public void sphereCollision(sphereCollider sphere, rigidBody body, Transform transform)
{
normal = this.transform.TransformDirection(Vector3.up);
float distance = Vector3.Dot((transform.position - this.transform.position), normal);
if (distance < sphere.radius)
{
body.velocity = reflect(-body.velocity, normal);
body.velocity = body.velocity * (1 - body.GetComponentInParent <material>().elasticity);
transform.position += normal * (sphere.radius - distance);
}
}
// Update is called once per frame
void Update()
{
Vector3 force = calculateForce();
Vector3 acceleration = new Vector3(force.x / mass, force.y / mass, force.z / mass);
velocity += acceleration * Time.deltaTime;
transform.Translate(velocity * Time.deltaTime);
if (usesRotation)
{
}
Object[] obj = GameObject.FindObjectsOfType(typeof(GameObject));
if (this.GetComponent <sphereCollider>() != null)
{
foreach (GameObject o in obj)
{
if (o.GetComponent <sphereCollider>() != null)
{
sphereCollider col = o.GetComponent <sphereCollider>();
sphereCollider bounds = this.GetComponent <sphereCollider>();
col.sphereCollision(bounds, this.GetComponent <rigidBody>(), this.transform);
}
else if (o.GetComponent <planeCollider>() != null)
{
planeCollider col = o.GetComponent <planeCollider>();
sphereCollider bounds = this.GetComponent <sphereCollider>();
col.sphereCollision(bounds, this.GetComponent <rigidBody>(), this.transform);
}
else if (o.GetComponent <AABB>() != null)
{
AABB col = o.GetComponent <AABB>();
sphereCollider bounds = this.GetComponent <sphereCollider>();
col.sphereCollision(bounds, this.GetComponent <rigidBody>(), this.transform);
}
}
}
else if (this.GetComponent <AABB>() != null)
{
foreach (GameObject o in obj)
{
if (o.GetComponent <planeCollider>() != null)
{
planeCollider col = o.GetComponent <planeCollider>();
AABB bounds = this.GetComponent <AABB>();
col.AABBCollision(bounds, this.GetComponent <rigidBody>(), this.transform);
}
}
}
}
public void sphereCollision(sphereCollider sphere, rigidBody body, Transform transform)
{
Vector3 difference = transform.position - this.transform.position;
Vector3 closest = clampedVector(transform.position);
//print(closest);
//Vector3 closest = this.transform.position + clamped;
difference = closest - transform.position;
//print(difference);
if (difference.magnitude < sphere.radius)
{
//print("hit");
Vector3[] compass = new Vector3[]
{
Vector3.up,
Vector3.down,
Vector3.left,
Vector3.right,
Vector3.forward,
Vector3.back
};
float max = 0.0f;
Vector3 normal = new Vector3(0, 0, 0);
foreach (Vector3 v in compass)
{
float dot = Vector3.Dot(-difference.normalized, v);
if (dot > max)
{
max = dot;
normal = v;
}
}
print(normal);
if (normal != new Vector3(0, 0, 0))
{
body.velocity = Vector3.Reflect(body.velocity, normal);
body.velocity = body.velocity * (1 - body.GetComponentInParent <material>().elasticity);
transform.position += normal * (sphere.radius - difference.magnitude);
}
}
}
public void AABBCollision(AABB boundingBox, rigidBody body, Transform transform)
{
normal = this.transform.TransformDirection(Vector3.up);
Vector3 E = (new Vector3(boundingBox.transform.position.x + boundingBox.width / 2,
boundingBox.transform.position.y + boundingBox.height / 2,
boundingBox.transform.position.z + boundingBox.depth / 2) - new Vector3(boundingBox.transform.position.x - boundingBox.width / 2,
boundingBox.transform.position.y - boundingBox.height / 2,
boundingBox.transform.position.z - boundingBox.depth / 2)) / 2;
float fradius = Mathf.Abs(normal.x * E.x) + Mathf.Abs(normal.y * E.y) + Mathf.Abs(normal.z * E.z);
sphereCollider newSphere = new sphereCollider
{
radius = fradius
};
sphereCollision(newSphere, body, transform);
}
public void sphereCollision(sphereCollider sphere, rigidBody body, Transform transform)
{
float distance = Vector3.Distance(transform.position, this.transform.position);
if (distance < radius + sphere.radius)
{
Vector3 normal = Vector3.Normalize(transform.position - this.transform.position);
//float restitution = this.GetComponent<material>().elasticity + body.GetComponentInParent<material>.elasticity
rigidBody b = this.GetComponent <rigidBody>();
float ai = Vector3.Dot(body.velocity, normal);
float a2 = Vector3.Dot(b.velocity, normal);
float p = ((2 - (this.GetComponent <material>().elasticity + body.GetComponentInParent <material>().elasticity)) * (ai - a2) / (body.mass + b.mass));
Vector3 v1 = body.velocity - p * b.mass * normal;
Vector3 v2 = b.velocity + p * body.mass * normal;
body.velocity = v1;
b.velocity = v2;
}
}
