// OBB2Dと点の最接近点
// 戻り値：最接近点から点までの距離（符号付き）
static public float closestPointOBB2D_Point(OBB2D obb, Vector2 p, out Vector2 cp)
{
Vector2 d = p - obb.Center;
int insertCount = 0;
Vector2 q = obb.Center;
float obbHalfLenX = obb.HalfLen.x;
var obbXAxis = obb.XAxis;
float distX = Vector2.Dot(d, obbXAxis);
if (distX > obbHalfLenX)
{
distX = obbHalfLenX;
}
else if (distX < -obbHalfLenX)
{
distX = -obbHalfLenX;
}
else
{
insertCount++;
}
q += obbXAxis * distX;
float obbHalfLenY = obb.HalfLen.y;
var obbYAxis = obb.YAxis;
float distY = Vector2.Dot(d, obb.YAxis);
if (distY > obbHalfLenY)
{
distY = obbHalfLenY;
}
else if (distY < -obbHalfLenY)
{
distY = -obbHalfLenY;
}
else
{
insertCount++;
}
q += obbYAxis * distY;
cp = q;
if (insertCount == 2)
{
// めり込んでる
var p1 = obb.Center + obbXAxis * distX + obbYAxis * obbHalfLenY * (distY >= 0.0f ? 1.0f : -1.0f);
var p2 = obb.Center + obbYAxis * distY + obbXAxis * obbHalfLenX * (distY >= 0.0f ? 1.0f : -1.0f);
float len1 = (p1 - p).magnitude;
float len2 = (p2 - p).magnitude;
if (len1 < len2)
{
cp = p1;
return(-len1);
}
cp = p2;
return(-len2);
}
return((cp - p).magnitude);
}
public bool collide(OBB2D r)
{
Vector2 cp = Vector2.zero;
float dist = CollideUtil.closestPointOBB2D_Point(r, Center, out cp);
return(dist <= Radius);
}
public bool collide(OBB2D r)
{
foreach (var s in shapes_)
{
if (s.collide(r) == true)
{
return(true);
}
}
return(false);
}
public bool collide(OBB2D r)
{
// 円での一次近似判定
var centerV = Center - r.Center;
float myLen = HalfLen.magnitude;
float otherLen = r.HalfLen.magnitude;
if (myLen + otherLen < centerV.magnitude)
{
return(false);
}
// 分離軸判定
float dist = Mathf.Abs(Vector2.Dot(x_, r.XAxis) * r.HalfLen.x) + (Mathf.Abs(Vector2.Dot(x_, r.YAxis) * r.HalfLen.y)) + len_.x;
float centerDist = Mathf.Abs(Vector2.Dot(x_, centerV));
if (dist < centerDist)
{
return(false);
}
dist = Mathf.Abs(Vector2.Dot(y_, r.XAxis) * r.HalfLen.x) + (Mathf.Abs(Vector2.Dot(y_, r.YAxis) * r.HalfLen.y)) + len_.y;
centerDist = Mathf.Abs(Vector2.Dot(y_, centerV));
if (dist < centerDist)
{
return(false);
}
dist = Mathf.Abs(Vector2.Dot(r.XAxis, x_) * HalfLen.x) + (Mathf.Abs(Vector2.Dot(r.XAxis, y_) * HalfLen.y) + r.HalfLen.x);
centerDist = Mathf.Abs(Vector2.Dot(r.XAxis, centerV));
if (dist < centerDist)
{
return(false);
}
dist = Mathf.Abs(Vector2.Dot(r.YAxis, x_) * HalfLen.x) + (Mathf.Abs(Vector2.Dot(r.YAxis, y_) * HalfLen.y + r.HalfLen.y));
centerDist = Mathf.Abs(Vector2.Dot(r.YAxis, centerV));
if (dist < centerDist)
{
return(false);
}
return(true);
}
// OBB描画
static public void drawOBB2D(OBB2D obb, Color?color)
{
if (obb == null)
{
return;
}
Color c = color ?? Color.white;
Gizmos.color = c;
tmpV3_0_.y = 0.0f;
tmpV3_1_.y = 0.0f;
var vs = obb.getVertices();
for (int i = 0; i < 4; ++i)
{
tmpV3_0_.x = vs[i].x;
tmpV3_0_.z = vs[i].y;
tmpV3_1_.x = vs[(i + 1) % 4].x;
tmpV3_1_.z = vs[(i + 1) % 4].y;
Gizmos.DrawLine(tmpV3_0_, tmpV3_1_);
}
}
public bool intersects(OBB2D other)
{
Update();
other.Update();
Vector2 distanceVector = new Vector2(m_Transform.position.x - other.m_Transform.position.x, m_Transform.position.z - other.m_Transform.position.z);
Vector2[] checkObbVector2s =
{
m_Axiss[0],
m_Axiss[1],
other.m_Axiss[0],
other.m_Axiss[1],
};
for (int index = 0; index < checkObbVector2s.Length; index++)
{
Vector2 curVector2 = checkObbVector2s[index];
if ((getProjectionRadius(curVector2) + other.getProjectionRadius(curVector2)) <= dot(distanceVector, curVector2))
{
return(false);
}
}
return(true);
}
public bool collide(OBB2D r)
{
return(r.collide(this));
}
