XRLib/Assets/Runtime Transform Gizmos/Scripts/Runtime Package Common/Math/AABB.cs

using UnityEngine;
using System.Collections.Generic;

namespace RTG
{
    public struct AABB
    {
        private Vector3 _size;
        private Vector3 _center;
        private bool _isValid;

        public bool IsValid { get { return _isValid; } }
        public Vector3 Center { get { return _center; } set { _center = value; } }
        public Vector3 Size { get { return _size; } set { _size = value; } }
        public Vector3 Extents { get { return Size * 0.5f; } }
        public Vector3 Min 
        { 
            get { return Center - Extents; } 
            set
            {
                if (!_isValid) return;
                Vector3 newMin = Vector3.Min(value, Max);
                RecalculateCenterAndSize(newMin, Max);
            }
        }
        public Vector3 Max 
        { 
            get { return Center + Extents; } 
            set
            {
                if (!_isValid) return;
                Vector3 newMax = Vector3.Max(value, Min);
                RecalculateCenterAndSize(Min, newMax);
            }
        }

        public AABB(Vector3 center, Vector3 size)
        {
            _center = center;
            _size = size;
            _isValid = true;
        }

        public AABB(Bounds bounds)
        {
            _center = bounds.center;
            _size = bounds.size;
            _isValid = true;
        }

        public AABB(IEnumerable<Vector3> pointCloud)
        {
            // Find the minimum and maximum extents of the point cloud
            Vector3 min = new Vector3(float.MaxValue, float.MaxValue, float.MaxValue);
            Vector3 max = new Vector3(float.MinValue, float.MinValue, float.MinValue);
            foreach (Vector3 pt in pointCloud)
            {
                min = Vector3.Min(pt, min);
                max = Vector3.Max(pt, max);
            }

            // Calculate the center and size
            _center = (min + max) * 0.5f;
            _size = max - min;
            _isValid = true;
        }

        public AABB(IEnumerable<Vector2> pointCloud)
        {
            // Find the minimum and maximum extents of the point cloud
            Vector2 min = new Vector2(float.MaxValue, float.MaxValue);
            Vector2 max = new Vector2(float.MinValue, float.MinValue);
            foreach (Vector2 pt in pointCloud)
            {
                min = Vector2.Min(pt, min);
                max = Vector2.Max(pt, max);
            }

            // Calculate the center and size
            _center = (min + max) * 0.5f;
            _size = max - min;
            _isValid = true;
        }

        public static AABB GetInvalid()
        {
            return new AABB();
        }

        public void Inflate(float amount)
        {
            Size += Vector3Ex.FromValue(amount);
        }

        public void Inflate(Vector3 amount)
        {
            Size += amount;
        }

        public void Encapsulate(Vector3 point)
        {
            Vector3 min = Min;
            Vector3 max = Max;

            if (point.x < min.x) min.x = point.x;
            if (point.x > max.x) max.x = point.x;
            if (point.y < min.y) min.y = point.y;
            if (point.y > max.y) max.y = point.y;
            if (point.z < min.z) min.z = point.z;
            if (point.z > max.z) max.z = point.z;

            _isValid = true;
            Min = min;
            Max = max;
        }

        public void Encapsulate(IEnumerable<Vector3> points)
        {
            foreach (var pt in points)
                Encapsulate(pt);
        }

        public void Encapsulate(AABB aabb)
        {
            Vector3 thisMin = Min;
            Vector3 thisMax = Max;

            Vector3 otherMin = aabb.Min;
            Vector3 otherMax = aabb.Max;

            // Enlarge to fit minimum extents
            if (otherMin.x < thisMin.x) thisMin.x = otherMin.x;
            if (otherMin.y < thisMin.y) thisMin.y = otherMin.y;
            if (otherMin.z < thisMin.z) thisMin.z = otherMin.z;

            // Enlarge to fit maximum extents
            if (otherMax.x > thisMax.x) thisMax.x = otherMax.x;
            if (otherMax.y > thisMax.y) thisMax.y = otherMax.y;
            if (otherMax.z > thisMax.z) thisMax.z = otherMax.z;

            // Update the min and max extents
            _isValid = true;
            Min = thisMin;
            Max = thisMax;
        }

        public void Transform(Matrix4x4 transformMatrix)
        {
            BoxMath.TransformBox(_center, _size, transformMatrix, out _center, out _size);
        }

        public bool ContainsPoint(Vector3 point)
        {
            return BoxMath.ContainsPoint(point, _center, _size, Quaternion.identity);
        }

        public List<Vector3> GetCornerPoints()
        {
            return BoxMath.CalcBoxCornerPoints(_center, _size, Quaternion.identity);
        }

        public List<Vector3> GetCenterAndCornerPoints()
        {
            List<Vector3> centerAndCorners = GetCornerPoints();
            centerAndCorners.Add(Center);

            return centerAndCorners;
        }

        public List<Vector2> GetScreenCornerPoints(Camera camera)
        {
            List<Vector3> cornerPoints = GetCornerPoints();
            var screenCornerPoints = new List<Vector2>(cornerPoints.Count);

            foreach (var pt in cornerPoints) screenCornerPoints.Add(camera.WorldToScreenPoint(pt));
            return screenCornerPoints;
        }

        public List<Vector2> GetScreenCenterAndCornerPoints(Camera camera)
        {
            List<Vector3> allPoints = GetCenterAndCornerPoints();
            var screenPoints = new List<Vector2>(allPoints.Count);

            foreach (var pt in allPoints) screenPoints.Add(camera.WorldToScreenPoint(pt));
            return screenPoints;
        }

        public Rect GetScreenRectangle(Camera camera)
        {
            List<Vector2> screenCornerPoints = GetScreenCornerPoints(camera);

            Vector3 minScreenPoint = screenCornerPoints[0], maxScreenPoint = screenCornerPoints[0];
            for (int screenPointIndex = 1; screenPointIndex < screenCornerPoints.Count; ++screenPointIndex)
            {
                minScreenPoint = Vector3.Min(minScreenPoint, screenCornerPoints[screenPointIndex]);
                maxScreenPoint = Vector3.Max(maxScreenPoint, screenCornerPoints[screenPointIndex]);
            }

            return Rect.MinMaxRect(minScreenPoint.x, minScreenPoint.y, maxScreenPoint.x, maxScreenPoint.y);
        }

        public Matrix4x4 GetUnitBoxTransform()
        {
            return Matrix4x4.TRS(Center, Quaternion.identity, Size);
        }

        public Bounds ToBounds()
        {
            return new Bounds(_center, _size);
        }

        private void RecalculateCenterAndSize(Vector3 min, Vector3 max)
        {
            _center = (min + max) * 0.5f;
            _size = max - min;
        }
    }
}