碰撞检测之OBB

//包围盒数据结构
using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class CollisionData : MonoBehaviour
{
    public Vector3[] vertexts = new Vector3[8];
    public Vector3[] axes = new Vector3[3];
    public Vector3 center = Vector3.zero;
}
---------------------------------------------
/// <summary>
/// SAT分离轴碰撞检测之OBB检测
/// <param name="data1"></param>
/// <param name="data2"></param>
/// </summary>
private bool CollisionOBB(CollisionData data1,CollisionData data2)
{
    //求与两个OBB包围盒之间两两坐标轴垂直的法线轴 共9个
    int len1 = data1.axes.Length;
    int len2 = data2.axes.Length;
    Vector3[] axes = new Vector3[len1 + len2 + len1 * len2];
    int k = 0;
    int initJ = len2;
    for (int i = 0; i < len1; i++)
    {
        axes[k++] = data1.axes[i];
        for (int j = 0; j < len2; j++)
        {
            if (initJ > 0)
            {
                initJ--;
                axes[k++] = data2.axes[j];
            }
            axes[k++] = Vector3.Cross(data1.axes[i], data2.axes[j]);
        }
    }


    for (int i = 0, len = axes.Length; i < len; i++)
    {
        if (NotInteractiveOBB(data1.vertexts, data2.vertexts, axes[i]))
        {
            //有一个不相交就退出
            return false;
        }
    }
    return true;
}

/// <summary>
/// 计算投影是否不相交
/// </summary>
/// <param name="vertexs1"></param>
/// <param name="vertexs2"></param>
/// <param name="axis"></param>
/// <returns></returns>
private bool NotInteractiveOBB(Vector3[] vertexs1, Vector3[] vertexs2, Vector3 axis)
{
    //计算OBB包围盒在分离轴上的投影极限值
    float[] limit1 = GetProjectionLimit(vertexs1, axis);
    float[] limit2 = GetProjectionLimit(vertexs2, axis);
    //两个包围盒极限值不相交，则不碰撞
    return limit1[0] > limit2[1] || limit2[0] > limit1[1];
}

/// <summary>
/// 计算顶点投影极限值
/// </summary>
/// <param name="vertexts"></param>
/// <param name="axis"></param>
/// <returns></returns>
private float[] GetProjectionLimit(Vector3[] vertexts, Vector3 axis)
{
    float[] result = new float[2] { float.MaxValue, float.MinValue };
    for (int i = 0, len = vertexts.Length; i < len; i++)
    {
        Vector3 vertext = vertexts[i];
        float dot = Vector3.Dot(vertext, axis);
        result[0] = Mathf.Min(dot, result[0]);
        result[1] = Mathf.Max(dot, result[1]);
    }
    return result;
}