public static HullCollision CircleAABBCollision(CircleHull circleHull, AABBHull boxHull)
{
Particle2D A = boxHull.GetComponent <Particle2D>();
Particle2D B = circleHull.GetComponent <Particle2D>();
Vector3 closestPoint = new Vector3(0.0f, 0.0f);
Vector3 range = (circleHull.transform.position + circleHull.offset) - (boxHull.transform.position + boxHull.offset);
closestPoint = new Vector3(Mathf.Clamp(range.x, -boxHull.halfX, boxHull.halfX), Mathf.Clamp(range.y, -boxHull.halfY, boxHull.halfY));
HullCollision col = new HullCollision();
col.a = boxHull;
col.b = circleHull;
Vector3 closingVel = B.velocity - A.velocity;
Vector3 penetration = range - (closestPoint - circleHull.transform.position + circleHull.offset);
col.closingVelocity = closingVel;
col.penetration = penetration;
HullCollision.Contact con0 = new HullCollision.Contact();
con0.point = closestPoint;
con0.restitution = Mathf.Min(boxHull.restitution, circleHull.restitution);
Vector3 collisionNormal = new Vector3();
if ((range - closestPoint).magnitude - circleHull.radius < 0)
{
if (con0.point.x == boxHull.halfX)//added mathf
{
collisionNormal = new Vector3(1.0f, 0.0f);
}
if (con0.point.x == -boxHull.halfX)//added mathf
{
collisionNormal = new Vector3(-1.0f, 0.0f);
}
if (con0.point.y == boxHull.halfY)
{
collisionNormal = new Vector3(0.0f, 1.0f);
}
if (con0.point.y == -boxHull.halfY)
{
collisionNormal = new Vector3(0.0f, -1.0f);
}
con0.normal = collisionNormal;
col.status = true;
col.contacts[0] = con0;
}
else
{
col.status = false;
}
return(col);
}
public static HullCollision CircleOBBCollision(CircleHull circleHull, OBBHull OBBHull)
{
Particle2D A = circleHull.GetComponent <Particle2D>();
Particle2D B = OBBHull.GetComponent <Particle2D>();
Vector3[] OBBCorners;
OBBCorners = new Vector3[2];//was 4
Vector3[] normals = new Vector3[2];
float[] OBBMinMax = new float[2];
float[] circleMinMax = new float[2];
OBBCorners = getRotatedCorners(OBBHull);
normals[0] = getUpNormal(-OBBHull.currentRotation);
normals[1] = getRightNormal(-OBBHull.currentRotation);
//normals[2] = getUpNormal(-OBBHull2.currentRotation);
//normals[3] = getRightNormal(-boxHull2.currentRotation);
HullCollision col = new HullCollision();
col.a = circleHull;
col.b = OBBHull;
Vector3 range = (OBBHull.transform.position + OBBHull.offset) - (circleHull.transform.position + circleHull.offset);
Vector3 rotatedRange = getRotatedPoint(range, new Vector3(0.0f, 0.0f), -OBBHull.currentRotation);// 2 circleHull.transform.position
Vector3 point = new Vector3(Mathf.Clamp(rotatedRange.x, -OBBHull.halfX, OBBHull.halfX), Mathf.Clamp(rotatedRange.y, -OBBHull.halfY, OBBHull.halfY));
//Debug.Log("range " + range);
//Debug.Log("rotrange " + rotatedRange);
//float xOverlap = boxHull1.halfX + boxHull2.halfX - Mathf.Abs(range.x);
//float yOverlap = boxHull1.halfY + boxHull2.halfY - Mathf.Abs(range.y);
//col.penetration = new Vector3(xOverlap, yOverlap);
Vector3 closingVel = B.velocity - A.velocity;
col.closingVelocity = closingVel;
HullCollision.Contact con0 = new HullCollision.Contact();
con0.point = new Vector3(Mathf.Clamp(range.x, -OBBHull.halfX, OBBHull.halfX), Mathf.Clamp(range.y, -OBBHull.halfY, OBBHull.halfY));
con0.restitution = Mathf.Min(OBBHull.restitution, circleHull.restitution);
con0.normal = range.normalized;
//Debug.Log("point " + point);
col.status = false;
if ((rotatedRange - point).magnitude - circleHull.radius < 0)
{
col.status = true;
col.contacts[0] = con0;
}
return(col);
}