/// <summary>
/// Performs collision detection and response on a sphere and plane.
/// </summary>
public void SphereOnPlane(SphereCollider lhs, PlaneCollider rhs)
{
// We need position of each object and the normal of the plane.
var sphere = lhs.position;
var plane = rhs.position;
var normal = rhs.transform.up;
// The formula for collision is: c.n - q.n < radium.
var sphereDot = Vector3.Dot(sphere, normal);
var planeDot = Vector3.Dot(plane, normal);
var distance = sphereDot - planeDot;
if (distance < lhs.radius)
{
// We've collided!
var intersection = lhs.radius - distance;
var pointOfContact = sphere - normal * intersection;
response.Respond(lhs, rhs, -normal, intersection, pointOfContact);
}
else
{
response.NotColliding(lhs, rhs);
}
}
/// <summary>
/// Performs collision detection between a plane and sphere.
/// </summary>
public void PlaneOnSphere(PlaneCollider lhs, SphereCollider rhs)
{
SphereOnPlane(rhs, lhs);
}
public void PlaneOnPlane(PlaneCollider lhs, PlaneCollider rhs)
{
// TODO: Implement plane on plane.
}