public static void SphereSphereCollision(CollisionManager.HullCollision col)
{
// *IMPORTANT* for circle and square the collision only wirks with obejct1 - object 2 and not viceversa, must be a prob in clollision resolution
SphereHull hull1 = col.a.GetComponent <SphereHull>();
SphereHull hull2 = col.b.GetComponent <SphereHull>();
Vector3 range = (hull2.transform.position + hull2.localCenter) - (hull1.transform.position + hull1.localCenter); // make sure offsets arent screwing things up
float overlap = (hull2.radius + hull1.radius) - range.magnitude;
//HullCollision col = new CollisionManager.HullCollision();
//col.a = hull1;
//col.b = hull2;
col.penetration = range * overlap;
CollisionManager.HullCollision.Contact con0 = new CollisionManager.HullCollision.Contact();
con0.point = (range.normalized * hull1.radius) + hull1.transform.position;
con0.normal = range.normalized;
con0.restitution = Mathf.Min(hull1.restitution, hull2.restitution);
col.contacts[0] = con0;
Particle3D c1 = hull1.GetComponentInParent <Particle3D>();
Particle3D c2 = hull2.GetComponentInParent <Particle3D>();
Vector3 closingVel = c2.velocity - c1.velocity; // started as c1 -c2
col.closingVelocity = closingVel;
if (overlap >= 0)
{
col.status = true;
//Debug.Log("touch");
}
else
{
col.status = false;
}
}
public static void AABBAABBCollision(CollisionManager.HullCollision col)
{
Vector3 min0, max0, min1, max1;
AABBHull A = col.a.GetComponent <AABBHull>();
AABBHull B = col.b.GetComponent <AABBHull>();
min0 = A.transform.position - A.halfSize + A.localCenter;
max0 = A.transform.position + A.halfSize + A.localCenter;
min1 = B.transform.position - B.halfSize + B.localCenter;
max1 = B.transform.position + B.halfSize + B.localCenter;
Vector3 range = (B.transform.position + B.localCenter) - (A.transform.position + A.localCenter); // make sure offsets arent screwing things up
float xOverlap = A.halfSize.x + B.halfSize.x - Mathf.Abs(range.x);
float yOverlap = A.halfSize.y + B.halfSize.y - Mathf.Abs(range.y);
float zOverlap = A.halfSize.z + B.halfSize.z - Mathf.Abs(range.z); // was math.abs
col.penetration = new Vector3(xOverlap, yOverlap);
//Vector3 closingVel = A.velocity - B.velocity;
Vector3 closingVel = B.GetComponent <Particle3D>().velocity - A.GetComponent <Particle3D>().velocity;
col.closingVelocity = closingVel;
CollisionManager.HullCollision.Contact con0 = new CollisionManager.HullCollision.Contact();
con0.point = new Vector3(Mathf.Clamp(range.x, -A.halfSize.x, A.halfSize.x), Mathf.Clamp(range.y, -A.halfSize.y, A.halfSize.y), Mathf.Clamp(range.z, -A.halfSize.z, A.halfSize.z));
con0.restitution = Mathf.Min(A.restitution, B.restitution);
if (max0.x >= min1.x && max1.x >= min0.x)
{
if (max0.y >= min1.y && max1.y >= min0.y)
{
Vector3 collisionNormal = new Vector3();
if (con0.point.x == A.halfSize.x)//added mathf
{
collisionNormal = new Vector3(1.0f, 0.0f, 0.0f);
}
if (con0.point.x == -A.halfSize.x)//added mathf
{
collisionNormal = new Vector3(-1.0f, 0.0f, 0.0f);
}
if (con0.point.y == A.halfSize.y)
{
collisionNormal = new Vector3(0.0f, 1.0f, 0.0f);
}
if (con0.point.y == -A.halfSize.y)
{
collisionNormal = new Vector3(0.0f, -1.0f, 0.0f);
}
if (con0.point.z == A.halfSize.z)
{
collisionNormal = new Vector3(0.0f, 0.0f, 1.0f);
}
if (con0.point.z == -A.halfSize.z)
{
collisionNormal = new Vector3(0.0f, 0.0f, -1.0f);
}
con0.normal = collisionNormal;
col.status = true;
}
}
else
{
col.status = false;
}
col.contacts[0] = con0;
}
public static void SphereAABBCollision(CollisionManager.HullCollision collision)
{
AABBHull boxHull;
SphereHull sphere;
if (collision.a.GetHullType() == hullType.AABB)
{
boxHull = collision.a.GetComponent <AABBHull>();
sphere = collision.b.GetComponent <SphereHull>();
}
else
{
//Debug.Log("flipped");
boxHull = collision.b.GetComponent <AABBHull>();
sphere = collision.a.GetComponent <SphereHull>();
}
Vector3 closestPoint;
Vector3 range = (boxHull.transform.position + boxHull.localCenter) - (sphere.transform.position + sphere.localCenter);
closestPoint = new Vector3(Mathf.Clamp(range.x, -boxHull.halfSize.x, boxHull.halfSize.x), Mathf.Clamp(range.y, -boxHull.halfSize.y, boxHull.halfSize.y), Mathf.Clamp(range.z, -boxHull.halfSize.z, boxHull.halfSize.z));
Vector3 closingVel = sphere.GetComponent <Particle3D>().velocity - boxHull.GetComponent <Particle3D>().velocity; // swapped
Vector3 penetration = closestPoint - range; // swapped
collision.closingVelocity = closingVel;
collision.penetration = penetration;
CollisionManager.HullCollision.Contact con0 = new CollisionManager.HullCollision.Contact();
con0.point = closestPoint;
con0.restitution = Mathf.Min(boxHull.restitution, sphere.restitution);
if (penetration.magnitude <= sphere.radius)
{
Vector3 collisionNormal = new Vector3();
if (closestPoint.x == boxHull.halfSize.x)//added mathf
{
collisionNormal.x = 1.0f;
}
if (closestPoint.x == -boxHull.halfSize.x)//added mathf
{
collisionNormal.x = -1.0f;
}
if (closestPoint.y == boxHull.halfSize.y)
{
collisionNormal.y = 1.0f;
}
if (closestPoint.y == -boxHull.halfSize.y)
{
collisionNormal.y = -1.0f;
}
if (closestPoint.z == boxHull.halfSize.z)
{
collisionNormal.z = 1.0f;
}
if (closestPoint.z == -boxHull.halfSize.z)
{
collisionNormal.z = -1.0f;
}
collisionNormal.Normalize();
con0.normal = -collisionNormal;
//Debug.Log(con0.normal);
collision.status = true;
collision.contacts[0] = con0;
}
else
{
collision.status = false;
}
}
