protected override bool Intersects(SphereCollider collider)
{
//the sphere's center is a vector.
//transform it from world coord-system to box's local coord-system
Vector3 SphereCenter = Vector3.Transform(collider.Center - m_center,
Quaternion.Inverse(m_rotate));
//you can think it is a AABB Box.
//x-axis
if (NetMath.Abs(SphereCenter.X) > collider.Radius + Radius.X)
{
return(false);
}
//y-axis
if (NetMath.Abs(SphereCenter.Y) > collider.Radius + Radius.Y)
{
return(false);
}
//z-axis
if (NetMath.Abs(SphereCenter.Z) > collider.Radius + Radius.Z)
{
return(false);
}
return(true);
}
public static Matrix4x4 Abs(Matrix4x4 matrix)
{
return(new Matrix4x4()
{
M11 = NetMath.Abs(matrix.M11), M12 = NetMath.Abs(matrix.M12),
M13 = NetMath.Abs(matrix.M13), M14 = NetMath.Abs(matrix.M14),
M21 = NetMath.Abs(matrix.M21), M22 = NetMath.Abs(matrix.M22),
M23 = NetMath.Abs(matrix.M23), M24 = NetMath.Abs(matrix.M24),
M31 = NetMath.Abs(matrix.M31), M32 = NetMath.Abs(matrix.M32),
M33 = NetMath.Abs(matrix.M33), M34 = NetMath.Abs(matrix.M34),
M41 = NetMath.Abs(matrix.M41), M42 = NetMath.Abs(matrix.M42),
M43 = NetMath.Abs(matrix.M43), M44 = NetMath.Abs(matrix.M44)
});
}
protected override bool Intersects(BoxCollider collider)
{
// THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF
// ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO
// THE IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
// PARTICULAR PURPOSE.
//
// Copyright (c) Microsoft Corporation. All rights reserved.
Quaternion quaternion = m_rotate * Quaternion.Conjugate(collider.m_rotate);
Matrix4x4 R = Matrix4x4.CreateFromQuaternion(quaternion);
Matrix4x4 AR = Math.TMatrix.Abs(R);
Vector3 t = Vector3.Transform(collider.m_center - m_center,
Quaternion.Inverse(m_rotate));
float d, d_A, d_B;
// l = a(u) = (1, 0, 0)
// t dot l = t.x
// d(A) = h(A).x
// d(B) = h(B) dot abs(r00, r01, r02)
d = t.X;
d_A = m_radius.X;
d_B = Vector3.Dot(collider.m_radius, new Vector3(AR.M11, AR.M12, AR.M13));
if (NetMath.Abs(d) > NetMath.Abs(d_A) + NetMath.Abs(d_B))
{
return(false);
}
// l = a(v) = (0, 1, 0)
// t dot l = t.y
// d(A) = h(A).y
// d(B) = h(B) dot abs(r10, r11, r12)
d = t.Y;
d_A = m_radius.Y;
d_B = Vector3.Dot(collider.m_radius, new Vector3(AR.M21, AR.M22, AR.M23));
if (NetMath.Abs(d) > NetMath.Abs(d_A) + NetMath.Abs(d_B))
{
return(false);
}
// l = a(w) = (0, 0, 1)
// t dot l = t.z
// d(A) = h(A).z
// d(B) = h(B) dot abs(r20, r21, r22)
d = t.Z;
d_A = m_radius.Z;
d_B = Vector3.Dot(collider.m_radius, new Vector3(AR.M31, AR.M32, AR.M33));
if (NetMath.Abs(d) > NetMath.Abs(d_A) + NetMath.Abs(d_B))
{
return(false);
}
// l = b(u) = (r00, r10, r20)
// d(A) = h(A) dot abs(r00, r10, r20)
// d(B) = h(B).x
d = Vector3.Dot(t, new Vector3(R.M11, R.M21, R.M31));
d_A = Vector3.Dot(m_radius, new Vector3(AR.M11, AR.M21, AR.M31));
d_B = collider.m_radius.X;
if (NetMath.Abs(d) > NetMath.Abs(d_A) + NetMath.Abs(d_B))
{
return(false);
}
// l = b(v) = (r01, r11, r21)
// d(A) = h(A) dot abs(r01, r11, r21)
// d(B) = h(B).y
d = Vector3.Dot(t, new Vector3(R.M12, R.M22, R.M32));
d_A = Vector3.Dot(m_radius, new Vector3(AR.M12, AR.M22, AR.M32));
d_B = collider.m_radius.Y;
if (NetMath.Abs(d) > NetMath.Abs(d_A) + NetMath.Abs(d_B))
{
return(false);
}
// l = b(w) = (r02, r12, r22)
// d(A) = h(A) dot abs(r02, r12, r22)
// d(B) = h(B).z
d = Vector3.Dot(t, new Vector3(R.M13, R.M23, R.M33));
d_A = Vector3.Dot(m_radius, new Vector3(AR.M13, AR.M23, AR.M33));
d_B = collider.m_radius.Z;
if (NetMath.Abs(d) > NetMath.Abs(d_A) + NetMath.Abs(d_B))
{
return(false);
}
// l = a(u) x b(u) = (0, -r20, r10)
// d(A) = h(A) dot abs(0, r20, r10)
// d(B) = h(B) dot abs(0, r02, r01)
d = Vector3.Dot(t, new Vector3(0, -R.M31, R.M21));
d_A = Vector3.Dot(m_radius, new Vector3(0, AR.M31, AR.M21));
d_B = Vector3.Dot(collider.m_radius, new Vector3(0, AR.M13, AR.M12));
if (NetMath.Abs(d) > NetMath.Abs(d_A) + NetMath.Abs(d_B))
{
return(false);
}
// l = a(u) x b(v) = (0, -r21, r11)
// d(A) = h(A) dot abs(0, r21, r11)
// d(B) = h(B) dot abs(r02, 0, r00)
d = Vector3.Dot(t, new Vector3(0, -R.M32, R.M22));
d_A = Vector3.Dot(m_radius, new Vector3(0, AR.M32, AR.M22));
d_B = Vector3.Dot(collider.m_radius, new Vector3(AR.M13, 0, AR.M11));
if (NetMath.Abs(d) > NetMath.Abs(d_A) + NetMath.Abs(d_B))
{
return(false);
}
// l = a(u) x b(w) = (0, -r22, r12)
// d(A) = h(A) dot abs(0, r22, r12)
// d(B) = h(B) dot abs(r01, r00, 0)
d = Vector3.Dot(t, new Vector3(0, -R.M33, -R.M23));
d_A = Vector3.Dot(m_radius, new Vector3(0, AR.M33, AR.M23));
d_B = Vector3.Dot(collider.m_radius, new Vector3(AR.M12, AR.M11, 0));
if (NetMath.Abs(d) > NetMath.Abs(d_A) + NetMath.Abs(d_B))
{
return(false);
}
// l = a(v) x b(u) = (r20, 0, -r00)
// d(A) = h(A) dot abs(r20, 0, r00)
// d(B) = h(B) dot abs(0, r12, r11)
d = Vector3.Dot(t, new Vector3(R.M31, 0, -R.M11));
d_A = Vector3.Dot(m_radius, new Vector3(AR.M31, 0, AR.M11));
d_B = Vector3.Dot(collider.m_radius, new Vector3(0, AR.M23, AR.M22));
if (NetMath.Abs(d) > NetMath.Abs(d_A) + NetMath.Abs(d_B))
{
return(false);
}
// l = a(v) x b(v) = (r21, 0, -r01)
// d(A) = h(A) dot abs(r21, 0, r01)
// d(B) = h(B) dot abs(r12, 0, r10)
d = Vector3.Dot(t, new Vector3(R.M32, 0, -R.M12));
d_A = Vector3.Dot(m_radius, new Vector3(AR.M32, 0, AR.M12));
d_B = Vector3.Dot(collider.m_radius, new Vector3(AR.M23, 0, AR.M21));
if (NetMath.Abs(d) > NetMath.Abs(d_A) + NetMath.Abs(d_B))
{
return(false);
}
// l = a(v) x b(w) = (r22, 0, -r02)
// d(A) = h(A) dot abs(r22, 0, r02)
// d(B) = h(B) dot abs(r11, r10, 0)
d = Vector3.Dot(t, new Vector3(R.M33, 0, -R.M13));
d_A = Vector3.Dot(m_radius, new Vector3(AR.M33, 0, AR.M13));
d_B = Vector3.Dot(collider.m_radius, new Vector3(AR.M22, AR.M21, 0));
if (NetMath.Abs(d) > NetMath.Abs(d_A) + NetMath.Abs(d_B))
{
return(false);
}
// l = a(w) x b(u) = (-r10, r00, 0)
// d(A) = h(A) dot abs(r10, r00, 0)
// d(B) = h(B) dot abs(0, r22, r21)
d = Vector3.Dot(t, new Vector3(-R.M21, R.M11, 0));
d_A = Vector3.Dot(m_radius, new Vector3(AR.M21, AR.M11, 0));
d_B = Vector3.Dot(collider.m_radius, new Vector3(0, AR.M33, AR.M32));
if (NetMath.Abs(d) > NetMath.Abs(d_A) + NetMath.Abs(d_B))
{
return(false);
}
// l = a(w) x b(v) = (-r11, r01, 0)
// d(A) = h(A) dot abs(r11, r01, 0)
// d(B) = h(B) dot abs(r22, 0, r20)
d = Vector3.Dot(t, new Vector3(-R.M22, R.M12, 0));
d_A = Vector3.Dot(m_radius, new Vector3(AR.M22, AR.M12, 0));
d_B = Vector3.Dot(collider.m_radius, new Vector3(AR.M33, 0, AR.M31));
if (NetMath.Abs(d) > NetMath.Abs(d_A) + NetMath.Abs(d_B))
{
return(false);
}
// l = a(w) x b(w) = (-r12, r02, 0)
// d(A) = h(A) dot abs(r12, r02, 0)
// d(B) = h(B) dot abs(r21, r20, 0)
d = Vector3.Dot(t, new Vector3(-R.M23, R.M13, 0));
d_A = Vector3.Dot(m_radius, new Vector3(AR.M23, AR.M13, 0));
d_B = Vector3.Dot(collider.m_radius, new Vector3(AR.M32, AR.M31, 0));
if (NetMath.Abs(d) > NetMath.Abs(d_A) + NetMath.Abs(d_B))
{
return(false);
}
return(true);
}