public CollisionDataRB(Position collisionNormal, PositionMagnitude penetrationDepth, Rigidbody rigidbody1, Rigidbody rigidbody2)
{
CollisionNormal = collisionNormal;
PenetrationDepth = penetrationDepth;
RigidBody1 = rigidbody1;
RigidBody2 = rigidbody2;
}
// public static Position IntersectCircleCircle(Circle circle1, Circle circle2) {
// return (circle1.Position + circle2.Position) / 2;
// }
public static CollisionDataRB CollisionCircleCircle(Circle circle1, Circle circle2, Rigidbody rb1, Rigidbody rb2)
{
//TODO; would the Velocity be global or local - so would I have to translate it or not
circle1 = new Circle(circle1.Radius * rb1.GameObject.Transform.Scale);
circle2 = new Circle(circle2.Radius * rb2.GameObject.Transform.Scale);
Position distPos = rb2.GameObject.Transform.Position - rb1.GameObject.Transform.Position;
// positionA --- positionB = fullDistance eg 10
// rA + rB = rGes eg 15
// rGes - fullDistance = penetrationDepth eg 15 - 10 = 5
// penetrationDepth / 2 = halfDepth (macht weniger Sinn)
// OPT: This has to be done to prevent a division by zero; however, this occurs very rearly and the result of using it would be undefined anyway
// the normalisation could be ommited in the if, but for GPUs it might be more effective for better streamlining to still do it
// (is this actually true; in both cases I have to do it)
if (distPos == new Position(0, 0))
{
distPos = new Position(1, 0);
}
// I do calculate the square here twice -.-
PositionMagnitude penetrationDepth = (circle1.Radius + circle2.Radius) - distPos.magnitude;
return(new CollisionDataRB(distPos.normalized, penetrationDepth, rb1, rb2));
}
// public static Position IntersectAABBCircle(AABB aABB, Circle circle) {
// //TODO
// // not sure where the middle point of those is
// // I can find the closest point on the rect to the circle
// // Should I just take the middle of that point and ...? what?
// return new Position(0, 0);
// }
// public static Collision CollisionAABBCircle(AABB aabb, Circle circle) {
// bool doIntersect = DoIntersectAABBCircle(aabb, circle);
// Position position = IntersectAABBCircle(aabb, circle);
// //TODO calculate resolving vector
// return new Collision(doIntersect, position);
// }
// #endregion
// #region [CircleCircle]
public static bool DoIntersectCircleCircle(Circle circle1, Circle circle2, Transform2D transform1, Transform2D transform2)
{
Circle translatedCircle1 = new Circle(transform1.Scale * circle1.Radius); // position is not in here -.-
Circle translatedCircle2 = new Circle(transform2.Scale * circle2.Radius); // position is not in here -.-
PositionMagnitude maxRadius = translatedCircle1.Radius + translatedCircle2.Radius;
return((transform1.Position - transform2.Position).sqrMagnitude <= maxRadius * maxRadius);
}
public Grid(PositionMagnitude cellSize, Position offset, Vector2Int cells)
{
f_cellSize = cellSize;
f_offset = offset;
f_cells = cells;
f_cellRBs = new List <Rigidbody> [cells.y, cells.x];
s_emptyNodes = cells.y * cells.x;
for (int x = 0; x < cells.x; ++x)
{
for (int y = 0; y < cells.y; ++y)
{
f_cellRBs[y, x] = new List <Rigidbody>();
}
}
}
public Grid(PositionMagnitude cellSize, AABB aabb)
{
f_cellSize = cellSize;
f_offset = aabb.BottomLeft;
f_cells = Vector2Int.CeilToInt((aabb.TopRight - aabb.BottomLeft) / f_cellSize);
f_cellRBs = new List <Rigidbody> [f_cells.y, f_cells.x];
s_emptyNodes = f_cells.y * f_cells.x;
for (int x = 0; x < f_cells.x; ++x)
{
for (int y = 0; y < f_cells.y; ++y)
{
f_cellRBs[y, x] = new List <Rigidbody>();
}
}
}
public static PositionMagnitude LerpUnclamped(PositionMagnitude a, PositionMagnitude b, float t)
{
return(new PositionMagnitude(Mathf.LerpUnclamped(a.Float, b.Float, t)));
}
public static PositionMagnitude Clamp(PositionMagnitude value, PositionMagnitude min, PositionMagnitude max)
{
return(new PositionMagnitude(Mathf.Clamp(value.Float, min.Float, max.Float)));
}
public static PositionMagnitude Max(PositionMagnitude a, PositionMagnitude b)
{
return(new PositionMagnitude(Mathf.Max(a.Float, b.Float)));
}
public static PositionMagnitude Clamp01(PositionMagnitude value)
{
return(new PositionMagnitude(Mathf.Clamp01(value.Float)));
}
public Capsule(Position position1, Position position2, PositionMagnitude radius)
{
Position1 = position1;
Position2 = position2;
Radius = radius;
}
public Circle(/*Position position, */ PositionMagnitude radius)
{
//Position = position;
Radius = radius;
}
