public override bool intersectsAxisAligned(BoxCollider other, out Vector3 normal1, out Vector3 normal2)
{
Vector3 p = closestPointOnAabb(m_position, other);
normal1 = new Vector3();
normal2 = new Vector3();
Vector3 v = p - m_position;
if (v.LengthSquared() <= m_sphere.Radius * m_sphere.Radius)
{
normal1 = m_position - p;
if (normal1 != Vector3.Zero)
{
normal1.Normalize();
}
normal2 = Vector3.Negate(normal1);
}
return m_sphere.Intersects(other.BoundingBox);
}
public override bool intersectsAxisAligned(BoxCollider other, out Vector3 normal1, out Vector3 normal2)
{
throw new NotImplementedException();
}
//public override bool intersectsAxisAligned(CapsuleCollider other, out Vector3 normal1, out Vector3 normal2)
//{
// throw new NotImplementedException();
//}
//public override bool intersectsAxisAligned(CylinderCollider other, out Vector3 normal1, out Vector3 normal2)
//{
// throw new NotImplementedException();
//}
//public override bool intersectsAxisAligned(HeightfieldCollider other, out Vector3 normal1, out Vector3 normal2)
//{
// throw new NotImplementedException();
//}
//public override bool intersectsAxisAligned(MeshCollider other, out Vector3 normal1, out Vector3 normal2)
//{
// throw new NotImplementedException();
//}
//public override bool intersectsAxisAligned(PlaneCollider other, out Vector3 normal1, out Vector3 normal2)
//{
// float ret = Vector3.Dot(other.Normal, m_position);
// if (ret - other.D <= 0)
// {
// normal1 = other.Normal;
// normal2 = Vector3.Negate(normal1);
// return true;
// }
// normal1 = new Vector3();
// normal2 = new Vector3();
// return false;
//}
private Vector3 closestPointOnAabb(Vector3 point, BoxCollider other)
{
Vector3 min = other.BoundingBox.Min;
Vector3 max = other.BoundingBox.Max;
Vector3 q = Vector3.Zero;
float v = 0;
v = point.X;
v = Math.Max(v, min.X);
v = Math.Min(v, max.X);
q.X = v;
v = point.Y;
v = Math.Max(v, min.Y);
v = Math.Min(v, max.Y);
q.Y = v;
v = point.Z;
v = Math.Max(v, min.Z);
v = Math.Min(v, max.Z);
q.Z = v;
return q;
}
public override bool intersectsAxisAligned(BoxCollider other, out Vector3 normal1, out Vector3 normal2)
{
normal1 = m_normal;
normal2 = Vector3.Negate(normal1);
Vector3 center = other.getCenter();
Vector3 extend;
Vector3 min = other.Bb.Min;
Vector3 max = other.Bb.Max;
Vector3.Subtract(ref max, ref min, out extend);
float distance = getDistance(center);
float maxDist = Vector3.Dot(m_normal, extend);
if (distance > maxDist)
{
return false;
}
return true;
}
public override bool intersectsAxisAligned(BoxCollider other, out Vector3 normal1, out Vector3 normal2)
{
normal1 = new Vector3();
normal2 = new Vector3();
return false;
//return other.intersectsAxisAligned(this, out normal2, out normal1);
}
public override bool intersectsAxisAligned(BoxCollider other, out Vector3 normal1, out Vector3 normal2)
{
normal1 = new Vector3();
normal2 = new Vector3();
if (other.Bb.Min.Y + other.Position.Y > m_position.Y + m_height)
{
return false;
}
if (other.Bb.Max.Y + other.Position.Y < m_position.Y)
{
return false;
}
if (m_position.X + m_radius < other.Position.X - other.Bb.Min.X)
{
return false;
}
if (m_position.X - m_radius > other.Position.X + other.Bb.Max.X)
{
return false;
}
if (m_position.Z + m_radius < other.Position.Z - other.Bb.Min.Z)
{
return false;
}
if (m_position.Z - m_radius > other.Position.Z + other.Bb.Max.Z)
{
return false;
}
return true;
}
public abstract bool intersectsAxisAligned(BoxCollider other, out Vector3 normal1, out Vector3 normal2);
public override bool intersectsAxisAligned(BoxCollider other, out Vector3 normal1, out Vector3 normal2)
{
normal1 = new Vector3();
normal2 = new Vector3();
return m_boundingBox.Intersects(other.m_boundingBox);
//return other.intersectsAxisAligned(this, out normal2, out normal1);
}
