public static bool DistanceBetween(BoxCollider box,
RigidTransform boxTransform,
SphereCollider sphere,
RigidTransform sphereTransform,
float maxDistance,
out ColliderDistanceResult result)
{
var boxWorldToLocal = math.inverse(boxTransform);
float3 sphereCenterInBoxSpace = math.transform(boxWorldToLocal, sphere.center + sphereTransform.pos);
SphereCollider sphereInBoxSpace = new SphereCollider(sphereCenterInBoxSpace, sphere.radius);
bool hit = DistanceQueries.DistanceBetween(box,
sphereInBoxSpace,
maxDistance,
out DistanceQueries.ColliderDistanceResultInternal localResult);
result = new ColliderDistanceResult
{
hitpointA = math.transform(boxTransform, localResult.hitpointA),
hitpointB = math.transform(boxTransform, localResult.hitpointB),
normalA = math.rotate(boxTransform, localResult.normalA),
normalB = math.rotate(boxTransform, localResult.normalB),
distance = localResult.distance
};
return(hit);
}
//All algorithms return a negative distance if inside the collider.
public static bool DistanceBetween(float3 point, SphereCollider sphere, RigidTransform sphereTransform, float maxDistance, out PointDistanceResult result)
{
float3 pointInSphereSpace = point - sphereTransform.pos;
bool hit = DistanceQueries.DistanceBetween(pointInSphereSpace, sphere, maxDistance, out DistanceQueries.PointDistanceResultInternal localResult);
result = new PointDistanceResult
{
hitpoint = localResult.hitpoint + sphereTransform.pos,
distance = localResult.distance,
normal = localResult.normal
};
return(hit);
}
public static bool DistanceBetween(CapsuleCollider capsuleA,
RigidTransform aTransform,
CapsuleCollider capsuleB,
RigidTransform bTransform,
float maxDistance,
out ColliderDistanceResult result)
{
var aWorldToLocal = math.inverse(aTransform);
var BinASpaceTransform = math.mul(aWorldToLocal, bTransform);
CapsuleCollider BinASpace = new CapsuleCollider(math.transform(BinASpaceTransform, capsuleB.pointA),
math.transform(BinASpaceTransform, capsuleB.pointB),
capsuleB.radius);
bool hit = DistanceQueries.DistanceBetween(capsuleA, BinASpace, maxDistance, out DistanceQueries.ColliderDistanceResultInternal localResult);
result = BinAResultToWorld(localResult, aTransform);
return(hit);
}
public static bool DistanceBetween(BoxCollider box,
RigidTransform boxTransform,
CapsuleCollider capsule,
RigidTransform capsuleTransform,
float maxDistance,
out ColliderDistanceResult result)
{
var boxWorldToLocal = math.inverse(boxTransform);
var capInBoxSpaceTransform = math.mul(boxWorldToLocal, capsuleTransform);
var capsuleInBoxSpace = new CapsuleCollider(math.transform(capInBoxSpaceTransform, capsule.pointA),
math.transform(capInBoxSpaceTransform, capsule.pointB),
capsule.radius);
bool hit = DistanceQueries.DistanceBetween(box, capsuleInBoxSpace, maxDistance, out DistanceQueries.ColliderDistanceResultInternal localResult);
result = BinAResultToWorld(localResult, boxTransform);
return(hit);
}
public static bool DistanceBetween(SphereCollider sphereA,
RigidTransform aTransform,
SphereCollider sphereB,
RigidTransform bTransform,
float maxDistance,
out ColliderDistanceResult result)
{
SphereCollider bInASpace = new SphereCollider(sphereB.center + bTransform.pos - aTransform.pos, sphereB.radius);
bool hit = DistanceQueries.DistanceBetween(sphereA, bInASpace, maxDistance, out DistanceQueries.ColliderDistanceResultInternal localResult);
result = new ColliderDistanceResult
{
hitpointA = localResult.hitpointA + aTransform.pos,
hitpointB = localResult.hitpointB + aTransform.pos,
normalA = localResult.normalA,
normalB = localResult.normalB,
distance = localResult.distance
};
return(hit);
}
public static bool DistanceBetween(BoxCollider boxA,
RigidTransform aTransform,
BoxCollider boxB,
RigidTransform bTransform,
float maxDistance,
out ColliderDistanceResult result)
{
var aWorldToLocal = math.inverse(aTransform);
var bWorldToLocal = math.inverse(bTransform);
var bInASpaceTransform = math.mul(aWorldToLocal, bTransform);
var aInBSpaceTransform = math.mul(bWorldToLocal, aTransform);
var hit = DistanceQueries.DistanceBetween(boxA,
boxB,
bInASpaceTransform,
aInBSpaceTransform,
maxDistance,
out DistanceQueries.ColliderDistanceResultInternal localResult);
result = BinAResultToWorld(localResult, aTransform);
return(hit);
}
