public override bool TestCollisionVsObject(ObjectBoundingBoxCollisionHull2D other)
{
// 1. Find width and height for both boxes.
float widthAABB = transform.lossyScale.x * 0.5f;
float heightAABB = transform.lossyScale.y * 0.5f;
float widthOBB = other.transform.lossyScale.x * 0.5f;
float heightOBB = other.transform.lossyScale.y * 0.5f;
// 2. Find local points for both boxes.
Vector2 trAABB_LOCAL = new Vector2(widthAABB, heightAABB);
Vector2 tlAABB_LOCAL = new Vector2(-widthAABB, heightAABB);
Vector2 blAABB_LOCAL = new Vector2(-widthAABB, -heightAABB);
Vector2 brAABB_LOCAL = new Vector2(widthAABB, -heightAABB);
Vector2 trOBB_LOCAL = new Vector2(widthOBB, heightOBB);
Vector2 tlOBB_LOCAL = new Vector2(-widthOBB, heightOBB);
Vector2 blOBB_LOCAL = new Vector2(-widthOBB, -heightOBB);
Vector2 brOBB_LOCAL = new Vector2(widthOBB, -heightOBB);
// 3. Find world points for both boxes.
Vector2 trAABB_WORLD = transform.TransformPoint(new Vector2(widthAABB, heightAABB));
Vector2 tlAABB_WORLD = transform.TransformPoint(new Vector2(-widthAABB, heightAABB));
Vector2 blAABB_WORLD = transform.TransformPoint(new Vector2(-widthAABB, -heightAABB));
Vector2 brAABB_WORLD = transform.TransformPoint(new Vector2(widthAABB, -heightAABB));
Vector2 trOBB_WORLD = other.transform.TransformPoint(new Vector2(widthOBB, heightOBB));
Vector2 tlOBB_WORLD = other.transform.TransformPoint(new Vector2(-widthOBB, heightOBB));
Vector2 blOBB_WORLD = other.transform.TransformPoint(new Vector2(-widthOBB, -heightOBB));
Vector2 brOBB_WORLD = other.transform.TransformPoint(new Vector2(widthOBB, -heightOBB));
// 4. Convert OBB into local AABB space
Vector2 trTranOBB = transform.InverseTransformPoint(trOBB_WORLD);
Vector2 tlTranOBB = transform.InverseTransformPoint(tlOBB_WORLD);
Vector2 blTranOBB = transform.InverseTransformPoint(blOBB_WORLD);
Vector2 brTranOBB = transform.InverseTransformPoint(brOBB_WORLD);
//OBJtrAABB.position = trAABB_LOCAL;
//OBJtlAABB.position = tlAABB_LOCAL;
//OBJblAABB.position = blAABB_LOCAL;
//OBJbrAABB.position = brAABB_LOCAL;
// 5. Calculate transformed OBB's AABB
float rbTransOBB, tbTransOBB, lbTransOBB, bbTransOBB;
CalculateAABB(trTranOBB, tlTranOBB, blTranOBB, brTranOBB, out rbTransOBB, out tbTransOBB, out lbTransOBB, out bbTransOBB);
// 6. Do AABB collision test of AABB vs transformed OBB's ABB
bool isTransformedOBBinAABB = DoAABBCollisionTest(widthAABB, heightAABB, -widthAABB, -heightAABB, rbTransOBB, tbTransOBB, lbTransOBB, bbTransOBB);
// 7. If the test comes back neg, then return false because there is no way the boxes are colliding
if (!isTransformedOBBinAABB)
{
return(false);
}
// 8. Convert AABB into local OBB space.
Vector2 trTranAABB = other.transform.InverseTransformPoint(trAABB_WORLD);
Vector2 tlTranAABB = other.transform.InverseTransformPoint(tlAABB_WORLD);
Vector2 blTranAABB = other.transform.InverseTransformPoint(blAABB_WORLD);
Vector2 brTranAABB = other.transform.InverseTransformPoint(brAABB_WORLD);
// 9. Calculate transformed AABB's AABB
float rbTransAABB, tbTransAABB, lbTransAABB, bbTransAABB;
CalculateAABB(trTranAABB, tlTranAABB, blTranAABB, brTranAABB, out rbTransAABB, out tbTransAABB, out lbTransAABB, out bbTransAABB);
// 10. Do AABB collision test of OBB's local AABB vs transformed AABB's AABB
bool isTransformedAABBinOBB = DoAABBCollisionTest(widthOBB, heightOBB, -widthOBB, -heightOBB, rbTransAABB, tbTransAABB, lbTransAABB, bbTransAABB);
if (isTransformedAABBinOBB)
{
Debug.Log("AABB -> OBB");
return(true);
}
else
{
return(false);
}
}
public override bool TestCollisionVsObject(ObjectBoundingBoxCollisionHull2D other)
{
//same as above but first...
//multiply circle center by box inverse matrix
// 1. get circle center
Vector4 circleCenter = new Vector4(transform.position.x, transform.position.y, 0.0f, 1.0f);
// 2. get box x bounds
float xMaxBound = other.transform.localScale.x * 0.5f;
float xMinBound = -other.transform.localScale.x * 0.5f;
// 3. get box y bounds
float yMaxBound = other.transform.localScale.y * 0.5f;
float yMinBound = -other.transform.localScale.y * 0.5f;
// 4. multiply circle center world position by box world to local matrix
circleCenter = other.transform.InverseTransformPoint(circleCenter);
// 5. clamp circle center on box x bound
float circleOnX = circleCenter.x;
// 6. clamp circle center on box y bound
float circleOnY = circleCenter.y;
//ballBoxLocal.position = circleCenter;
//boxLocal.position = other.transform.InverseTransformPoint(other.transform.position);
if (circleCenter.x > xMaxBound)
{
circleOnX = xMaxBound;
}
else if (circleCenter.x < xMinBound)
{
circleOnX = xMinBound;
}
if (circleCenter.y > yMaxBound)
{
circleOnY = yMaxBound;
}
else if (circleCenter.y < yMinBound)
{
circleOnY = yMinBound;
}
// 7. use clamped point as closest point of box
Vector2 closestPoint = new Vector2(circleOnX, circleOnY);
Vector2 distance = closestPoint - new Vector2(circleCenter.x, circleCenter.y);
float distSqr = Vector2.Dot(distance, distance);
// 8. check if closest point of box is within the circle
if (distSqr < radius * radius)
{
Debug.Log("CIRCLE -> OBB");
return(true);
}
// 9. do test (if in circle, true, else false)
return(false);
}
public override bool TestCollisionVsObject(ObjectBoundingBoxCollisionHull2D other)
{
// 1. Find width and height for both boxes.
float widthOBB1 = transform.lossyScale.x * 0.5f;
float heightOBB1 = transform.lossyScale.y * 0.5f;
float widthOBB2 = other.transform.lossyScale.x * 0.5f;
float heightOBB2 = other.transform.lossyScale.y * 0.5f;
// 2. Find local points for both boxes.
Vector2 trOBB1_LOCAL = new Vector2(widthOBB1, heightOBB1);
Vector2 tlOBB1_LOCAL = new Vector2(-widthOBB1, heightOBB1);
Vector2 blOBB1_LOCAL = new Vector2(-widthOBB1, -heightOBB1);
Vector2 brOBB1_LOCAL = new Vector2(widthOBB1, -heightOBB1);
Vector2 trOBB2_LOCAL = new Vector2(widthOBB2, heightOBB2);
Vector2 tlOBB2_LOCAL = new Vector2(-widthOBB2, heightOBB2);
Vector2 blOBB2_LOCAL = new Vector2(-widthOBB2, -heightOBB2);
Vector2 brOBB2_LOCAL = new Vector2(widthOBB2, -heightOBB2);
// 3. Find world points for both boxes.
Vector2 trOBB1_WORLD = transform.TransformPoint(new Vector2(widthOBB1, heightOBB1));
Vector2 tlOBB1_WORLD = transform.TransformPoint(new Vector2(-widthOBB1, heightOBB1));
Vector2 blOBB1_WORLD = transform.TransformPoint(new Vector2(-widthOBB1, -heightOBB1));
Vector2 brOBB1_WORLD = transform.TransformPoint(new Vector2(widthOBB1, -heightOBB1));
Vector2 trOBB2_WORLD = other.transform.TransformPoint(new Vector2(widthOBB2, heightOBB2));
Vector2 tlOBB2_WORLD = other.transform.TransformPoint(new Vector2(-widthOBB2, heightOBB2));
Vector2 blOBB2_WORLD = other.transform.TransformPoint(new Vector2(-widthOBB2, -heightOBB2));
Vector2 brOBB2_WORLD = other.transform.TransformPoint(new Vector2(widthOBB2, -heightOBB2));
// 4. Convert OBB2 into local OBB1 space
Vector2 trTranOBB2 = transform.InverseTransformPoint(trOBB2_WORLD);
Vector2 tlTranOBB2 = transform.InverseTransformPoint(tlOBB2_WORLD);
Vector2 blTranOBB2 = transform.InverseTransformPoint(blOBB2_WORLD);
Vector2 brTranOBB2 = transform.InverseTransformPoint(brOBB2_WORLD);
// 5. Calculate transformed OBB2's AABB
float rbTransOBB2, tbTransOBB2, lbTransOBB2, bbTransOBB2;
CalculateAABB(trTranOBB2, tlTranOBB2, blTranOBB2, brTranOBB2, out rbTransOBB2, out tbTransOBB2, out lbTransOBB2, out bbTransOBB2);
// 6. Do AABB collision test of OBB1 vs transformed OBB2's ABB
bool isTransformedOBB2inOBB1 = DoAABBCollisionTest(widthOBB1, heightOBB1, -widthOBB1, -heightOBB1, rbTransOBB2, tbTransOBB2, lbTransOBB2, bbTransOBB2);
// 7. If the test comes back neg, then return false because there is no way the boxes are colliding
if (!isTransformedOBB2inOBB1)
{
return(false);
}
// 8. Convert OBB1 into local OBB2 space.
Vector2 trTranOBB1 = other.transform.InverseTransformPoint(trOBB1_WORLD);
Vector2 tlTranOBB1 = other.transform.InverseTransformPoint(tlOBB1_WORLD);
Vector2 blTranOBB1 = other.transform.InverseTransformPoint(blOBB1_WORLD);
Vector2 brTranOBB1 = other.transform.InverseTransformPoint(brOBB1_WORLD);
// 9. Calculate transformed OBB1's AABB
float rbTransOBB1, tbTransOBB1, lbTransOBB1, bbTransOBB1;
CalculateAABB(trTranOBB1, tlTranOBB1, blTranOBB1, brTranOBB1, out rbTransOBB1, out tbTransOBB1, out lbTransOBB1, out bbTransOBB1);
// 10. Do AABB collision test of OBB2's local AABB vs transformed OBB1's AABB
bool isTransformedOBB1inOBB2 = DoAABBCollisionTest(widthOBB2, heightOBB2, -widthOBB2, -heightOBB2, rbTransOBB1, tbTransOBB1, lbTransOBB1, bbTransOBB1);
if (isTransformedOBB1inOBB2)
{
Debug.Log("OBB -> OBB");
return(true);
}
else
{
return(false);
}
}
public abstract bool TestCollisionVsObject(ObjectBoundingBoxCollisionHull2D other);
