public static bool getAABBAABBCollision(Shape s1, Shape s2)
{
// Safe type conversion
AxisAlignedBox aabb1 = (AxisAlignedBox)s1;
AxisAlignedBox aabb2 = (AxisAlignedBox)s2;
// Collision test (axis separating theorem)
return aabb1.max.X > aabb2.min.X &&
aabb1.min.X < aabb2.max.X &&
aabb1.max.Y > aabb2.min.Y &&
aabb1.min.Y < aabb2.max.Y &&
aabb1.max.Z > aabb2.min.Z &&
aabb1.min.Z < aabb2.max.Z;
}
public static bool getSphereSphereCollision(Shape s1, Shape s2)
{
// Safe type conversion
Sphere sphere1 = (Sphere)s1;
Sphere sphere2 = (Sphere)s2;
// Collision test
return (sphere1.center - sphere2.center).LengthSquared() <= (sphere1.radius + sphere2.radius) * (sphere1.radius + sphere2.radius);
}
public static void addCollisionTest(Shape.Type t1, Shape.Type t2, CollisionTest test)
{
collisionTests[new KeyValuePair<Type, Type>(t1, t2)] = new CollisionTest(test);
}
public static bool getSphereOBBCollision(Shape s1, Shape s2)
{
return false;
}
public static bool getSphereAABBCollision(Shape s1, Shape s2)
{
Sphere sphere;
AxisAlignedBox aabb;
// Safe type conversion
if (s1.type == Shape.Type.Sphere)
{
sphere = (Sphere)s1;
aabb = (AxisAlignedBox)s2;
}
else
{
sphere = (Sphere)s2;
aabb = (AxisAlignedBox)s1;
}
// Test
float s = 0.0f;
float d = 0.0f;
// Check if the sphere is inside the AABB
bool centerInsideAABB = (sphere.center.X <= aabb.max.X &&
sphere.center.X <= aabb.min.X &&
sphere.center.Y <= aabb.max.Y &&
sphere.center.Y <= aabb.min.Y &&
sphere.center.Z <= aabb.max.Z &&
sphere.center.Z <= aabb.min.Z);
if (centerInsideAABB)
{
return true;
}
// Check if the sphere and the AABB intersect
if (sphere.center.X < aabb.min.X) {
s = sphere.center.X - aabb.min.X;
d += s * s;
}
else if (sphere.center.X > aabb.max.X) {
s = sphere.center.X - aabb.max.X;
d += s * s;
}
if (sphere.center.Y < aabb.min.Y) {
s = sphere.center.Y - aabb.min.Y;
d += s * s;
}
else if (sphere.center.Y > aabb.max.Y) {
s = sphere.center.Y - aabb.max.Y;
d += s * s;
}
if (sphere.center.Z < aabb.min.Z) {
s = sphere.center.Z - aabb.min.Z;
d += s * s;
}
else if (sphere.center.Z > aabb.max.Z) {
s = sphere.center.Z - aabb.max.Z;
d += s * s;
}
return d <= sphere.radius * sphere.radius;
}
public static bool getOBBOBBCollision(Shape s1, Shape s2)
{
OrientedBox o1 = (OrientedBox)s1;
OrientedBox o2 = (OrientedBox)s2;
// Matrix to transform other OBB into my reference to allow me to be treated as an AABB
Matrix toMe = o2.transform * Matrix.Invert(o1.transform);
Vector3 centerOther = Utility.Multiply(o2.center, toMe);
Vector3 extentsOther = o2.extent;
Vector3 separation = centerOther - o1.center;
Matrix3 rotations = new Matrix3(toMe);
Matrix3 absRotations = Utility.Abs(rotations);
float r, r0, r1, r01;
//--- Test case 1 - X axis
r = Math.Abs(separation.X);
r1 = Vector3.Dot(extentsOther, absRotations.Column(0));
r01 = o1.extent.X + r1;
if (r > r01) return false;
//--- Test case 1 - Y axis
r = Math.Abs(separation.Y);
r1 = Vector3.Dot(extentsOther, absRotations.Column(1));
r01 = o1.extent.Y + r1;
if (r > r01) return false;
//--- Test case 1 - Z axis
r = Math.Abs(separation.Z);
r1 = Vector3.Dot(extentsOther, absRotations.Column(2));
r01 = o1.extent.Z + r1;
if (r > r01) return false;
//--- Test case 2 - X axis
r = Math.Abs(Vector3.Dot(rotations.Row(0), separation));
r0 = Vector3.Dot(o1.extent, absRotations.Row(0));
r01 = r0 + extentsOther.X;
if (r > r01) return false;
//--- Test case 2 - Y axis
r = Math.Abs(Vector3.Dot(rotations.Row(1), separation));
r0 = Vector3.Dot(o1.extent, absRotations.Row(1));
r01 = r0 + extentsOther.Y;
if (r > r01) return false;
//--- Test case 2 - Z axis
r = Math.Abs(Vector3.Dot(rotations.Row(2), separation));
r0 = Vector3.Dot(o1.extent, absRotations.Row(2));
r01 = r0 + extentsOther.Z;
if (r > r01) return false;
//--- Test case 3 # 1
r = Math.Abs(separation.Z * rotations[0, 1] - separation.Y * rotations[0, 2]);
r0 = o1.extent.Y * absRotations[0, 2] + o1.extent.Z * absRotations[0, 1];
r1 = extentsOther.Y * absRotations[2, 0] + extentsOther.Z * absRotations[1, 0];
r01 = r0 + r1;
if (r > r01) return false;
//--- Test case 3 # 2
r = Math.Abs(separation.Z * rotations[1, 1] - separation.Y * rotations[1, 2]);
r0 = o1.extent.Y * absRotations[1, 2] + o1.extent.Z * absRotations[1, 1];
r1 = extentsOther.X * absRotations[2, 0] + extentsOther.Z * absRotations[0, 0];
r01 = r0 + r1;
if (r > r01) return false;
//--- Test case 3 # 3
r = Math.Abs(separation.Z * rotations[2, 1] - separation.Y * rotations[2, 2]);
r0 = o1.extent.Y * absRotations[2, 2] + o1.extent.Z * absRotations[2, 1];
r1 = extentsOther.X * absRotations[1, 0] + extentsOther.Y * absRotations[0, 0];
r01 = r0 + r1;
if (r > r01) return false;
//--- Test case 3 # 4
r = Math.Abs(separation.X * rotations[0, 2] - separation.Z * rotations[0, 0]);
r0 = o1.extent.X * absRotations[0, 2] + o1.extent.Z * absRotations[0, 0];
r1 = extentsOther.Y * absRotations[2, 1] + extentsOther.Z * absRotations[1, 1];
r01 = r0 + r1;
if (r > r01) return false;
//--- Test case 3 # 5
r = Math.Abs(separation.X * rotations[1, 2] - separation.Z * rotations[1, 0]);
r0 = o1.extent.X * absRotations[1, 2] + o1.extent.Z * absRotations[1, 0];
r1 = extentsOther.X * absRotations[2, 1] + extentsOther.Z * absRotations[0, 1];
r01 = r0 + r1;
if (r > r01) return false;
//--- Test case 3 # 6
r = Math.Abs(separation.X * rotations[2, 2] - separation.Z * rotations[2, 0]);
r0 = o1.extent.X * absRotations[2, 2] + o1.extent.Z * absRotations[2, 0];
r1 = extentsOther.X * absRotations[1, 1] + extentsOther.Y * absRotations[0, 1];
r01 = r0 + r1;
if (r > r01) return false;
//--- Test case 3 # 7
r = Math.Abs(separation.Y * rotations[0, 0] - separation.X * rotations[0, 1]);
r0 = o1.extent.X * absRotations[0, 1] + o1.extent.Y * absRotations[0, 0];
r1 = extentsOther.Y * absRotations[2, 2] + extentsOther.Z * absRotations[1, 2];
r01 = r0 + r1;
if (r > r01) return false;
//--- Test case 3 # 8
r = Math.Abs(separation.Y * rotations[1, 0] - separation.X * rotations[1, 1]);
r0 = o1.extent.X * absRotations[1, 1] + o1.extent.Y * absRotations[1, 0];
r1 = extentsOther.X * absRotations[2, 2] + extentsOther.Z * absRotations[0, 2];
r01 = r0 + r1;
if (r > r01) return false;
//--- Test case 3 # 9
r = Math.Abs(separation.Y * rotations[2, 0] - separation.X * rotations[2, 1]);
r0 = o1.extent.X * absRotations[2, 1] + o1.extent.Y * absRotations[2, 0];
r1 = extentsOther.X * absRotations[1, 2] + extentsOther.Y * absRotations[0, 2];
r01 = r0 + r1;
if (r > r01) return false;
return true; // No separating axis, then we have intersection
}
public static bool getCollision(Shape s1, Shape s2)
{
KeyValuePair<Shape.Type, Shape.Type> key = new KeyValuePair<Shape.Type, Shape.Type>(s1.type, s2.type);
CollisionTest collisionTest;
if (collisionTests.TryGetValue(key, out collisionTest))
return collisionTest(s1, s2);
else
return false;
}
public static bool getAABBOBBCollision(Shape s1, Shape s2)
{
AxisAlignedBox aabb;
OrientedBox obb;
// Safe type conversion
if (s1.type == Shape.Type.AABB)
{
aabb = (AxisAlignedBox)s1;
obb = (OrientedBox)s2;
}
else
{
aabb = (AxisAlignedBox)s2;
obb = (OrientedBox)s1;
}
OrientedBox o2 = new OrientedBox(aabb.min, aabb.max);
return getOBBOBBCollision(obb, o2);
}
