Added interaction, hand, rigidbody dragging, picking up hammer

Assets/Plugins/Interaction/Runtime/Utils/BoundsUtils.cs

@@ -0,0 +1,113 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Nothke.Utils
+{
+    public static class BoundsUtils
+    {
+        // static list for caching, never deallocates
+        static List<Collider> colliderCache = new List<Collider>();
+
+        public static Bounds GetObjectSpaceColliderBounds(GameObject go, bool includeInactive = false)
+        {
+            Transform t = go.transform;
+            var rootW2L = t.worldToLocalMatrix;
+
+            go.GetComponentsInChildren(includeInactive, colliderCache);
+
+            if (colliderCache.Count == 0)
+            {
+                Debug.LogError("Attempting to get bounds of the object but it has no colliders");
+                return default;
+            }
+
+            Bounds goBounds = GetBoundsInRootSpace(colliderCache[0]);
+
+            for (int i = 1; i < colliderCache.Count; i++)
+            {
+                Bounds b = GetBoundsInRootSpace(colliderCache[i]);
+                goBounds.Encapsulate(b);
+            }
+
+            return goBounds;
+
+            Bounds GetBoundsInRootSpace(Collider col)
+            {
+                Bounds b = col.GetLocalBounds();
+                Matrix4x4 l2w = col.transform.localToWorldMatrix;
+                Matrix4x4 local = rootW2L * l2w;
+                return TransformBounds(local, b);
+            }
+        }
+
+        public static Bounds GetLocalBounds(this Collider collider)
+        {
+            if (collider is BoxCollider)
+            {
+                BoxCollider box = (BoxCollider)collider;
+                return new Bounds(box.center, box.size);
+            }
+            else if (collider is SphereCollider)
+            {
+                var center = ((SphereCollider)collider).center;
+                var radius = ((SphereCollider)collider).radius;
+                Vector3 size = new Vector3(radius * 2, radius * 2, radius * 2);
+                return new Bounds(center, size);
+            }
+            else if (collider is CapsuleCollider)
+            {
+                var capsule = (CapsuleCollider)collider;
+                var r = capsule.radius;
+                var h = capsule.height;
+
+                Vector3 size;
+                switch (capsule.direction)
+                {
+                    case 0: size = new Vector3(h, r * 2, r * 2); break;
+                    case 1: size = new Vector3(r * 2, h, r * 2); break;
+                    case 2: size = new Vector3(r * 2, r * 2, h); break;
+                    default: size = default; break;
+                }
+
+                return new Bounds(capsule.center, size);
+            }
+            else if (collider is MeshCollider)
+            {
+                return ((MeshCollider)collider).sharedMesh.bounds;
+            }
+
+            Debug.LogError("Attempting to get bounds of an unknown collider type");
+            return new Bounds();
+        }
+
+        public static Bounds TransformBounds(in Matrix4x4 mat, in Bounds bounds)
+        {
+            // Find 8 corners of the bounds
+            Vector3 p0 = bounds.min;
+            Vector3 p1 = bounds.max;
+            Vector3 p2 = new Vector3(p0.x, p0.y, p1.z);
+            Vector3 p3 = new Vector3(p0.x, p1.y, p0.z);
+            Vector3 p4 = new Vector3(p1.x, p0.y, p0.z);
+            Vector3 p5 = new Vector3(p0.x, p1.y, p1.z);
+            Vector3 p6 = new Vector3(p1.x, p0.y, p1.z);
+            Vector3 p7 = new Vector3(p1.x, p1.y, p0.z);
+
+            Bounds b = new Bounds(mat * p0, Vector3.zero);
+            b.Encapsulate(mat * p1);
+            b.Encapsulate(mat * p2);
+            b.Encapsulate(mat * p3);
+            b.Encapsulate(mat * p4);
+            b.Encapsulate(mat * p5);
+            b.Encapsulate(mat * p6);
+            b.Encapsulate(mat * p7);
+
+            return b;
+        }
+
+        public static void DrawBoundsGizmos(in Bounds bounds)
+        {
+            Gizmos.DrawWireCube(bounds.center, bounds.size);
+        }
+    }
+}