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<article data-uid="Hi.Collision.CollisionUtil">
<h1 id="Hi_Collision_CollisionUtil" data-uid="Hi.Collision.CollisionUtil" class="text-break">
Class CollisionUtil
</h1>
<div class="facts text-secondary">
<dl><dt>Namespace</dt><dd><a class="xref" href="Hi.html">Hi</a>.<a class="xref" href="Hi.Collision.html">Collision</a></dd></dl>
<dl><dt>Assembly</dt><dd>HiCbtr.dll</dd></dl>
</div>
<div class="markdown summary"><p>Utility of tree grid related structure.</p>
</div>
<div class="markdown conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public static class CollisionUtil</code></pre>
</div>
<dl class="typelist inheritance">
<dt>Inheritance</dt>
<dd>
<div><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object">object</a></div>
<div><span class="xref">CollisionUtil</span></div>
</dd>
</dl>
<dl class="typelist inheritedMembers">
<dt>Inherited Members</dt>
<dd>
<div>
<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.equals#system-object-equals(system-object)">object.Equals(object)</a>
</div>
<div>
<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.equals#system-object-equals(system-object-system-object)">object.Equals(object, object)</a>
</div>
<div>
<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.gethashcode">object.GetHashCode()</a>
</div>
<div>
<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.gettype">object.GetType()</a>
</div>
<div>
<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.memberwiseclone">object.MemberwiseClone()</a>
</div>
<div>
<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.referenceequals">object.ReferenceEquals(object, object)</a>
</div>
<div>
<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.tostring">object.ToString()</a>
</div>
</dd></dl>
<h2 class="section" id="methods">Methods
</h2>
<a id="Hi_Collision_CollisionUtil_Detect_" data-uid="Hi.Collision.CollisionUtil.Detect*"></a>
<h3 id="Hi_Collision_CollisionUtil_Detect_Hi_Cbtr_CubeTree_Hi_Collision_TriTree_Hi_Geom_Mat4d_System_Double_System_Int32_" data-uid="Hi.Collision.CollisionUtil.Detect(Hi.Cbtr.CubeTree,Hi.Collision.TriTree,Hi.Geom.Mat4d,System.Double,System.Int32)">
Detect(CubeTree, TriTree, Mat4d, double, int)
</h3>
<div class="markdown level1 summary"><p>Get <a class="xref" href="Hi.Collision.CollisionFlag.html">CollisionFlag</a> between <code class="paramref">treeA</code> and <code class="paramref">treeB</code>*<code class="paramref">matAB</code>.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public static CollisionFlag Detect(this CubeTree treeA, TriTree treeB, Mat4d matAB, double safeDistance, int cap = 1024)</code></pre>
</div>
<h4 class="section">Parameters</h4>
<dl class="parameters">
<dt><code>treeA</code> <a class="xref" href="Hi.Cbtr.CubeTree.html">CubeTree</a></dt>
<dd><p>treeA</p>
</dd>
<dt><code>treeB</code> <a class="xref" href="Hi.Collision.TriTree.html">TriTree</a></dt>
<dd><p>treeB</p>
</dd>
<dt><code>matAB</code> <a class="xref" href="Hi.Geom.Mat4d.html">Mat4d</a></dt>
<dd><p>relative transform matrix to take B to the position relative to A.
The mat is Inv(matA)*matB.</p>
</dd>
<dt><code>safeDistance</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.double">double</a></dt>
<dd><p>safe distance for the flag judgement</p>
</dd>
<dt><code>cap</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.int32">int</a></dt>
<dd></dd>
</dl>
<h4 class="section">Returns</h4>
<dl class="parameters">
<dt><a class="xref" href="Hi.Collision.CollisionFlag.html">CollisionFlag</a></dt>
<dd><p><a class="xref" href="Hi.Collision.CollisionFlag.html">CollisionFlag</a></p>
</dd>
</dl>
<a id="Hi_Collision_CollisionUtil_Detect_" data-uid="Hi.Collision.CollisionUtil.Detect*"></a>
<h3 id="Hi_Collision_CollisionUtil_Detect_Hi_Collision_ICollidable_Hi_Collision_ICollidable_Hi_Geom_Mat4d_System_Double_System_Int32_" data-uid="Hi.Collision.CollisionUtil.Detect(Hi.Collision.ICollidable,Hi.Collision.ICollidable,Hi.Geom.Mat4d,System.Double,System.Int32)">
Detect(ICollidable, ICollidable, Mat4d, double, int)
</h3>
<div class="markdown level1 summary"><p>Get <a class="xref" href="Hi.Collision.CollisionFlag.html">CollisionFlag</a>
between <code class="paramref">collidableA</code> and
<code class="paramref">collidableB</code>*<code class="paramref">matAB</code>.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public static CollisionFlag Detect(this ICollidable collidableA, ICollidable collidableB, Mat4d matAB, double safeDistance = 0, int cap = 1024)</code></pre>
</div>
<h4 class="section">Parameters</h4>
<dl class="parameters">
<dt><code>collidableA</code> <a class="xref" href="Hi.Collision.ICollidable.html">ICollidable</a></dt>
<dd><p>collidable A</p>
</dd>
<dt><code>collidableB</code> <a class="xref" href="Hi.Collision.ICollidable.html">ICollidable</a></dt>
<dd><p>collidable B</p>
</dd>
<dt><code>matAB</code> <a class="xref" href="Hi.Geom.Mat4d.html">Mat4d</a></dt>
<dd><p>relative transform matrix to take B to the position relative to A.
The mat is Inv(matA)*matB.
If one of <code class="paramref">collidableA</code> and <code class="paramref">collidableB</code> is null,
return <a class="xref" href="Hi.Collision.CollisionFlag.html#Hi_Collision_CollisionFlag_OUTSIDE_SAFE_DISTANCE">OUTSIDE_SAFE_DISTANCE</a>.</p>
</dd>
<dt><code>safeDistance</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.double">double</a></dt>
<dd><p>safe distance for the flag judgement</p>
</dd>
<dt><code>cap</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.int32">int</a></dt>
<dd></dd>
</dl>
<h4 class="section">Returns</h4>
<dl class="parameters">
<dt><a class="xref" href="Hi.Collision.CollisionFlag.html">CollisionFlag</a></dt>
<dd><p><a class="xref" href="Hi.Collision.CollisionFlag.html">CollisionFlag</a></p>
</dd>
</dl>
<a id="Hi_Collision_CollisionUtil_Detect_" data-uid="Hi.Collision.CollisionUtil.Detect*"></a>
<h3 id="Hi_Collision_CollisionUtil_Detect_Hi_Collision_TriTree_Hi_Collision_TriTree_Hi_Geom_Mat4d_System_Double_System_Int32_" data-uid="Hi.Collision.CollisionUtil.Detect(Hi.Collision.TriTree,Hi.Collision.TriTree,Hi.Geom.Mat4d,System.Double,System.Int32)">
Detect(TriTree, TriTree, Mat4d, double, int)
</h3>
<div class="markdown level1 summary"><p>Get <a class="xref" href="Hi.Collision.CollisionFlag.html">CollisionFlag</a> between <code class="paramref">treeA</code> and <code class="paramref">treeB</code>*<code class="paramref">matAB</code>.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public static CollisionFlag Detect(this TriTree treeA, TriTree treeB, Mat4d matAB, double safeDistance, int cap = 1024)</code></pre>
</div>
<h4 class="section">Parameters</h4>
<dl class="parameters">
<dt><code>treeA</code> <a class="xref" href="Hi.Collision.TriTree.html">TriTree</a></dt>
<dd><p>treeA</p>
</dd>
<dt><code>treeB</code> <a class="xref" href="Hi.Collision.TriTree.html">TriTree</a></dt>
<dd><p>treeB</p>
</dd>
<dt><code>matAB</code> <a class="xref" href="Hi.Geom.Mat4d.html">Mat4d</a></dt>
<dd><p>relative transform matrix to take B to the position relative to A.
The mat is Inv(matA)*matB.</p>
</dd>
<dt><code>safeDistance</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.double">double</a></dt>
<dd><p>safe distance for the flag judgement</p>
</dd>
<dt><code>cap</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.int32">int</a></dt>
<dd></dd>
</dl>
<h4 class="section">Returns</h4>
<dl class="parameters">
<dt><a class="xref" href="Hi.Collision.CollisionFlag.html">CollisionFlag</a></dt>
<dd><p><a class="xref" href="Hi.Collision.CollisionFlag.html">CollisionFlag</a></p>
</dd>
</dl>
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