Cone thread

    /// <summary>
    /// Render a cone for a specific amount of time
    /// </summary>
    /// <param name="origin"></param>
    /// <param name="radius"></param>
    /// <param name="direction"></param>
    /// <param name="angle"></param>
    /// <param name="lines"></param>
    /// <param name="color"></param>
    /// <param name="time"></param>
    public static void Cone(Vector3 origin, float radius, Vector3 direction, float angle, int lines = 12, Color? color = null, float time = 0f)
        => AddToQueue(() =>
        {
            Gizmo.Draw.Color = color ?? Color.White;
            var halfAngle = angle / 2f;
            var normalDir = direction.Normal;

            var baseCenter = origin + normalDir * (radius * MathF.Cos(MathX.DegreeToRadian(halfAngle)));
            var baseRadius = radius * MathF.Sin(MathX.DegreeToRadian(halfAngle));

            var upDirection = Vector3.Cross(normalDir, Vector3.Up).Normal;
            var rightDirection = Vector3.Cross(normalDir, upDirection).Normal;

            Vector3? previousPoint = null;
            var firstPoint = Vector3.Zero;

            for (var edge = 0; edge < lines; edge++)
            {
                var edgeAngle = MathF.PI * edge * 2f / lines;
                var edgeX = MathF.Cos(edgeAngle) * baseRadius;
                var edgeY = MathF.Sin(edgeAngle) * baseRadius;
                var edgePosition = baseCenter + rightDirection * edgeX + upDirection * edgeY;

                Gizmo.Draw.Line(origin, edgePosition);

                if (edge == 0)
                    firstPoint = edgePosition;

                if (previousPoint != null)
                    Gizmo.Draw.Line(previousPoint.Value, edgePosition);

                if (edge + 1 == lines)
                    Gizmo.Draw.Line(edgePosition, firstPoint);

                previousPoint = edgePosition;
            }
        }, time);
    }

	/// <summary>
	/// Is the provided bbox hit by the cone
	/// </summary>
	/// <param name="bbox"></param>
	/// <param name="origin"></param>
	/// <param name="radius"></param>
	/// <param name="direction"></param>
	/// <param name="angle"></param>
	/// <returns></returns>
	public static bool IsBBoxHitByCone( BBox bbox, Vector3 origin, float radius, Vector3 direction, float angle )
	{
		var normalDir = direction.Normal * (angle > 180f ? -1f : 1f);

		foreach ( var corner in bbox.Corners )
			if ( IsPointInsideCone( origin, radius, direction, angle, corner ) )
				return true; // Sometimes it's that easy!

		var coneLine = new Line( origin, origin + normalDir * radius );
		if ( bbox.Contains( coneLine.ClosestPoint( bbox.Center ) ) ) // Check if the cone's center intersects with the bbox
			return true; // Hopefully we've got something by now!

		// Now we panic

		var baseCenter = origin + normalDir * radius;
		var baseRadius = radius * MathF.Tan( MathX.DegreeToRadian( angle ) / 2f );
		var upDirection = Vector3.Cross( normalDir, Vector3.Up ).Normal;
		var rightDirection = Vector3.Cross( normalDir, upDirection ).Normal;

		var outerEdges = 12;

		for ( var edge = 0; edge < outerEdges; edge++ )
		{
			var edgeAngle = MathF.PI * edge * 2f / outerEdges;
			var edgeX = MathF.Cos( edgeAngle ) * baseRadius;
			var edgeY = MathF.Sin( edgeAngle ) * baseRadius;
			var edgePosition = baseCenter + rightDirection * edgeX + upDirection * edgeY;

			var edgeLine = new Line( origin, edgePosition );
			if ( bbox.Contains( edgeLine.ClosestPoint( bbox.Center ) ) ) // Check if the cone's outer edge intersects with the bbox
				return true;
		}

		return false;
	}

"I'm right you know"