protected override bool GenerateCollisionRes(SICollider other, out SCollisionResult selfres, out SCollisionResult otherres)
{
if (other.GetType().Equals(typeof(SSphereCollider)))
{
var minDis = (other.position - position).sqrtMagnitude;
if (minDis <= (radius + other.radius) * (radius + other.radius))
{
//SDebug.LogWarning(gameObject.name + " BAAAAAANG!!! " + minDis);
}
}
else if (other.GetType().Equals(typeof(SCapsuleCollider)))
{
var oth = other as SCapsuleCollider;
Fix64 minDis = Fix64.MaxValue;
var atop = position - oth.positionA;
var btop = position - oth.positionB;
var ti = atop.Dot(oth.up);
var tj = btop.Dot(oth.up);
var w = position - oth.positionA;
if (ti * tj < Fix64.Zero)
{
minDis = w.sqrtMagnitude - w.Dot(oth.up) * w.Dot(up);
}
else if (ti <= Fix64.Zero)
{
minDis = atop.sqrtMagnitude;
}
else if (tj >= Fix64.Zero)
{
minDis = btop.sqrtMagnitude;
}
if (minDis <= (radius + other.radius) * (radius + other.radius))
{
SDebug.LogWarning(gameObject.name + " BAAAAAANG!!! " + minDis);
}
}
selfres = new SCollisionResult();
otherres = new SCollisionResult();
return(false);
}
internal override void DetectCollision(SICollider other)
{
if (other.GetType().Equals(typeof(SSphereCollider)))
{
var minDis = (other.position - position).sqrtMagnitude;
if (minDis <= (radius + other.radius) * (radius + other.radius))
{
SDebug.LogWarning(gameObject.name + " BAAAAAANG!!! " + minDis);
}
}
else if (other.GetType().Equals(typeof(SCapsuleCollider)))
{
var oth = other as SCapsuleCollider;
Fix64 minDis = Fix64.MaxValue;
var atop = position - oth.positionA;
var btop = position - oth.positionB;
var ti = atop.Dot(oth.up);
var tj = btop.Dot(oth.up);
var w = position - oth.positionA;
if (ti * tj < Fix64.Zero)
{
minDis = w.sqrtMagnitude - w.Dot(oth.up) * w.Dot(up);
}
else if (ti <= Fix64.Zero)
{
minDis = atop.sqrtMagnitude;
}
else if (tj >= Fix64.Zero)
{
minDis = btop.sqrtMagnitude;
}
if (minDis <= (radius + other.radius) * (radius + other.radius))
{
SDebug.LogWarning(gameObject.name + " BAAAAAANG!!! " + minDis);
}
}
}
internal override void DetectCollision(SICollider other)
{
if (other.GetType().Equals(typeof(SSphereCollider)))
{
Fix64 minDis = Fix64.MaxValue;
var atop = other.position - positionA;
var btop = other.position - positionB;
var ti = atop.Dot(up);
var tj = btop.Dot(up);
var w = other.position - positionA;
if (ti * tj < Fix64.Zero)
{
minDis = w.sqrtMagnitude - w.Dot(up) * w.Dot(up);
}
else if (ti <= Fix64.Zero)
{
minDis = atop.sqrtMagnitude;
}
else if (tj >= Fix64.Zero)
{
minDis = btop.sqrtMagnitude;
}
if (minDis <= (radius + other.radius) * (radius + other.radius))
{
SDebug.LogWarning(gameObject.name + " BAAAAAANG!!! " + minDis);
}
}
else if (other.GetType().Equals(typeof(SCapsuleCollider)))
{
Fix64 deltaRange = (Fix64)1 / (Fix64)1000;
//SDebug.Log(deltaRange);
SCapsuleCollider oth = other as SCapsuleCollider;
if (Fix64.Abs(up.Dot(oth.up)) > deltaRange)
{
Fix64 tIn1 = (oth.positionA.Dot(oth.up) - positionA.Dot(oth.up)) / up.Dot(oth.up);
Fix64 tIn2 = (oth.positionB.Dot(oth.up) - positionA.Dot(oth.up)) / up.Dot(oth.up);
Fix64 tInMin = ((tIn1 < tIn2) ? tIn1 : tIn2);
Fix64 tInMax = ((tIn1 < tIn2) ? tIn2 : tIn1);
//SDebug.Log(tInMin + " " + tInMax);
var w = positionA - oth.positionA;
var wf = positionA - oth.positionB;
var u12 = up.Dot(oth.up);
var u1w = up.Dot(w);
var u2w = oth.up.Dot(w);
var u1wf = up.Dot(wf);
var minDis = Fix64.MaxValue;
var minMiddle = Fix64.MaxValue;
var minLeft = Fix64.MaxValue;
var minRight = Fix64.MaxValue;
Fix64 et = Fix64.Zero;
Fix64 etLeft = Fix64.Zero;
Fix64 etMiddle = Fix64.Zero;
Fix64 etRight = Fix64.Zero;
if (tInMin <= length && tInMax >= Fix64.Zero)
{
minMiddle = minValueFunc((Fix64)1 - u12 * u12, (Fix64)2 * (u1w - u12 * u2w), w.sqrtMagnitude - u2w * u2w,
MathF.max((Fix64)0, tInMin), MathF.min(length, tInMax), out etMiddle);
//SDebug.Log(gameObject.name+" middle: " + minMiddle);
}
if (tInMin >= Fix64.Zero)
{
Fix64 temEtLeft1 = Fix64.Zero;
Fix64 temEtLeft2 = Fix64.Zero;
var temMin1 =
minValueFunc(Fix64.One, (Fix64)2 * u1w, w.sqrtMagnitude,
Fix64.Zero, MathF.min(length, tInMin), out temEtLeft1);
var temMin2 =
minValueFunc(Fix64.One, (Fix64)2 * u1wf, wf.sqrtMagnitude,
Fix64.Zero, MathF.min(length, tInMin), out temEtLeft2);
etLeft = (temMin1 < temMin2) ? temEtLeft1 : temEtLeft2;
minLeft = MathF.min(temMin1, temMin2);
//SDebug.Log(gameObject.name+" left: " + minLeft + " " + etLeft);
}
if (tInMax <= length)
{
Fix64 temEtRight1 = Fix64.Zero;
Fix64 temEtRight2 = Fix64.Zero;
var temMin1 =
minValueFunc(Fix64.One, (Fix64)2 * u1w, w.sqrtMagnitude,
MathF.max(Fix64.Zero, tInMax), length, out temEtRight1);
var temMin2 =
minValueFunc(Fix64.One, (Fix64)2 * u1wf, wf.sqrtMagnitude,
MathF.max(Fix64.Zero, tInMax), length, out temEtRight2);
etRight = (temMin1 < temMin2) ? temEtRight1 : temEtRight2;
minRight = MathF.min(temMin1, temMin2);
//SDebug.Log(gameObject.name+" right: " + minRight + " " + etRight);
}
if (minLeft <= minRight && minLeft <= minMiddle)
{
et = etLeft;
minDis = minLeft;
}
else if (minMiddle <= minLeft && minMiddle <= minRight)
{
et = etMiddle;
minDis = minMiddle;
}
else
{
et = etRight;
minDis = minRight;
}
if (minDis <= (radius + oth.radius) * (radius + oth.radius))
{
SDebug.LogWarning(gameObject.name + " BAAAAAANG!!! " + minDis);
}
}
else
{
Fix64 minDis = Fix64.MaxValue;
Fix64 et = Fix64.Zero;
SDebug.LogWarning("Vertical");
var p1tp2 = positionA - oth.positionA;
var p1tp2f = positionA - oth.positionB;
var ti = p1tp2.Dot(oth.up);
var tj = p1tp2f.Dot(oth.up);
if (ti * tj <= Fix64.Zero)
{
var a = Fix64.One;
var w = positionA - oth.positionA;
var b = (Fix64)2 * up.Dot(w);
var c = w.sqrtMagnitude - oth.up.Dot(w) * oth.up.Dot(w);
minDis =
minValueFunc(a, b, c, Fix64.Zero, length, out et);
//minDis = temMin;
}
else if (ti <= Fix64.Zero)
{
var w = positionA - oth.positionA;
var u1w = up.Dot(w);
minDis =
minValueFunc(Fix64.One, (Fix64)2 * u1w, w.sqrtMagnitude, Fix64.Zero, length, out et);
}
else if (tj >= Fix64.Zero)
{
var wf = positionA - oth.positionB;
var u1wf = up.Dot(wf);
minDis =
minValueFunc(Fix64.One, (Fix64)2 * u1wf, wf.sqrtMagnitude, Fix64.Zero, length, out et);
}
if (minDis <= (radius + oth.radius) * (radius + oth.radius))
{
SDebug.LogWarning(gameObject.name + " BAAAAAANG!!! " + minDis);
}
}
}
}
internal void DeleteColliderBody(SICollider collider)
{
_physicsObjectList.Remove(collider);
}
protected override bool GenerateCollisionRes(SICollider other, out SCollisionResult selfres, out SCollisionResult otherres)
{
selfres = new SCollisionResult();
otherres = new SCollisionResult();
return(false);
}
internal void AddColliderBody(SICollider collider)
{
_physicsObjectList.Add(collider);
}
internal abstract void DetectCollision(SICollider other);
protected abstract bool GenerateCollisionRes(SICollider other, out SCollisionResult selfres, out SCollisionResult otherres);