/// <summary>
/// Returns side of the plane that the given box lies on.
/// The box is defined as bounds.
/// </summary>
/// <param name="bounds">The given bounds.</param>
/// <returns>The resulting side.</returns>
public Side GetSide(ref Bounds bounds)
{
Vector3 boundsCenter;
bounds.GetCenter(out boundsCenter);
//Vec3d boundsHalfSize = boundsCenter - bounds.Minimum;
Vector3 boundsHalfSize;
Vector3.Subtract(ref boundsCenter, ref bounds.Minimum, out boundsHalfSize);
return(GetSide(ref boundsCenter, ref boundsHalfSize));
}
bool BoundsPlanesIntersects(Bounds bounds, Plane[] planes)
{
var boundsCenter = bounds.GetCenter();
var boundsHalfSize = bounds.Maximum - boundsCenter;
foreach (var plane in planes)
{
if (plane.GetSide(boundsCenter, boundsHalfSize) == Plane.Side.Positive)
{
return(false);
}
}
return(true);
}
public PhysicsConvexSweepTestItem(Matrix4 from, Matrix4 to, int collisionFilterGroup, int collisionFilterMask, ModeEnum mode, Bounds bounds)
{
this.originalFrom = from;
this.originalTo = to;
this.CollisionFilterGroup = collisionFilterGroup;
this.CollisionFilterMask = collisionFilterMask;
this.Mode = mode;
transformedFrom = originalFrom;
transformedTo = originalTo;
Vector3 offset = bounds.GetCenter();
if (!offset.Equals(Vector3.Zero, MathEx.Epsilon))
{
transformedFrom.SetTranslation(transformedFrom.GetTranslation() + offset);
transformedTo.SetTranslation(transformedTo.GetTranslation() + offset);
}
var halfSize = bounds.GetSize() / 2;
Shape = new BulletSharp.BoxShape(BulletPhysicsUtility.Convert(halfSize));
ShapeAutoDispose = true;
}
public PhysicsContactTestItem(int collisionFilterGroup, int collisionFilterMask, ModeEnum mode, Bounds bounds)
{
var geometry = bounds;
geometry.Expand(0.001);
var collisionObject = new CollisionObject();
collisionObject.CollisionShape = new BulletSharp.BoxShape(BulletPhysicsUtility.Convert(bounds.GetSize() * 0.5));
collisionObject.WorldTransform = BulletPhysicsUtility.Convert(Matrix4.FromTranslate(bounds.GetCenter()));
Construct(collisionFilterGroup, collisionFilterMask, mode, collisionObject, true, point => geometry.Contains(point));
}
