// Returns an AABB containing the CSO in A-space
private static unsafe Aabb GetSupportingAabb(
float3 *verticesA, int numVerticesA, float3 *verticesB, int numVerticesB, MTransform aFromB)
{
Aabb aabbA = new Aabb {
Min = verticesA[0], Max = verticesA[0]
};
for (int i = 1; i < numVerticesA; i++)
{
aabbA.Min = math.min(aabbA.Min, verticesA[i]);
aabbA.Max = math.max(aabbA.Max, verticesA[i]);
}
Aabb aabbB = new Aabb {
Min = verticesB[0], Max = verticesB[0]
};
for (int i = 1; i < numVerticesB; i++)
{
aabbB.Min = math.min(aabbB.Min, verticesB[i]);
aabbB.Max = math.max(aabbB.Max, verticesB[i]);
}
Aabb aabbBinA = Math.TransformAabb(aFromB, aabbB);
return(new Aabb {
Min = aabbA.Min - aabbBinA.Max, Max = aabbA.Max - aabbBinA.Min
});
}
// BoxBox() helper
private static bool PointPlanes(MTransform aFromB, float3 halfExtA, float3 halfExtB, float maxDistance, ref float3 normalOut, ref float distanceOut)
{
// Calculate the AABB of box B in A-space
Aabb aabbBinA;
{
Aabb aabbBinB = new Aabb {
Min = -halfExtB, Max = halfExtB
};
aabbBinA = Math.TransformAabb(aFromB, aabbBinB);
}
// Check for a miss
float3 toleranceHalfExt = halfExtA + maxDistance;
bool3 miss = (aabbBinA.Min > toleranceHalfExt) | (-toleranceHalfExt > aabbBinA.Max);
if (math.any(miss))
{
return(false);
}
// Return the normal with minimum separating distance
float3 diff0 = aabbBinA.Min - halfExtA; // positive normal
float3 diff1 = -aabbBinA.Max - halfExtA; // negative normal
bool3 greater01 = diff0 > diff1;
float3 max01 = math.select(diff1, diff0, greater01);
distanceOut = math.cmax(max01);
int axis = IndexOfMaxComponent(max01);
if (axis == 0)
{
normalOut = new float3(1.0f, 0.0f, 0.0f);
}
else if (axis == 1)
{
normalOut = new float3(0.0f, 1.0f, 0.0f);
}
else
{
normalOut = new float3(0.0f, 0.0f, 1.0f);
}
normalOut = math.select(normalOut, -normalOut, greater01);
return(true);
}
public Aabb CalculateAabb(RigidTransform transform)
{
return(Math.TransformAabb(transform, Terrain.Aabb));
}