protected static CollisionInfo CircleVSAABB(CircleHull circle, AABBHull AABB)
{
Vector3 circleBox = new Vector3(Mathf.Max(AABB.min.x + AABB.center.x, Mathf.Min(circle.GetCenter().x, AABB.max.x + AABB.center.x)),
Mathf.Max(AABB.min.y + AABB.center.y, Mathf.Min(circle.GetCenter().y, AABB.max.y + AABB.center.y)),
Mathf.Max(AABB.min.z + AABB.center.z, Mathf.Min(circle.GetCenter().z, AABB.max.z + AABB.center.z)));
Vector3 distanceVec = circle.GetCenter() - circleBox;
float distanceSQ = Vector3.Dot(distanceVec, distanceVec);
if (distanceSQ > (circle.radius * circle.radius))
{
return null;
}
float distance = Mathf.Sqrt(distanceSQ);
return new CollisionInfo(circle, AABB, -distanceVec.normalized, circle.radius - distance, circleBox);
}
protected static CollisionInfo CircleVSCircle(CircleHull circle1, CircleHull circle2)
{
float radiusSum = circle1.radius + circle2.radius;
float totalRadius = (circle1.radius + circle2.radius) * (circle1.radius + circle2.radius);
Vector3 centerDiff = (circle2.GetCenter() - circle1.GetCenter());
float distanceSQ = Vector3.Dot(centerDiff, centerDiff);
if (distanceSQ > totalRadius)
{
return null;
}
float distance = Mathf.Sqrt(distanceSQ);
return new CollisionInfo(circle1, circle2, centerDiff / distance, radiusSum - distance,(circle1.GetCenter() + centerDiff * 0.5f));
}
static public bool CircleVSCircle(CircleHull circle1, CircleHull circle2)
{
float totalRadius = (circle1.radius + circle2.radius); //* (circle1.radius + circle2.radius);
Vector2 distance = (circle2.GetCenter() - circle1.GetCenter());
if (Vector2.Dot(distance, distance) <= totalRadius)
{
return(true);
}
else
{
return(false);
}
}
static protected bool CircleVSAABB(CircleHull circle, AABBHull AABB)
{
Vector2 circleBox = new Vector2(Mathf.Max(AABB.min.x + AABB.center.x, Mathf.Min(circle.GetCenter().x, AABB.max.x + AABB.center.x)),
Mathf.Max(AABB.min.y + AABB.center.y, Mathf.Min(circle.GetCenter().y, AABB.max.y + AABB.center.y)));
Vector2 distance = circle.GetCenter() - circleBox;
float distanceSQ = Vector2.Dot(distance, distance);
if (distanceSQ <= (circle.radius * circle.radius))
{
return(true);
}
return(false);
}
static protected bool CircleVSOBB(CircleHull circle, OBBHull OBB)
{
Vector2 halfExtend = (OBB.max - OBB.min) / 2;
Vector2 circleInOBB = OBB.transform.InverseTransformPoint(circle.GetCenter());
Vector2 circleBox = new Vector2(Mathf.Max(-halfExtend.x, Mathf.Min(circleInOBB.x, halfExtend.x)),
Mathf.Max(-halfExtend.y, Mathf.Min(circleInOBB.y, halfExtend.y)));
Vector2 distance = circleInOBB - circleBox;
float distanceSQ = Vector2.Dot(distance, distance);
if (distanceSQ <= (circle.radius * circle.radius))
{
return(true);
}
return(false);
}
static protected CollisionInfo CircleVSOBB(CircleHull circle, OBBHull OBB)
{
Vector2 halfExtend = (OBB.max - OBB.min) / 2;
Vector2 circleInOBB = OBB.transform.InverseTransformPoint(circle.GetCenter());
Vector2 circleBox = new Vector2(Mathf.Max(-halfExtend.x, Mathf.Min(circleInOBB.x, halfExtend.x)),
Mathf.Max(-halfExtend.y, Mathf.Min(circleInOBB.y, halfExtend.y)));
Vector2 distanceVec = circleInOBB - circleBox;
float distanceSQ = Vector2.Dot(distanceVec, distanceVec);
if (distanceSQ > (circle.radius * circle.radius))
{
return(null);
}
float distance = Mathf.Sqrt(distanceSQ);
return(new CollisionInfo(circle, OBB, OBB.transform.TransformVector(-distanceVec).normalized, circle.radius - distance));
}
protected static CollisionInfo CircleVSOBB(CircleHull circle, OBBHull OBB)
{
Vector3 halfExtend = OBB.halfExtends;
Vector3 circleInOBB = OBB.GetComponent<Particle3D>().getWorldToObject().MultiplyPoint(circle.GetCenter());
Vector3 circleBox = new Vector3(Mathf.Max(-halfExtend.x, Mathf.Min(circleInOBB.x, halfExtend.x)),
Mathf.Max(-halfExtend.y, Mathf.Min(circleInOBB.y, halfExtend.y)),
Mathf.Max(-halfExtend.z, Mathf.Min(circleInOBB.z, halfExtend.z)));
Vector3 distanceVec = circleInOBB - circleBox;
float distanceSQ = Vector3.Dot(distanceVec, distanceVec);
if (distanceSQ > (circle.radius * circle.radius))
{
return null;
}
Vector3 closestPt = new Vector3(0f,0f,0f);
float dist;
// Clamp each coordinate to the box.
dist = circleInOBB.x;
if (dist > OBB.halfExtends.x) dist = OBB.halfExtends.x;
if (dist < -OBB.halfExtends.x) dist = -OBB.halfExtends.x;
closestPt.x = dist;
dist = circleInOBB.y;
if (dist > OBB.halfExtends.y) dist = OBB.halfExtends.y;
if (dist < -OBB.halfExtends.y) dist = -OBB.halfExtends.y;
closestPt.y = dist;
dist = circleInOBB.z;
if (dist > OBB.halfExtends.z) dist = OBB.halfExtends.z;
if (dist < -OBB.halfExtends.z) dist = -OBB.halfExtends.z;
closestPt.z = dist;
// Check to see if we’re in contact.
dist = (closestPt - circleInOBB).sqrMagnitude;
if (dist > circle.radius * circle.radius)
return null;
// Compile the contact.
Vector3 closestPtWorld = OBB.GetComponent<Particle3D>().getObjectToWorld().MultiplyPoint(closestPt);
//place contact point in world space
float distance = Mathf.Sqrt(distanceSQ);
//Debug.LogError(closestPtWorld);
return new CollisionInfo(circle, OBB, (-distanceVec).normalized, (circle.radius - distance),closestPtWorld);
//OBB.GetComponent<Particle3D>().getObjectToWorld().MultiplyPoint(-distanceVec).normalized this failed to work, removing it fixed it
}
static protected CollisionInfo CircleVSOBB(CircleHull circle, OBBHull OBB)
{
Vector3 halfExtend = OBB.halfExtends;
Vector3 circleInOBB = OBB.GetComponent <Particle3D>().getWorldToObject().MultiplyPoint(circle.GetCenter());
Vector3 circleBox = new Vector3(Mathf.Max(-halfExtend.x, Mathf.Min(circleInOBB.x, halfExtend.x)),
Mathf.Max(-halfExtend.y, Mathf.Min(circleInOBB.y, halfExtend.y)),
Mathf.Max(-halfExtend.z, Mathf.Min(circleInOBB.z, halfExtend.z)));
Vector3 distanceVec = circleInOBB - circleBox;
float distanceSQ = Vector3.Dot(distanceVec, distanceVec);
if (distanceSQ > (circle.radius * circle.radius))
{
return(null);
}
//place contact point in world space
float distance = Mathf.Sqrt(distanceSQ);
return(new CollisionInfo(circle, OBB, (-distanceVec).normalized, (circle.radius - distance)));
//OBB.GetComponent<Particle3D>().getObjectToWorld().MultiplyPoint(-distanceVec).normalized this failed to work, removing it fixed it
}