rectangle2d.m_length * 0.5f + right * rectangle2d.m_width * 0.5f;
Vector3L c = pos + -forward * rectangle2d.m_length * 0.5f + right * rectangle2d.m_width * 0.5f;
Vector3L d = pos + -forward * rectangle2d.m_length * 0.5f + -right * rectangle2d.m_width * 0.5f;
return(IsInRectangle2d(a, b, c, d, new Vector3L(point2d.x, 0, point2d.y)));
}
public static bool Point2dWithSector2d(Vector2L pos, Sector2d sector2d)
{
Vector2L distance = pos - sector2d.m_pos;
if (distance.magnitude > sector2d.m_radius)
{
return(false);
}
Vector3L sectorForward = RotateHelper.GetForward(sector2d.m_rotation);
FloatL cosTarget = Vector3L.Dot(sectorForward, distance) / sectorForward.magnitude / distance.magnitude;
FloatL cosHalfDegree = FixPointMath.Cos((FixPointMath.Deg2Rad * sector2d.m_theraDegree / 2));
return(cosTarget > cosHalfDegree);
}