public static HullCollision OBBOBBCollision(OBBHull boxHull1, OBBHull boxHull2)
{
Particle2D A = boxHull1.GetComponent <Particle2D>();
Particle2D B = boxHull2.GetComponent <Particle2D>();
Vector3[] shape1Corners;
Vector3[] shape2Corners;
shape1Corners = new Vector3[4];
shape2Corners = new Vector3[4];
Vector3[] normals = new Vector3[4];
float[] shape1MinMax = new float[2];
float[] shape2MinMax = new float[2];
shape1Corners = getRotatedCorners(boxHull1);
shape2Corners = getRotatedCorners(boxHull2);
normals[0] = getUpNormal(-boxHull1.currentRotation);
normals[1] = getRightNormal(-boxHull1.currentRotation);
normals[2] = getUpNormal(-boxHull2.currentRotation);
normals[3] = getRightNormal(-boxHull2.currentRotation);
HullCollision col = new HullCollision();
col.a = boxHull1;
col.b = boxHull2;
Vector3 range = (boxHull2.transform.position + boxHull2.offset) - (boxHull1.transform.position + boxHull1.offset);
//float xOverlap = boxHull1.halfX + boxHull2.halfX - Mathf.Abs(range.x);
//float yOverlap = boxHull1.halfY + boxHull2.halfY - Mathf.Abs(range.y);
//TRANSPORTATION
//col.penetration = new Vector3(xOverlap, yOverlap);
//Vector3 closingVel = A.velocity - B.velocity;
Vector3 closingVel = B.velocity - A.velocity;
col.closingVelocity = closingVel;
HullCollision.Contact con0 = new HullCollision.Contact();
con0.point = new Vector3(Mathf.Clamp(range.x, -boxHull1.halfX, boxHull1.halfX), Mathf.Clamp(range.y, -boxHull1.halfY, boxHull1.halfY));
con0.restitution = Mathf.Min(boxHull1.restitution, boxHull2.restitution);
con0.normal = range.normalized;
for (int i = 0; i < normals.Length; i++)
{
//Debug.Log("testing corner" + i);
shape1MinMax = SatTest(normals[i], shape1Corners);
shape2MinMax = SatTest(normals[i], shape2Corners);
if (!Overlap(shape1MinMax[0], shape1MinMax[1], shape2MinMax[0], shape2MinMax[1]))
{
//Debug.Log("falure");
col.status = false;
return(col);
}
}
col.status = true;
col.contacts[0] = con0;
return(col);
}
public static HullCollision CircleAABBCollision(CircleHull circleHull, AABBHull boxHull)
{
Particle2D A = boxHull.GetComponent <Particle2D>();
Particle2D B = circleHull.GetComponent <Particle2D>();
Vector3 closestPoint = new Vector3(0.0f, 0.0f);
Vector3 range = (circleHull.transform.position + circleHull.offset) - (boxHull.transform.position + boxHull.offset);
closestPoint = new Vector3(Mathf.Clamp(range.x, -boxHull.halfX, boxHull.halfX), Mathf.Clamp(range.y, -boxHull.halfY, boxHull.halfY));
HullCollision col = new HullCollision();
col.a = boxHull;
col.b = circleHull;
Vector3 closingVel = B.velocity - A.velocity;
Vector3 penetration = range - (closestPoint - circleHull.transform.position + circleHull.offset);
col.closingVelocity = closingVel;
col.penetration = penetration;
HullCollision.Contact con0 = new HullCollision.Contact();
con0.point = closestPoint;
con0.restitution = Mathf.Min(boxHull.restitution, circleHull.restitution);
Vector3 collisionNormal = new Vector3();
if ((range - closestPoint).magnitude - circleHull.radius < 0)
{
if (con0.point.x == boxHull.halfX)//added mathf
{
collisionNormal = new Vector3(1.0f, 0.0f);
}
if (con0.point.x == -boxHull.halfX)//added mathf
{
collisionNormal = new Vector3(-1.0f, 0.0f);
}
if (con0.point.y == boxHull.halfY)
{
collisionNormal = new Vector3(0.0f, 1.0f);
}
if (con0.point.y == -boxHull.halfY)
{
collisionNormal = new Vector3(0.0f, -1.0f);
}
con0.normal = collisionNormal;
col.status = true;
col.contacts[0] = con0;
}
else
{
col.status = false;
}
return(col);
}
public static HullCollision CircleOBBCollision(CircleHull circleHull, OBBHull OBBHull)
{
Particle2D A = circleHull.GetComponent <Particle2D>();
Particle2D B = OBBHull.GetComponent <Particle2D>();
Vector3[] OBBCorners;
OBBCorners = new Vector3[2];//was 4
Vector3[] normals = new Vector3[2];
float[] OBBMinMax = new float[2];
float[] circleMinMax = new float[2];
OBBCorners = getRotatedCorners(OBBHull);
normals[0] = getUpNormal(-OBBHull.currentRotation);
normals[1] = getRightNormal(-OBBHull.currentRotation);
//normals[2] = getUpNormal(-OBBHull2.currentRotation);
//normals[3] = getRightNormal(-boxHull2.currentRotation);
HullCollision col = new HullCollision();
col.a = circleHull;
col.b = OBBHull;
Vector3 range = (OBBHull.transform.position + OBBHull.offset) - (circleHull.transform.position + circleHull.offset);
Vector3 rotatedRange = getRotatedPoint(range, new Vector3(0.0f, 0.0f), -OBBHull.currentRotation);// 2 circleHull.transform.position
Vector3 point = new Vector3(Mathf.Clamp(rotatedRange.x, -OBBHull.halfX, OBBHull.halfX), Mathf.Clamp(rotatedRange.y, -OBBHull.halfY, OBBHull.halfY));
//Debug.Log("range " + range);
//Debug.Log("rotrange " + rotatedRange);
//float xOverlap = boxHull1.halfX + boxHull2.halfX - Mathf.Abs(range.x);
//float yOverlap = boxHull1.halfY + boxHull2.halfY - Mathf.Abs(range.y);
//col.penetration = new Vector3(xOverlap, yOverlap);
Vector3 closingVel = B.velocity - A.velocity;
col.closingVelocity = closingVel;
HullCollision.Contact con0 = new HullCollision.Contact();
con0.point = new Vector3(Mathf.Clamp(range.x, -OBBHull.halfX, OBBHull.halfX), Mathf.Clamp(range.y, -OBBHull.halfY, OBBHull.halfY));
con0.restitution = Mathf.Min(OBBHull.restitution, circleHull.restitution);
con0.normal = range.normalized;
//Debug.Log("point " + point);
col.status = false;
if ((rotatedRange - point).magnitude - circleHull.radius < 0)
{
col.status = true;
col.contacts[0] = con0;
}
return(col);
}
public static HullCollision CircleCircleCollision(CircleHull circleHull1, CircleHull circleHull2)
{
// *IMPORTANT* for circle and square the collision only wirks with obejct1 - object 2 and not viceversa, must be a prob in clollision resolution
Vector3 c1Offset = circleHull1.offset;
Vector3 c2Offset = circleHull2.offset;
Vector3 range = (circleHull2.transform.position + c2Offset) - (circleHull1.transform.position + c1Offset); // make sure offsets arent screwing things up
float overlap = (circleHull2.radius + circleHull1.radius) - range.magnitude;
HullCollision col = new HullCollision();
col.a = circleHull1;
col.b = circleHull2;
col.penetration = range * overlap;
HullCollision.Contact con0 = new HullCollision.Contact();
con0.point = (range.normalized * circleHull1.radius);
con0.point += new Vector3(circleHull1.transform.position.x, circleHull1.transform.position.y);
con0.normal = range.normalized;
con0.restitution = Mathf.Min(circleHull1.restitution, circleHull2.restitution);
col.contacts[0] = con0;
Particle2D c1 = circleHull1.GetComponentInParent <Particle2D>();
Particle2D c2 = circleHull2.GetComponentInParent <Particle2D>();
Vector3 closingVel = c2.velocity - c1.velocity; // started as c1 -c2
col.closingVelocity = closingVel;
if (overlap > 0)
{
col.status = true;
return(col);
}
else
{
col.status = false;
return(col);
}
}
public static HullCollision AABBAABBCollision(AABBHull boxHull1, AABBHull boxHull2)
{
Vector3 min0, max0, min1, max1;
Vector3 b1Offset = boxHull1.offset;
Vector3 b2Offset = boxHull2.offset;
Particle2D A = boxHull1.GetComponent <Particle2D>();
Particle2D B = boxHull2.GetComponent <Particle2D>();
min0 = boxHull1.transform.position - new Vector3(boxHull1.halfX, boxHull1.halfY) + b1Offset;
max0 = boxHull1.transform.position + new Vector3(boxHull1.halfX, boxHull1.halfY) + b1Offset;
min1 = boxHull2.transform.position - new Vector3(boxHull2.halfX, boxHull2.halfY) + b2Offset;
max1 = boxHull2.transform.position + new Vector3(boxHull2.halfX, boxHull2.halfY) + b2Offset;
Vector3 range = (boxHull2.transform.position + b2Offset) - (boxHull1.transform.position + b1Offset); // make sure offsets arent screwing things up
HullCollision col = new HullCollision();
col.a = boxHull1;
col.b = boxHull2;
float xOverlap = boxHull1.halfX + boxHull2.halfX - Mathf.Abs(range.x);
float yOverlap = boxHull1.halfY + boxHull2.halfY - Mathf.Abs(range.y);
//TRANSPORTATION
col.penetration = new Vector3(xOverlap, yOverlap);
//Vector3 closingVel = A.velocity - B.velocity;
Vector3 closingVel = B.velocity - A.velocity;
col.closingVelocity = closingVel;
HullCollision.Contact con0 = new HullCollision.Contact();
con0.point = new Vector3(Mathf.Clamp(range.x, -boxHull1.halfX, boxHull1.halfX), Mathf.Clamp(range.y, -boxHull1.halfY, boxHull1.halfY));
con0.restitution = Mathf.Min(boxHull1.restitution, boxHull2.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 == boxHull1.halfX)//added mathf
{
collisionNormal = new Vector3(1.0f, 0.0f);
}
if (con0.point.x == -boxHull1.halfX)//added mathf
{
collisionNormal = new Vector3(-1.0f, 0.0f);
}
if (con0.point.y == boxHull1.halfY)
{
collisionNormal = new Vector3(0.0f, 1.0f);
}
if (con0.point.y == -boxHull1.halfY)
{
collisionNormal = new Vector3(0.0f, -1.0f);
}
con0.normal = collisionNormal;
col.status = true;
}
}
else
{
col.status = false;
}
col.contacts[0] = con0;
return(col);
}
