public override void DoWork()
{
MyRBBoxElement box = (MyRBBoxElement)m_RBElement;
MySphereSensorElement sphere = (MySphereSensorElement)m_SensorElement;
Matrix boxMatrix = box.GetGlobalTransformation();
Vector3 sphereCenter = sphere.GetGlobalTransformation().Translation;
Matrix invBoxMatrix = Matrix.Invert(boxMatrix);
Vector3 boxLocalsphereCenter = Vector3.Transform(sphereCenter, invBoxMatrix);
bool penetration = false;
Vector3 normal = new Vector3();
Vector3 closestPos = new Vector3();
uint customData = 0;
box.GetClosestPoint(boxLocalsphereCenter, ref closestPos, ref normal, ref penetration, ref customData);
if (penetration)
{
m_IsInside = true;
return;
}
closestPos = Vector3.Transform(closestPos, boxMatrix);
float vLength = (sphereCenter - closestPos).LengthSquared();
if (vLength <= sphere.Radius * sphere.Radius)
{
if (vLength <= (sphere.Radius / 2f) * (sphere.Radius / 2f) || sphere.SpecialDetectingAngle == null)
{
m_IsInside = true;
}
else if (sphere.SpecialDetectingAngle != null)
{
Vector3 normalizeDirectionToRBElement = Vector3.Normalize(boxMatrix.Translation - sphereCenter);
float cosAngle = Vector3.Dot(normalizeDirectionToRBElement, sphere.GetGlobalTransformation().Forward);
m_IsInside = Math.Abs(cosAngle) >= sphere.SpecialDetectingAngle.Value;
}
}
else
{
m_IsInside = false;
}
}
public override void DoWork()
{
MySphereSensorElement sphere = (MySphereSensorElement)m_SensorElement;
BoundingSphere seSphere = new BoundingSphere(sphere.GetGlobalTransformation().Translation, sphere.Radius);
BoundingBox oeAABB = m_RBElement.GetWorldSpaceAABB();
seSphere.Intersects(ref oeAABB, out m_IsInside);
}