public static bool DistanceBetween(Collider collider,
RigidTransform colliderTransform,
CapsuleCollider capsule,
RigidTransform capsuleTransform,
float maxDistance,
out ColliderDistanceResult result)
{
switch (collider.type)
{
case ColliderType.Sphere:
{
SphereCollider col = collider;
return(DistanceBetween(col, colliderTransform, capsule, capsuleTransform, maxDistance, out result));
}
case ColliderType.Capsule:
{
CapsuleCollider col = collider;
return(DistanceBetween(col, colliderTransform, capsule, capsuleTransform, maxDistance, out result));
}
case ColliderType.Compound:
{
CompoundCollider col = collider;
return(DistanceBetween(col, colliderTransform, capsule, capsuleTransform, maxDistance, out result));
}
default:
result = default;
return(false);
}
}
public static bool Raycast(Ray ray, Collider collider, RigidTransform colliderTransform, out RaycastResult result)
{
switch (collider.type)
{
case ColliderType.Sphere:
{
SphereCollider col = collider;
return(Raycast(ray, col, colliderTransform, out result));
}
case ColliderType.Capsule:
{
CapsuleCollider col = collider;
return(Raycast(ray, col, colliderTransform, out result));
}
case ColliderType.Compound:
{
CompoundCollider col = collider;
return(Raycast(ray, col, colliderTransform, out result));
}
default:
result = default;
return(false);
}
}
public static bool DistanceBetween(Collider colliderA,
RigidTransform aTransform,
Collider colliderB,
RigidTransform bTransform,
float maxDistance,
out ColliderDistanceResult result)
{
switch (colliderA.type)
{
case ColliderType.Sphere:
{
SphereCollider colA = colliderA;
return(DistanceBetween(colA, aTransform, colliderB, bTransform, maxDistance, out result));
}
case ColliderType.Capsule:
{
CapsuleCollider colA = colliderA;
return(DistanceBetween(colA, aTransform, colliderB, bTransform, maxDistance, out result));
}
case ColliderType.Compound:
{
CompoundCollider colA = colliderA;
return(DistanceBetween(colA, aTransform, colliderB, bTransform, maxDistance, out result));
}
default:
result = default;
return(false);
}
}
public static Aabb CalculateAabb(Collider collider, RigidTransform transform)
{
switch (collider.type)
{
case ColliderType.Sphere:
SphereCollider sphere = collider;
return(CalculateAabb(sphere, transform));
case ColliderType.Capsule:
CapsuleCollider capsule = collider;
return(CalculateAabb(capsule, transform));
case ColliderType.Box:
BoxCollider box = collider;
return(CalculateAabb(box, transform));
case ColliderType.Compound:
CompoundCollider compound = collider;
return(CalculateAabb(compound, transform));
default:
ThrowUnsupportedType();
return(new Aabb());
}
}
public static bool Raycast(Ray ray, CompoundCollider compound, RigidTransform compoundTransform, out RaycastResult result)
{
result = default;
result.distance = float.MaxValue;
bool hit = false;
var rayInCompoundSpace = Ray.TransformRay(math.inverse(compoundTransform), ray);
var scaledRay = new Ray(rayInCompoundSpace.start / compound.scale, rayInCompoundSpace.end / compound.scale);
ref var blob = ref compound.compoundColliderBlob.Value;
public static CompoundCollider ScaleCollider(CompoundCollider compound, PhysicsScale scale)
{
#if ENABLE_UNITY_COLLECTIONS_CHECKS
if (scale.state == PhysicsScale.State.NonComputable | scale.state == PhysicsScale.State.NonUniform)
{
throw new InvalidOperationException("Error: Compound Collider must be scaled with no scale or uniform scale.");
}
#endif
compound.scale *= scale.scale.x;
return(compound);
}
public static bool DistanceBetween(CompoundCollider compound,
RigidTransform compoundTransform,
SphereCollider sphere,
RigidTransform sphereTransform,
float maxDistance,
out ColliderDistanceResult result)
{
bool hit = false;
result = default;
result.distance = float.MaxValue;
ref var blob = ref compound.compoundColliderBlob.Value;
public static Aabb CalculateAabb(CompoundCollider compound, RigidTransform transform)
{
var local = compound.compoundColliderBlob.Value.localAabb;
float3 c = (local.min + local.max) / 2f;
//BoxCollider box = new BoxCollider(c, local.max - c);
//return CalculateAabb(box, transform);
float3 extents = local.max - c;
var rotMatrix = new float3x3(transform.rot);
var worldExtents = LatiosMath.RotateExtents(extents, rotMatrix);
var worldCenter = math.transform(transform, c);
return new Aabb(worldCenter - worldExtents, worldCenter + worldExtents);
}
public static Aabb CalculateAabb(Collider collider, RigidTransform transform)
{
switch (collider.type)
{
case ColliderType.Sphere:
SphereCollider sphere = collider;
return CalculateAabb(sphere, transform);
case ColliderType.Capsule:
CapsuleCollider capsule = collider;
return CalculateAabb(capsule, transform);
case ColliderType.Compound:
CompoundCollider compound = collider;
return CalculateAabb(compound, transform);
default:
throw new InvalidOperationException("Type not supported yet");
}
}
public static CompoundCollider ScaleCollider(CompoundCollider compound, PhysicsScale scale)
{
CheckNoOrUniformScale(scale, ColliderType.Compound);
compound.scale *= scale.scale.x;
return(compound);
}