public TwinCollisionChild(Collider self, Collider other, DotToLineCollisionResult source)
{
this.self = self;
this.other = other;
this.contactPoint = source.collisionPoint;
this.selfDepenetration = source.dotDepenetration;
this.otherDepenetration = source.lineDepenetration;
this.selfOtherNormal = source.lineNormal;
this.t = source.t;
this.selfMovement = source.dotMovement;
this.otherMovement = source.lineMovement;
this.selfRequirement = source.dotRequirement;
this.otherRequirement = source.lineRequirement;
this.thinSelf = source.thinDot;
this.thinOther = source.thinLine;
this.similarDepenetration = source.similarDepenetration;
this.selfOriginalMovement = source.dotOriginalMovement;
this.otherOriginalMovement = source.lineOriginalMovement;
selfDepenetration0 = selfDepenetration;
otherDepenetration0 = otherDepenetration;
similarDepenetration0 = similarDepenetration;
selfMovement0 = selfMovement;
otherMovement0 = otherMovement;
selfRequirement0 = selfRequirement;
otherRequirement0 = otherRequirement;
}
public bool CheckGraze(PolygonCollider other, out TwinCollisionChild result)
{
bool ret0 = false;
result = null;
Vector2 mov = movement;
Vector2 oMov = other.movement;
Vector2[] myPoints = worldPoints;
Vector2[] otherPoints = other.worldPoints;
int mpl = myPoints.Length;
int mpl1 = mpl - 1;
int opl = otherPoints.Length;
int opl1 = opl - 1;
Vector2 prevContactPoint = Vector2.zero;
DotToLineCollisionResult r = new DotToLineCollisionResult();
for (int i = 0; i < mpl; ++i)
{
Vector2 p = myPoints [i];
for (int j = 0; j < opl; ++j)
{
int j1 = Util.RotaryClamp(j - 1, 0, opl1);
Vector2 p1 = otherPoints [j1];
Vector2 p2 = otherPoints [j];
DotToLineCollisionResult rIJ;
if (Physics.MovingDotToMovingLineGraze(
p,
movement,
p1,
p2,
other.movement,
out rIJ) &&
(!ret0 || prevContactPoint != rIJ.collisionPoint))
{
if (!ret0 || rIJ.t < r.t ||
(
rIJ.t == r.t &&
rIJ.dotMovement.sqrMagnitude < r.dotMovement.sqrMagnitude
/*&& (
* !r.CheckDotRequirement2(mov+rIJ.dotDepenetration - rIJ.thinDot)
|| !r.CheckLineRequirement2(oMov+rIJ.lineDepenetration - rIJ.thinLine)
||)*/
)
)
{
bool collidedIJ = false;
if (rIJ.r == 0)
{
if (Vector2.Dot(
Util.Normal(myPoints[Util.RotaryClamp(i - 1, 0, mpl1)], p),
rIJ.lineNormal
) == -1)
{
collidedIJ = true;
}
}
else if (rIJ.r == 1)
{
if (Vector2.Dot(
Util.Normal(p, myPoints[Util.RotaryClamp(i + 1, 0, mpl1)]),
rIJ.lineNormal
) == -1)
{
collidedIJ = true;
}
}
else
{
collidedIJ = true;
}
if (collidedIJ)
{
ret0 = true;
r = rIJ;
//result = new TwinCollisionChild (this, other, rIJ);
}
}
}
}
}
if (ret0)
{
result = new TwinCollisionChild(this, other, r);
}
if (ret0 && gameObject.name == "GreenBox" && (result.selfDepenetration.x == 0.3125f || result.selfDepenetration.x == 0.3124999f))
{
bool x = true;
}
if (ret0 && result.other.gameObject.name == "GreenBox" && (result.otherDepenetration.x == 0.3125f || result.otherDepenetration.x == 0.3124999f))
{
bool x = true;
}
return(ret0);
}
public static bool MovingDotToMovingLineCollision(
Vector2 dot, Vector2 dotMovement,
Vector2 lineP1, Vector2 lineP2, Vector2 lineMovement,
out DotToLineCollisionResult result)
{
result = new DotToLineCollisionResult();
result.dotOriginalMovement = dotMovement;
result.lineOriginalMovement = lineMovement;
Vector2 lineNormal = Util.Normal(lineP1, lineP2);
result.lineNormal = lineNormal;
result.t = 1;
//Vector2 d = lineP2 - lineP1;
if (dotMovement == Vector2.zero && lineMovement == Vector2.zero)
{
UnityEngine.Debug.Log("ZERO MOVEMENT");
return(false);
}
Vector2 diff0 = (dotMovement - lineMovement);
float movDot = Vector2.Dot(lineNormal, diff0.normalized);
if (movDot > 0)
{
/*if (dotMovement.x != 0 && lineNormal.x != 0) {
* bool signDot = dotMovement.x > 0;
* bool signLine = lineMovement.x > 0;
* if (signDot == signLine) {
* UnityEngine.Debug.Log ("DOT ESCAPE");
* }
* }*/
return(false);
}
if (movDot == 0)
{
Vector2 u = lineP2 - lineP1;
Vector2 v = dot - lineP1;
Vector2 w = v + diff0;
Vector2 proj = Util.Project(w, u);
if (Vector2.Dot(v, u) < 0)
{
return(false);
}
else
{
float r = proj.magnitude / u.magnitude;
Vector2 rej = w - proj;
if (r > 1)
{
return(false);
}
else if (rej.sqrMagnitude > 3 * Util.sqrThin)
{
return(false);
}
else
{
result.r = r;
result.t = 1;
result.dotDepenetration = Vector2.zero;
result.collisionPoint = dot + dotMovement;
result.lineDepenetration = Vector2.zero;
result.dotMovement = dotMovement;
result.dotRequirement = dotMovement;
result.dotOriginalMovement = dotMovement;
result.lineNormal = Util.Normal(u);
result.similarDepenetration = Vector2.zero;
result.thinDot = Vector2.zero;
result.thinLine = Vector2.zero;
result.lineOriginalMovement = lineMovement;
result.lineRequirement = lineMovement;
result.lineMovement = lineMovement;
return(true);
}
}
}
DotToLineIntersectionResult _r;
if (!MovingDotToMovingLineIntersection(dot, dotMovement, lineP1, lineP2, lineMovement, out _r))
{
return(MovingDotToMovingLineGraze(dot, dotMovement, lineP1, lineP2, lineMovement, out result));
return(false);
}
bool needThinning = true;
if (false)
{
float t = _r.t;
Vector2 u = lineP2 - lineP1;
Vector2 endPoint = _r.intersectionPoint;
Vector2 postLineP1 = lineP1 + lineMovement + result.lineDepenetration;
Vector2 diff = endPoint - postLineP1;
float crossPost = Util.Cross(diff, u);
if (crossPost != 0)
{
//UnityEngine.Debug.Log ("CROSS IS NOT ZERO");
float crossPre = Util.Cross(dot - lineP1, u);
bool signPost = crossPost > 0;
bool signPre = crossPre > 0;
needThinning = true;
if (signPre != signPost)
{
UnityEngine.Debug.Log("SIGN IS DIFFERENT");
if (t <= 0)
{
UnityEngine.Debug.Log("T NEGATIVE");
needThinning = true;
t = 0;
}
else
{
int i = 0;
do
{
if (t >= _r.t)
{
t *= (1 - Util.thin);
}
if (t >= _r.t)
{
t -= Util.sqrThin;
}
if (t >= _r.t)
{
t -= Util.halfThin;
}
if (t >= _r.t)
{
t -= Util.thin;
}
if (t < 0)
{
UnityEngine.Debug.Log("T NEGATIVE");
needThinning = true;
t = 0;
break;
}
_r.t = t;
float t1 = t - 1;
_r.dotDepenetration = dotMovement * t1;
_r.lineDepenetration = lineMovement * t1;
_r.intersectionPoint = dot + dotMovement + _r.dotDepenetration;
endPoint = _r.intersectionPoint;
postLineP1 = lineP1 + lineMovement + _r.lineDepenetration;
diff = endPoint - postLineP1;
crossPost = Util.Cross(diff, u);
crossPre = Util.Cross(dot - lineP1, u);
signPost = crossPost > 0;
signPre = crossPre > 0;
if (signPost == signPre)
{
needThinning = false;
break;
}
else
{
UnityEngine.Debug.Log("FAILED");
}
++i;
} while(needThinning && i < 5 && t > 0);
}
}
}
}
//needThinning = false;
Vector2 _dotMovement = dotMovement + _r.dotDepenetration;
Vector2 _lineMovement = lineMovement + _r.lineDepenetration;
Vector2 _dotRequirement = _dotMovement;
Vector2 _lineRequirement = _lineMovement;
_r.dotDepenetration = Util.Project(_r.dotDepenetration, lineNormal);
_r.lineDepenetration = Util.Project(_r.lineDepenetration, lineNormal);
if (dotMovement == Vector2.zero && lineMovement == Vector2.zero && _r.dotDepenetration == Vector2.zero && _r.lineDepenetration == Vector2.zero)
{
UnityEngine.Debug.Log("ZERO MOVEMENT AND DEPENETRATION");
return(false);
}
//Vector2 similarDepenetration = Vector2.zero;
Vector2 similarDepenetration = SimilarDepenetration(_r.dotDepenetration, _r.lineDepenetration, lineNormal);
if (similarDepenetration != Vector2.zero)
{
_r.dotDepenetration -= similarDepenetration;
_r.lineDepenetration -= similarDepenetration;
_dotMovement -= similarDepenetration;
_lineMovement -= similarDepenetration;
}
Vector2 thinDot = Vector2.zero, thinLine = Vector2.zero;
if (needThinning)
{
Thin(_dotMovement, _r.dotDepenetration, _lineMovement, _r.lineDepenetration, lineNormal, out thinDot, out thinLine);
_r.dotDepenetration += thinDot;
_r.lineDepenetration += thinLine;
_dotMovement += thinDot;
_lineMovement += thinLine;
}
result.similarDepenetration = similarDepenetration;
result.lineNormal = lineNormal;
result.t = _r.t;
result.r = _r.r;
result.dotDepenetration = _r.dotDepenetration;
result.lineDepenetration = _r.lineDepenetration;
result.collisionPoint = _r.intersectionPoint;
result.dotMovement = _dotMovement;
result.lineMovement = _lineMovement;
result.dotRequirement = _dotRequirement; // - _r.dotDepenetration;
result.lineRequirement = _lineRequirement; // - _r.lineDepenetration;
result.thinDot = thinDot;
result.thinLine = thinLine;
return(true);
}
public static bool MovingDotToMovingLineGraze(
Vector2 dot, Vector2 dotMovement,
Vector2 lineP1, Vector2 lineP2, Vector2 lineMovement,
out DotToLineCollisionResult result)
{
result = new DotToLineCollisionResult();
result.dotOriginalMovement = dotMovement;
result.lineOriginalMovement = lineMovement;
Vector2 lineNormal = Util.Normal(lineP1, lineP2);
result.lineNormal = lineNormal;
result.t = 1;
Vector2 diff0 = (dotMovement - lineMovement);
float movDot = Vector2.Dot(lineNormal, diff0.normalized);
if (movDot < 0)
{
return(false);
}
Vector2 u = lineP2 - lineP1;
Vector2 v = dot - lineP1;
Vector2 w = v + diff0;
Vector2 proj = Util.Project(v, u);
Vector2 rej = w - proj;
if (rej.sqrMagnitude < 3 * Util.sqrThin)
{
if (Vector2.Dot(v, u) < 0)
{
return(false);
}
else
{
float r0 = proj.sqrMagnitude / u.sqrMagnitude;
float r = Util.Project(w, u).magnitude / u.magnitude;
if (r0 > 1)
{
return(false);
}
else
{
if (r > 1)
{
r = 1;
}
result.r = r;
result.t = 1;
result.dotDepenetration = Vector2.zero;
result.collisionPoint = dot + dotMovement;
result.lineDepenetration = Vector2.zero;
result.dotMovement = dotMovement;
result.dotRequirement = dotMovement;
result.dotOriginalMovement = dotMovement;
result.lineNormal = Util.Normal(u);
result.similarDepenetration = Vector2.zero;
result.thinDot = Vector2.zero;
result.thinLine = Vector2.zero;
result.lineOriginalMovement = lineMovement;
result.lineRequirement = lineMovement;
result.lineMovement = lineMovement;
return(true);
}
}
}
return(false);
}
