public static bool Intersect(SphereXCollider src, SphereXCollider dst, out XContact?contact)
{
var dir = dst.Position - src.Position;
var sqrDist = dir.sqrMagnitude;
var space = src.Radius + dst.Radius;
var sqrSpace = space * space;
if (sqrDist < sqrSpace)
{
var dist = Mathf.Sqrt(sqrDist);
if (dist != 0)
{
contact = new XContact(src, dst, dir.normalized, space - dist);
}
else
{
contact = new XContact(src, dst, Vector3.up, src.Radius);
}
return(true);
}
contact = null;
return(false);
}
public static bool Intersect(CylinderXCollider src, SphereXCollider dst, out XContact?contact)
{
var n = dst.Position - src.Position;
Vector3 closest = n;
var extents = src.bounds.Extents;
closest.x = Mathf.Clamp(closest.x, -extents.x, extents.x);
closest.y = Mathf.Clamp(closest.y, -extents.y, extents.y);
closest.z = Mathf.Clamp(closest.z, -extents.z, extents.z);
var v = new Vector2(closest.x, closest.z);
if (v.sqrMagnitude > src.Radius * src.Radius)
{
v = v.normalized * src.Radius;
closest.x = v.x;
closest.z = v.y;
}
bool inside = false;
if (n == closest)
{
inside = true;
// 往上下移动的最短距离
var dist1 = extents.y - Mathf.Abs(closest.y);
// 往水平四周移动的最短距离
var dist2 = src.Radius - v.magnitude;
if (dist1 < dist2)
{
closest.y = closest.y > 0 ? extents.y : -extents.y;
}
else
{
v = v.normalized * src.Radius;
closest.x = v.x;
closest.z = v.y;
}
}
var dir = n - closest;
var sqrDist = dir.sqrMagnitude;
var space = dst.Radius;
var sqrSpace = space * space;
if (sqrDist < sqrSpace || inside)
{
var dist = Mathf.Sqrt(sqrDist);
var normal = dir.normalized;
var penetration = space - dist;
if (inside)
{
normal = -normal;
penetration = space + dist;
}
if (normal == Vector3.zero)
{
normal = Vector3.up;
}
contact = new XContact(src, dst, normal, penetration);
return(true);
}
contact = null;
return(false);
}
public static bool Intersect(SphereXCollider src, CylinderXCollider dst, out XContact?contact)
{
return(Intersect(dst, src, out contact));
}
public static bool Intersect(CubeXCollider src, SphereXCollider dst, out XContact?contact)
{
// 反向旋转sphere的位置，使得可以在cube的坐标系下进行碰撞判断
var extents = src.Size * 0.5f;
var invQ = Quaternion.Inverse(src.Quaternion);
var invP = invQ * (dst.Position - src.Position);
// 以下所有操作都是在cube的坐标系下，随后的实际方向需要进行坐标系转换
var n = invP;
var closest = n;
closest.x = Mathf.Clamp(closest.x, -extents.x, extents.x);
closest.y = Mathf.Clamp(closest.y, -extents.y, extents.y);
closest.z = Mathf.Clamp(closest.z, -extents.z, extents.z);
var inside = false;
if (n == closest)
{
inside = true;
var disX = extents.x - Mathf.Abs(n.x);
var disY = extents.y - Mathf.Abs(n.y);
var disZ = extents.z - Mathf.Abs(n.z);
//找到最近的一个面
if (disX < disY && disX < disZ)
{
// 沿X轴
if (n.x > 0)
{
closest.x = extents.x;
}
else
{
closest.x = -extents.x;
}
}
else if (disY < disX && disY < disZ)
{
// 沿Y轴
if (n.y > 0)
{
closest.y = extents.y;
}
else
{
closest.y = -extents.y;
}
}
else
{
// 沿Z轴
if (n.z > 0)
{
closest.z = extents.z;
}
else
{
closest.z = -extents.z;
}
}
}
var dir = n - closest;
var sqrDist = dir.sqrMagnitude;
var space = dst.Radius;
var sqrSpace = space * space;
if (sqrDist < sqrSpace || inside)
{
var dist = Mathf.Sqrt(sqrDist);
var normal = (src.Quaternion * dir).normalized;
var penetration = space - dist;
if (inside)
{
normal = -normal;
penetration = space + dist;
}
if (normal == Vector3.zero)
{
normal = Vector3.up;
}
contact = new XContact(src, dst, normal, penetration);
return(true);
}
contact = null;
return(false);
}
