//------------------------------------Private Functions-------------------------------------
private void CheckForCollision(PSI_Collider col1, PSI_Collider col2)
{
// Sphere on sphere.
if (col1.pColliderType == ColliderType.Sphere && col2.pColliderType == ColliderType.Sphere)
{
if (PSI_Physics.SphereSphereCollisionOccured((PSI_SphereCollider)col1, (PSI_SphereCollider)col2))
{
PSI_Physics.HandleSphereSphereCollision((PSI_SphereCollider)col1, (PSI_SphereCollider)col2);
FindObjectOfType <DebugManager>().CollisionOccured(col1, col2);
}
}
// AABB on AABB.
if (col1.pColliderType == ColliderType.AABB && col2.pColliderType == ColliderType.AABB)
{
if (PSI_Physics.AABBAABBCollisionOccured((PSI_AABBCollider)col1, (PSI_AABBCollider)col2))
{
PSI_Physics.HandleAABBAABBCollision((PSI_AABBCollider)col1, (PSI_AABBCollider)col2);
FindObjectOfType <DebugManager>().CollisionOccured(col1, col2);
}
}
// Sphere on plane.
if ((col1.pColliderType == ColliderType.Sphere && col2.pColliderType == ColliderType.Plane) ||
(col1.pColliderType == ColliderType.Plane && col2.pColliderType == ColliderType.Sphere))
{
PSI_SphereCollider sphere = (PSI_SphereCollider)((col1.pColliderType == ColliderType.Sphere) ? col1 : col2);
PSI_PlaneCollider plane = (PSI_PlaneCollider)((col1.pColliderType == ColliderType.Sphere) ? col2 : col1);
if (PSI_Physics.SpherePlaneCollisionOccured(sphere, plane))
{
PSI_Physics.HandleSpherePlaneCollision(sphere, plane);
FindObjectOfType <DebugManager>().CollisionOccured(col1, col2);
}
}
}
public static bool SpherePlaneCollisionOccured(PSI_SphereCollider sphereCol, PSI_PlaneCollider planeCol)
{
float distToProjectedPoint = Vector3.Dot(planeCol.pNormal, (sphereCol.pPosition - planeCol.pPosition));
Vector3 projectedPoint = sphereCol.pPosition - distToProjectedPoint * planeCol.pNormal;
// Generate 4 triangles between the corners of the plane and the projected point.
var planeVerts = planeCol.GetPlaneVertices();
var triangles = new Vector3[4, 3];
for (int i = 0; i < 4; i++)
{
triangles[i, 0] = projectedPoint;
triangles[i, 1] = planeVerts[i];
triangles[i, 2] = planeVerts[(i == 3)?0:i + 1];
}
// Sum the area of the traingles.
float totalTriArea = 0.0f;
for (int i = 0; i < 4; i++)
{
float a = Vector3.Distance(triangles[i, 0], triangles[i, 1]);
float b = Vector3.Distance(triangles[i, 1], triangles[i, 2]);
float c = Vector3.Distance(triangles[i, 2], triangles[i, 0]);
float s = (a + b + c) / 2;
totalTriArea += Mathf.Sqrt(s * (s - a) * (s - b) * (s - c));
}
// Check if the sum area is equal to the area of the plane.
// If so then the projected point is within the bounds of the plane.
if (Mathf.Abs(totalTriArea - planeCol.pArea) > sphereCol.Radius)
{
return(false);
}
// Check if the sphere is intersecting with the plane.
return(Mathf.Abs(distToProjectedPoint) <= sphereCol.Radius);
}
public static void HandleSpherePlaneCollision(PSI_SphereCollider sphereCol, PSI_PlaneCollider planeCol)
{
float distToProjectedPoint = Vector3.Dot(planeCol.pNormal, (sphereCol.pPosition - planeCol.pPosition));
Vector3 projectedPoint = sphereCol.pPosition - distToProjectedPoint * planeCol.pNormal;
// Calculating the collision vector.
var colVector = sphereCol.pPosition - projectedPoint;
// Calculating the minimum translation vector needed to reset the sphere.
var minTranslationVector = colVector * ((sphereCol.Radius - colVector.magnitude) / colVector.magnitude);
// Moving the sphere collider so it is not overlapping.
sphereCol.transform.Translate(minTranslationVector);
// Applying the impulse to the bodies.
if (planeCol.pRigidBody != null)
{
sphereCol.pRigidBody.Velocity += PSI_Physics.CalculateImpulseAgainstStaticRB(sphereCol.pRigidBody, planeCol.pRigidBody, minTranslationVector);
}
else
{
sphereCol.pRigidBody.Velocity += PSI_Physics.CalculateImpulseAgainstStaticCollider(sphereCol.pRigidBody, minTranslationVector);
}
}
