Unity求射线与球体交点（有可能还能优化）

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代码如下：

bool RayCrossSphere(Ray ray, Sphere sphere, out Vector3[] vs)
{Vector3 c2o = sphere.center - ray.origin;float sqrtRadius = sphere.radius * sphere.radius;Vector3 project = Vector3.Project(c2o, ray.direction);Vector3 vPoint = ray.origin + project;Vector3 v2c = vPoint - sphere.center;//vs = new Vector3[] { };if (c2o.sqrMagnitude <= sqrtRadius){float lenVPoint2Surface = Mathf.Sqrt(sqrtRadius - v2c.sqrMagnitude);vs = new Vector3[] { vPoint + ray.direction * lenVPoint2Surface };return true;}else{if (Vector3.Dot(project, ray.direction) > 0){float centerToRaySubRadius = sqrtRadius - v2c.sqrMagnitude;if (Mathf.Approximately(centerToRaySubRadius, 0)){vs = new Vector3[] { vPoint };}else if (centerToRaySubRadius > 0){float vDist = Mathf.Sqrt(centerToRaySubRadius);float v2o = (vPoint - ray.origin).magnitude;vs = new Vector3[] { ray.origin + ray.direction * (v2o - vDist), ray.origin + ray.direction * (v2o + vDist) };}}}return false;
}

补充球体类：

public class Sphere
{public Vector3 center;public float radius;
}

原理参考链接

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