public static bool checkAxis(OBBHull2D a, AABBHull2D b, Vector2 norm)
{
Vector2 aProjValues = getMinMaxProjectionValuesOnNorm(a, norm);
Vector2 bProjValues = getMinMaxProjectionValuesOnNorm(b, norm);
Debug.DrawLine(aProjValues.x * norm, aProjValues.y * norm, Color.blue); //this is dumb useful, the projected line
Debug.DrawLine(bProjValues.x * norm, bProjValues.y * norm, Color.red); //this is dumb useful, the projected line
return(detectCollisionFromMinMax(aProjValues, bProjValues));
}
/*
* Circle V OBB
*/
public static bool detectCollision(CircleHull2D circle, OBBHull2D square)
{
Vector2 closestPoint = square.GetClosestPoint(circle.position);
Debug.DrawLine(new Vector3(closestPoint.x, closestPoint.y, 0), circle.position);
if (circle.radius > Vector2.Distance(circle.position, closestPoint))
{
return(true);
}
return(false);
}
/*
* VERIFIED WORKING, based off OBB v OBB Collision
*/
public static bool detectCollision(OBBHull2D a, AABBHull2D b)
{
if (checkAxis(a, b, a.getXNormal()) &&
checkAxis(a, b, a.getYNormal()) &&
checkAxis(a, b, Vector2.left) &&
checkAxis(a, b, Vector2.up))
{
return(true);
}
return(false);
}
/*
* Verified Working, possible error in using 4 checkaxis, i think i missed a check somewhere deeper in the code
*/
public static bool detectCollision(OBBHull2D lft, OBBHull2D rgt)
{
//check each axis on each side, need to make better
if (checkAxis(lft, rgt, lft.getXNormal()) &&
checkAxis(lft, rgt, lft.getYNormal()) &&
checkAxis(lft, rgt, rgt.getXNormal()) &&
checkAxis(lft, rgt, rgt.getYNormal()))
{
return(true);
}
return(false);
}
public static Vector2 getMinMaxProjectionValuesOnNorm(OBBHull2D box, Vector2 norm)
{
float a, b, c, d;
int axis = norm.x != 0 ? 0 : 1; //just to make a scaler, but in case the x axis is zero, and if they are both zero then what the hell u doing with a normal (0,0)
a = proj(box.getTopLeftPos(), norm)[axis] / norm[axis];
b = proj(box.getTopRightPos(), norm)[axis] / norm[axis];
c = proj(box.getBottomLeftPos(), norm)[axis] / norm[axis];
d = proj(box.getBottomRightPos(), norm)[axis] / norm[axis];
float min = Mathf.Min(new float[] { a, b, c, d });
float max = Mathf.Max(new float[] { a, b, c, d });
return(new Vector2(min, max));
}
public static float checkAxisPenetration(OBBHull2D a, AABBHull2D b, Vector2 norm)
{
Vector2 aProjValues = getMinMaxProjectionValuesOnNorm(a, norm);
Vector2 bProjValues = getMinMaxProjectionValuesOnNorm(b, norm);
Debug.DrawLine(aProjValues.x * norm, aProjValues.y * norm, Color.blue); //this is dumb useful, the projected line
Debug.DrawLine(bProjValues.x * norm, bProjValues.y * norm, Color.red); //this is dumb useful, the projected line
if (!detectCollisionFromMinMax(aProjValues, bProjValues))
{
return(0.0f);
}
else
{
return(calculateMinMaxCollisionOverlap(aProjValues, bProjValues));
}
}
public static HullCollision2D detectCollisionResponse(OBBHull2D a, OBBHull2D b)
{
Dictionary <Vector2, float> axisValues = new Dictionary <Vector2, float>(); //norm to the overlap value
axisValues.Add(a.getXNormal(), checkAxisPenetration(a, b, a.getXNormal()));
axisValues.Add(a.getYNormal(), checkAxisPenetration(a, b, a.getYNormal()));
if (a.rotation != b.rotation)
{
axisValues.Add(b.getXNormal(), checkAxisPenetration(a, b, b.getXNormal()));
axisValues.Add(b.getYNormal(), checkAxisPenetration(a, b, b.getYNormal()));
}
Dictionary <Vector2, float> .Enumerator enumerator = axisValues.GetEnumerator();
enumerator.MoveNext();
Vector2 pos = a.position;
KeyValuePair <Vector2, float> bestPenetration = enumerator.Current; //need to set one to compare too, no null value to just allow all checking in the for loop
if (bestPenetration.Value == 0.0f)
{
return(null);
}
while (enumerator.MoveNext())
{
if (Mathf.Abs(enumerator.Current.Value) < Mathf.Abs(bestPenetration.Value))
{
bestPenetration = enumerator.Current;
}
if (bestPenetration.Value == 0.0f)
{
return(null);
}
}
HullCollision2D collision;
Vector2 norm = bestPenetration.Key;
if (bestPenetration.Value <= 0.0f) //ooh this was an easy thing to miss
{
norm *= -1.0f;
}
collision = new HullCollision2D(a, b, norm, Mathf.Abs(bestPenetration.Value));
//collision.contactPoint = pos;
return(collision);
}
public static HullCollision2D detectCollisionResponse(OBBHull2D a, AABBHull2D b)
{
Dictionary <Vector2, float> axisValues = new Dictionary <Vector2, float>(); //norm to the overlap value
axisValues.Add(Vector2.up, checkAxisPenetration(a, b, Vector2.up));
axisValues.Add(Vector2.right, checkAxisPenetration(a, b, Vector2.right));
if (a.rotation != 0.0f)
{
axisValues.Add(a.getXNormal(), checkAxisPenetration(a, b, a.getXNormal()));
axisValues.Add(a.getYNormal(), checkAxisPenetration(a, b, a.getYNormal()));
}
Dictionary <Vector2, float> .Enumerator enumerator = axisValues.GetEnumerator();
enumerator.MoveNext();
KeyValuePair <Vector2, float> bestPenetration = enumerator.Current; //need to set one to compare too, no null value to just allow all checking in the for loop
if (bestPenetration.Value == 0.0f)
{
return(null);
}
while (enumerator.MoveNext())
{
if (Mathf.Abs(enumerator.Current.Value) < Mathf.Abs(bestPenetration.Value))
{
bestPenetration = enumerator.Current;
}
if (bestPenetration.Value == 0.0f)
{
return(null);
}
}
HullCollision2D collision;
Vector2 norm = bestPenetration.Key;
if (Vector2.Dot(a.velocity, norm) >= 0.0f)
{
norm *= -1.0f;
}
collision = new HullCollision2D(a, b, norm, Mathf.Abs(bestPenetration.Value));
return(collision);
}
//TODO
public static HullCollision2D detectCollisionResponse(CircleHull2D circle, OBBHull2D square)
{
Vector2 closestPointSquare = square.GetClosestPoint(circle.position);
Vector2 closestPointCircle = circle.GetClosestPoint(closestPointSquare);
Debug.DrawLine(new Vector3(closestPointSquare.x, closestPointSquare.y, 0), new Vector3(closestPointCircle.x, closestPointCircle.y, 0));
if (circle.radius > Vector2.Distance(circle.position, closestPointSquare))
{
Vector2 penNorm = closestPointSquare - closestPointCircle;
HullCollision2D collision;
if (penNorm.x > 0.0f)
{
collision = new HullCollision2D(circle, square, penNorm.normalized, penNorm.magnitude);
}
else
{
collision = new HullCollision2D(circle, square, penNorm.normalized, penNorm.magnitude);
}
return(collision);
}
return(null);
}
