// This function calculate Circle to ABB collisions
public static CollisionInfo CircleToOBBCollision(CollisionHull3D a, CollisionHull3D b)
{
// Find the relative centre by transforming the center of the circle to the local space of the AABB
Vector3 relativeCentre = b.GetComponent <Particle3D>().invTransformMatrix.MultiplyPoint(a.GetPosition());
Vector3 closestPointToCircle = new Vector3(Math.Max(b.GetMinimumCorner().x, Math.Min(relativeCentre.x, b.GetMaximumCorner().x)), Math.Max(b.GetMinimumCorner().y, Math.Min(relativeCentre.y, b.GetMaximumCorner().y)), Math.Max(b.GetMinimumCorner().z, Math.Min(relativeCentre.z, b.GetMaximumCorner().z)));
Vector3 distance = relativeCentre - closestPointToCircle;
float distanceSquared = Vector3.Dot(distance, distance);
float penetration = a.GetDimensions().x - Mathf.Sqrt(distanceSquared);
// Is the penetration a positive value
if (penetration >= 0)
{
// If yes, then inform the parents of the complex shape object (if applicable)
ReportCollisionToParent(a, b);
}
else
{
// If no, return nothing
return(null);
}
// Return full details of the Collision list if the two collide
return(new CollisionInfo(a, b, penetration, (closestPointToCircle - relativeCentre).normalized, closestPointToCircle, CollisionResolution3D.CalculateSeparatingVelocity(a, b, a.GetPosition(), b.GetPosition())));
}
public static CollisionInfo SphereToPlaneCollision(CollisionHull3D a, CollisionHull3D b)
{
// Find the relative centre by transforming the center of the circle to the local space of the AABB
Vector3 relativeCentre = b.GetComponent <Particle3D>().invTransformMatrix.MultiplyPoint(a.GetPosition());
Vector3 closestPointToCircle = new Vector3(Math.Max(b.GetMinimumCorner().x, Math.Min(relativeCentre.x, b.GetMaximumCorner().x)), Math.Max(b.GetMinimumCorner().y, Math.Min(relativeCentre.y, b.GetMaximumCorner().y)), Math.Max(b.GetMinimumCorner().z, Math.Min(relativeCentre.z, b.GetMaximumCorner().z)));
// Calculate the distance between both colliders
Vector3 distance = relativeCentre - closestPointToCircle;
// Are the Radii less than or equal to the distance between both circles?
if (Vector3.Dot(distance, distance) < a.GetDimensions().x *a.GetDimensions().x)
{
// If yes, then inform the parents of the complex shape object (if applicable)
ReportCollisionToParent(a, b);
}
else
{
// If no, return nothing
return(null);
}
float penetration = a.GetDimensions().x - Mathf.Sqrt(Vector3.Dot(distance, distance));
Vector3 closestPointWorld = b.GetComponent <Particle3D>().transformMatrix.MultiplyPoint(closestPointToCircle);
// Return result
return(new CollisionInfo(a, b, penetration, (closestPointWorld - a.GetPosition()).normalized, Vector3.zero, CollisionResolution3D.CalculateSeparatingVelocity(a, b, a.GetPosition(), closestPointWorld)));
}