public static CapsuleShape ToLocalOfUniformScale(CapsuleShape capsuleShape, Transform transform)
{
Vector3 localSegment0 = transform.InverseTransformPoint(capsuleShape.top);
Vector3 localSegment1 = transform.InverseTransformPoint(capsuleShape.bottom);
float difference = capsuleShape.pointsDistance / Vector3.Distance(localSegment0, localSegment1);
return(new CapsuleShape((localSegment0 + localSegment1) * .5f, localSegment1 - localSegment0, capsuleShape.height / difference, capsuleShape.radius / difference));
}
public static AABB CreateCapsuleAABB(Vector3 origin, Vector3 direction, float height, float radius, bool normalizeParameter = true)
{
if (normalizeParameter)
{
direction.Normalize();
}
CapsuleShape capsulePoints = new CapsuleShape(origin, direction, height, radius);
return(CreateCapsuleAABB(capsulePoints.top, capsulePoints.bottom, radius));
}
public ContactInfo ClosestPointOnSurface(Vector3 segment0, Vector3 segment1, float radius)
{
trianglesBufferSingleCaps.Clear();
CapsuleShape capsule = CapsuleShape.ToLocalOfUniformScale(new CapsuleShape(segment0, segment1, radius), transform);
Vector3 localSegment0 = capsule.top;
Vector3 localSegment1 = capsule.bottom;
radius = capsule.radius;
AABB aabb = AABB.CreateCapsuleAABB(localSegment0, localSegment1, radius + .001f);
tree.FindClosestTriangles(tree.rootNode, aabb, trianglesBufferSingleCaps, infoDebug);
Vector3 p1, p2, p3;
IntersectPoints near;
IntersectPoints nearest = new IntersectPoints();
float radiusSqrd = radius * radius;
float shortestDistance = float.MaxValue;
int shortestTriangleIndex = -1;
HashSet <int> .Enumerator enumerator = trianglesBufferSingleCaps.GetEnumerator();
while (enumerator.MoveNext())
{
tree.GetTriangleVertices(enumerator.Current, out p1, out p2, out p3);
near = Geometry.ClosestPointOnTriangleToLine(localSegment0, localSegment1, p1, p2, p3, true);
float distance = (near.second - near.first).sqrMagnitude;
if (PointIsBetter(distance, shortestDistance, nearest.first, nearest.second, near.first, near.second, shortestTriangleIndex, enumerator.Current, radiusSqrd))
{
shortestDistance = distance;
nearest = near;
shortestTriangleIndex = enumerator.Current;
}
}
if (nearest.second == Vector3.zero)
{
return(new ContactInfo());
}
return(new ContactInfo(transform.TransformPoint(nearest.second), transform.TransformDirection(tree.GetTriangleNormal(shortestTriangleIndex))));
}
public List <ContactInfo> ClosestPointsOnSurface(Vector3 segment0, Vector3 segment1, float radius, List <ContactInfo> resultsBuffer)
{
resultsBuffer.Clear();
trianglesBufferMultiCaps.Clear();
closestPointsBufferMultiCaps.Clear();
CapsuleShape capsule = CapsuleShape.ToLocalOfUniformScale(new CapsuleShape(segment0, segment1, radius), transform);
Vector3 localSegment0 = capsule.top;
Vector3 localSegment1 = capsule.bottom;
radius = capsule.radius;
AABB aabb = AABB.CreateCapsuleAABB(localSegment0, localSegment1, radius + .001f); //We add a small radius increase due to float point precision issues that rarely happen.
tree.FindClosestTriangles(tree.rootNode, aabb, trianglesBufferMultiCaps, infoDebug);
Vector3 p1, p2, p3;
IntersectPoints nearest;
float radiusSqrd = radius * radius;
float distance = 0;
HashSet <int> .Enumerator enumerator = trianglesBufferMultiCaps.GetEnumerator();
while (enumerator.MoveNext())
{
tree.GetTriangleVertices(enumerator.Current, out p1, out p2, out p3);
nearest = Geometry.ClosestPointOnTriangleToLine(localSegment0, localSegment1, p1, p2, p3, true);
distance = (nearest.second - nearest.first).sqrMagnitude;
if (distance <= radiusSqrd)
{
closestPointsBufferMultiCaps.Add(new ClosestTrianglePoint(nearest.second, distance, enumerator.Current, nearest.first, this));
}
}
CleanUp(closestPointsBufferMultiCaps, resultsBuffer);
return(resultsBuffer);
}
public static CapsuleShape ToLocalOfUniformScale(CapsuleShape capsuleShape, Transform transform)
{
Vector3 localSegment0 = transform.InverseTransformPoint(capsuleShape.top);
Vector3 localSegment1 = transform.InverseTransformPoint(capsuleShape.bottom);
float distance = Vector3.Distance(localSegment0, localSegment1);
float difference = capsuleShape.pointsDistance / distance;
//If distance is zero, then the capsule is probably like a sphere.
//Not sure if we should just always do it the way that can handle zero.
if (Mathf.Approximately(distance, 0f) || Mathf.Approximately(difference, 0f))
{
float minimumScale = ExtVector3.Minimum(ExtVector3.Abs(transform.lossyScale));
float height = capsuleShape.height / minimumScale;
float radius = capsuleShape.radius / minimumScale;
return(new CapsuleShape((localSegment0 + localSegment1) * .5f, localSegment1 - localSegment0, height, radius));
}
else
{
return(new CapsuleShape((localSegment0 + localSegment1) * .5f, localSegment1 - localSegment0, capsuleShape.height / difference, capsuleShape.radius / difference));
}
}
float CapsulePointsDistance()
{
return(CapsuleShape.PointsDistance(capsuleHeight, capsuleRadius));
}
public static IList <Collider> OverlapCapsule(Vector3 origin, Vector3 direction, float height, float radius, IList <Collider> resultBuffer, int layerMask = Physics.AllLayers, QueryTriggerInteraction queryTriggerInteraction = QueryTriggerInteraction.UseGlobal)
{
CapsuleShape points = new CapsuleShape(origin, direction, height, radius);
return(OverlapCapsule(points.bottom, points.top, radius, resultBuffer, layerMask, queryTriggerInteraction));
}
public static bool CheckCapsule(Vector3 origin, Vector3 direction, float height, float radius, int layerMask = Physics.AllLayers, QueryTriggerInteraction queryTriggerInteraction = QueryTriggerInteraction.UseGlobal)
{
CapsuleShape points = new CapsuleShape(origin, direction, height, radius);
return(CheckCapsule(points.bottom, points.top, radius, layerMask, queryTriggerInteraction));
}
public static List <SphereCollisionInfo> DetectCollisions(Vector3 origin, Vector3 directionUp, float height, float radius, int mask, IList <Component> ignoreColliders, List <SphereCollisionInfo> resultBuffer, float checkOffset = 0f, bool multipleContactsPerCollider = true)
{
CapsuleShape points = new CapsuleShape(origin, directionUp, height, radius, checkOffset);
return(DetectCollisions(points.top, points.bottom, radius, mask, ignoreColliders, resultBuffer, checkOffset, multipleContactsPerCollider));
}
//Below taken from free asset on unity asset store - https://www.assetstore.unity3d.com/en/#!/content/11396
public static void DrawCapsule(Vector3 origin, Vector3 direction, float height, float radius, Color color, float duration = .001f, bool depthTest = true)
{
CapsuleShape points = new CapsuleShape(origin, direction, height, radius);
DrawCapsule(points.top, points.bottom, radius, color, duration, depthTest);
}
