public static bool Contains(this IConvex3Polytope a, Vector3 point)
{
if (!a.WorldBounds().Contains(point))
{
return(false);
}
foreach (var ax in a.Normals())
{
if (ax.sqrMagnitude > E && !Contains(ax, a.Vertices(), point))
{
return(false);
}
}
return(true);
}
public static bool Intersect(this IConvex3Polytope a, IConvex3Polytope b)
{
if (!a.WorldBounds().Intersects(b.WorldBounds()))
{
return(false);
}
foreach (var ax in a.Normals())
{
if (ax.sqrMagnitude > E && !Intersect(ax, a.Vertices(), b.Vertices()))
{
return(false);
}
}
foreach (var bx in b.Normals())
{
if (bx.sqrMagnitude > E && !Intersect(bx, a.Vertices(), b.Vertices()))
{
return(false);
}
}
foreach (var ae in a.Edges())
{
foreach (var be in b.Edges())
{
var cx = Vector3.Cross(ae, be);
if (cx.sqrMagnitude > E && !Intersect(cx, a.Vertices(), b.Vertices()))
{
return(false);
}
}
}
return(true);
}
