/// <summary>
/// Calculates intersection between line and bounding box and if found, distance is returned. Otherwise null is returned.
/// </summary>
public static float?GetLineBoundingBoxIntersection(ref Line line, ref BoundingBox boundingBox)
{
// Create temporary ray and do intersection. But we can't rely only on it, because ray doesn't have end, yet our line does, so we
// need to check if ray-bounding_box intersection lies in the range of our line
VRageMath.Ray ray = new VRageMath.Ray(line.From, line.Direction);
float? intersectionDistance = boundingBox.Intersects(ray);
if (intersectionDistance.HasValue == false)
{
// No intersection between ray/line and bounding box
return(null);
}
else
{
if (intersectionDistance.Value <= line.Length)
{
// Intersection between ray/line and bounding box IS withing the range of the line
return(intersectionDistance.Value);
}
else
{
// Intersection between ray/line and bounding box IS NOT withing the range of the line
return(null);
}
}
}
private static Ray ComputeIntersectionLine(ref Plane p1, ref Plane p2)
{
Ray ray = new Ray();
ray.Direction = Vector3.Cross(p1.Normal, p2.Normal);
float num = ray.Direction.LengthSquared();
ray.Position = Vector3.Cross(-p1.D * p2.Normal + p2.D * p1.Normal, ray.Direction) / num;
return(ray);
}
private static void TransformRay(ref Ray ray, ref Matrix matrix)
{
ray.Direction = Vector3.Transform(ray.Position + ray.Direction, ref matrix);
ray.Position = Vector3.Transform(ray.Position, ref matrix);
ray.Direction = ray.Direction - ray.Position;
}
private static void TransformRay(ref Ray ray, ref Matrix matrix)
{
ray.Direction = Vector3.Transform(ray.Position + ray.Direction, ref matrix);
ray.Position = Vector3.Transform(ray.Position, ref matrix);
ray.Direction = ray.Direction - ray.Position;
}
private static Ray ComputeIntersectionLine(ref Plane p1, ref Plane p2)
{
Ray ray = new Ray();
ray.Direction = Vector3.Cross(p1.Normal, p2.Normal);
float num = ray.Direction.LengthSquared();
ray.Position = Vector3.Cross(-p1.D * p2.Normal + p2.D * p1.Normal, ray.Direction) / num;
return ray;
}
public float?Intersects(ref Ray ray)
{
Matrix matrix = Matrix.CreateFromQuaternion(this.Orientation);
Vector3 vector = this.Center - ray.Position;
float minValue = float.MinValue;
float maxValue = float.MaxValue;
float num3 = Vector3.Dot(matrix.Right, vector);
float num4 = Vector3.Dot(matrix.Right, ray.Direction);
if ((num4 >= -1E-20f) && (num4 <= 1E-20f))
{
if (((-num3 - this.HalfExtent.X) > 0.0) || ((-num3 + this.HalfExtent.X) < 0f))
{
return(null);
}
}
else
{
float num5 = (num3 - this.HalfExtent.X) / num4;
float num6 = (num3 + this.HalfExtent.X) / num4;
if (num5 > num6)
{
float num7 = num5;
num5 = num6;
num6 = num7;
}
if (num5 > minValue)
{
minValue = num5;
}
if (num6 < maxValue)
{
maxValue = num6;
}
if ((maxValue < 0f) || (minValue > maxValue))
{
return(null);
}
}
num3 = Vector3.Dot(matrix.Up, vector);
num4 = Vector3.Dot(matrix.Up, ray.Direction);
if ((num4 >= -1E-20f) && (num4 <= 1E-20f))
{
if (((-num3 - this.HalfExtent.Y) > 0.0) || ((-num3 + this.HalfExtent.Y) < 0f))
{
return(null);
}
}
else
{
float num8 = (num3 - this.HalfExtent.Y) / num4;
float num9 = (num3 + this.HalfExtent.Y) / num4;
if (num8 > num9)
{
float num10 = num8;
num8 = num9;
num9 = num10;
}
if (num8 > minValue)
{
minValue = num8;
}
if (num9 < maxValue)
{
maxValue = num9;
}
if ((maxValue < 0f) || (minValue > maxValue))
{
return(null);
}
}
num3 = Vector3.Dot(matrix.Forward, vector);
num4 = Vector3.Dot(matrix.Forward, ray.Direction);
if ((num4 >= -1E-20f) && (num4 <= 1E-20f))
{
if (((-num3 - this.HalfExtent.Z) > 0.0) || ((-num3 + this.HalfExtent.Z) < 0f))
{
return(null);
}
}
else
{
float num11 = (num3 - this.HalfExtent.Z) / num4;
float num12 = (num3 + this.HalfExtent.Z) / num4;
if (num11 > num12)
{
float num13 = num11;
num11 = num12;
num12 = num13;
}
if (num11 > minValue)
{
minValue = num11;
}
if (num12 < maxValue)
{
maxValue = num12;
}
if ((maxValue < 0f) || (minValue > maxValue))
{
return(null);
}
}
return(new float?(minValue));
}
