public static bool collisionLocationForMovingPointFixedAABox(Vector3 origin, Vector3 dir, AxisAlignedBox box, ref Vector3 location, out bool Inside, ref Vector3 normal)
{
Inside = true;
Vector3 MinB = box.Lo;
Vector3 MaxB = box.Hi;
Vector3 MaxT = new Vector3(-1.0f, -1.0f, -1.0f);
// Find candidate planes.
for (int i = 0; i < 3; ++i)
{
if (origin[i] < MinB[i])
{
location[i] = MinB[i];
Inside = false;
// Calculate T distances to candidate planes
if ((uint)dir[i] != 0)
{
MaxT[i] = (MinB[i] - origin[i]) / dir[i];
}
}
else if (origin[i] > MaxB[i])
{
location[i] = MaxB[i];
Inside = false;
// Calculate T distances to candidate planes
if ((uint)dir[i] != 0)
{
MaxT[i] = (MaxB[i] - origin[i]) / dir[i];
}
}
}
if (Inside)
{
// Ray origin inside bounding box
location = origin;
return(false);
}
// Get largest of the maxT's for final choice of intersection
int WhichPlane = 0;
if (MaxT[1] > MaxT[WhichPlane])
{
WhichPlane = 1;
}
if (MaxT[2] > MaxT[WhichPlane])
{
WhichPlane = 2;
}
// Check final candidate actually inside box
if (Convert.ToBoolean((uint)MaxT[WhichPlane] & 0x80000000))
{
// Miss the box
return(false);
}
for (int i = 0; i < 3; ++i)
{
if (i != WhichPlane)
{
location[i] = origin[i] + MaxT[WhichPlane] * dir[i];
if ((location[i] < MinB[i]) ||
(location[i] > MaxB[i]))
{
// On this plane we're outside the box extents, so
// we miss the box
return(false);
}
}
}
// Choose the normal to be the plane normal facing into the ray
normal = Vector3.Zero;
normal[WhichPlane] = (float)((dir[WhichPlane] > 0) ? -1.0 : 1.0);
return(true);
}
public static float collisionTimeForMovingPointFixedAABox(Vector3 origin, Vector3 dir, AxisAlignedBox box, ref Vector3 location, out bool Inside)
{
Vector3 normal = Vector3.Zero;
if (collisionLocationForMovingPointFixedAABox(origin, dir, box, ref location, out Inside, ref normal))
{
return((location - origin).magnitude());
}
else
{
return(float.PositiveInfinity);
}
}
public void merge(AxisAlignedBox a)
{
Lo = Vector3.Min(_lo, a.Lo);
Hi = Vector3.Max(Hi, a.Hi);
}
/// <summary>
/// Initializes a new instance of the <see cref="AxisAlignedBox"/> class using given values from another box instance.
/// </summary>
/// <param name="box">A <see cref="AxisAlignedBox"/> instance to take values from.</param>
public AxisAlignedBox(AxisAlignedBox box)
{
_lo = box.Lo;
_hi = box.Hi;
}
public void merge(AxisAlignedBox a)
{
Lo = Lo.Min(a.Lo);
Hi = Hi.Max(a.Hi);
}