/*WORKING*/
public static HullCollision2D detectCollisionResponse(CircleHull2D circle, AABBHull2D square)
{
float dist = Vector2.Distance(circle.position, square.GetClosestPoint(circle.position));
Vector2 squareClosestPoint = square.GetClosestPoint(circle.position);
Vector2 circleClosestPoint = circle.GetClosestPoint(squareClosestPoint); //need to do second
Debug.DrawLine(squareClosestPoint, circleClosestPoint);
if (circle.radius > dist)
{
Vector2 pen = squareClosestPoint - circleClosestPoint;
Vector2 penNorm = pen.normalized;
if (penNorm.x > penNorm.y)
{
pen.y = 0.0f;
}
else
{
pen.x = 0.0f;
}
HullCollision2D collision;
collision = new HullCollision2D(circle, square, penNorm.normalized, pen.magnitude);
return(collision);
}
return(null);
}
/*
* Circle V Circle
*/
public static bool detectCollision(CircleHull2D a, CircleHull2D b)
{
if (a.radius + b.radius >= Vector2.Distance(a.position, b.position))
{
return(true);
}
return(false);//failed
}
public static Vector2 getMinMaxProjectionValuesOnNorm(CircleHull2D circle, Vector2 norm)
{
float a, b;
int axis = norm.x != 0 ? 0 : 1; //just to make a scaler, but in case the x axis is zero, and if they are both zero then what the hell u doing with a normal (0,0)
a = (proj(circle.position, norm)[axis] - circle.radius) / norm[axis];
b = (proj(circle.position, norm)[axis] + circle.radius) / norm[axis];
return(new Vector2(a, b));
}
/*
* Circle V OBB
*/
public static bool detectCollision(CircleHull2D circle, OBBHull2D square)
{
Vector2 closestPoint = square.GetClosestPoint(circle.position);
Debug.DrawLine(new Vector3(closestPoint.x, closestPoint.y, 0), circle.position);
if (circle.radius > Vector2.Distance(circle.position, closestPoint))
{
return(true);
}
return(false);
}
public static HullCollision2D detectCollisionResponse(CircleHull2D a, CircleHull2D b)
{
float dist = Vector2.Distance(a.position, b.position);
if (a.radius + b.radius > dist)
{
Vector2 penetration = (a.position - b.position).normalized;
float penAmount = (a.radius + b.radius) - Vector2.Distance(a.position, b.position);
HullCollision2D collision = new HullCollision2D(a, b, penetration, penAmount);
//collision.closingVelocity = -(lft.velocity - rgt.velocity) *(lft.velocity - rgt.velocity).normalized;
return(collision);
}
return(null);//failed
}
//TODO
public static HullCollision2D detectCollisionResponse(CircleHull2D circle, OBBHull2D square)
{
Vector2 closestPointSquare = square.GetClosestPoint(circle.position);
Vector2 closestPointCircle = circle.GetClosestPoint(closestPointSquare);
Debug.DrawLine(new Vector3(closestPointSquare.x, closestPointSquare.y, 0), new Vector3(closestPointCircle.x, closestPointCircle.y, 0));
if (circle.radius > Vector2.Distance(circle.position, closestPointSquare))
{
Vector2 penNorm = closestPointSquare - closestPointCircle;
HullCollision2D collision;
if (penNorm.x > 0.0f)
{
collision = new HullCollision2D(circle, square, penNorm.normalized, penNorm.magnitude);
}
else
{
collision = new HullCollision2D(circle, square, penNorm.normalized, penNorm.magnitude);
}
return(collision);
}
return(null);
}
public abstract bool TestCollisionVsCircle(CircleHull2D circle, ref Collision c);
public override bool TestCollisionVsCircle(CircleHull2D circle, ref Collision c)
{
return(circle.TestCollisionVsOBB(this, ref c));
}
public override bool TestCollisionVsCircle(CircleHull2D circle, ref Collision c)
{
//Call circle, flip arguments <=== ///What does this mean\\\?
return(circle.TestCollisionVsAABB(this, ref c));
}
public override bool TestCollisionVsCircle(CircleHull2D circle, ref Collision col)
{
//Collision test passes if(distance between them <= sum of radii)
//Optimize: by ^2 both sides
//1) Get particles' positions(centers)
//2) Take difference between centers
//3) distance^2 = dot(diff, diff)
//4) summ of radii
//5) summ of radii ^2
//6) Test: dist^2 <= summ^2
Debug.Log("CVC test start");
Vector2 positionA = circle.transform.position;
Vector2 positionB = this.transform.position;
Vector2 diff = positionB - positionA;
float distance = (diff.x * diff.x) + (diff.y * diff.y); //distance squared
float sumOfRadii = radius + circle.radius;
float squaredSumOfRadii = sumOfRadii * sumOfRadii;
if (distance <= squaredSumOfRadii)
{
Debug.Log("CVC test pass");
hitExplode = true;
//Assign objects
col.a = this;
col.b = circle;
//Calculate contact normal - is also the contact direction
distance = Mathf.Sqrt(distance);
col.contacts[0].normal = diff * (1 / distance);
//Calculate contact point => center of the overlap
//take the diff
//magnitude = distance
//normalise by /magnitude
Vector2 e0 = col.contacts[0].normal * -radius;
Vector2 e1 = col.contacts[0].normal * circle.radius;
col.contacts[0].point = (e0 + e1) * 0.5f;
//Calculate interpenetration depth
//subtract distance from sum of radii => interpen depth
col.interpenDepth = sumOfRadii - distance;
return(true);
}
else
{
Debug.Log("CVC test fail");
return(false);
}
}
