public void recursiveStepBack(GameObject objectCollidingWith, Collision_System objectCollision, Vector3 collidingPositionMinus, Vector3 myPositionMinus)
{
objectCollidingWith.transform.Translate(collidingPositionMinus);
this.transform.Translate(myPositionMinus);
if (objectCollidingWith.GetComponent <Collision_System>().colType == CollisionType.Sphere && colType == CollisionType.Sphere)
{
if (Vector3.Distance(objectCollidingWith.transform.position, transform.position) < (objectCollision.sphereRadius + sphereRadius))
{
recursiveStepBack(objectCollidingWith, objectCollision, collidingPositionMinus, myPositionMinus);
}
else
{
return;
}
}
//Boxes aren't always cubes
if (objectCollidingWith.GetComponent <Collision_System>().colType == CollisionType.AABB && colType == CollisionType.AABB)
{
//if (Vector3.Distance(objectCollidingWith.transform.position, transform.position) < (objectCollision.sphereRadius + sphereRadius))
// recursiveStepBack(objectCollidingWith, objectCollision, collidingPositionMinus, myPositionMinus);
//else
return;
}
if (objectCollidingWith.GetComponent <Collision_System>().colType == CollisionType.Sphere && colType == CollisionType.AABB)
{
//if (Vector3.Distance(objectCollidingWith.transform.position, transform.position) < (objectCollision.sphereRadius + sphereRadius))
// recursiveStepBack(objectCollidingWith, objectCollision, collidingPositionMinus, myPositionMinus);
//else
return;
}
if (objectCollidingWith.GetComponent <Collision_System>().colType == CollisionType.AABB && colType == CollisionType.Sphere)
{
//if (Vector3.Distance(objectCollidingWith.transform.position, transform.position) < (objectCollision.sphereRadius + sphereRadius))
// recursiveStepBack(objectCollidingWith, objectCollision, collidingPositionMinus, myPositionMinus);
//else
return;
}
}
// Update is called once per frame
void Update()
{
collidingWith.Clear();
collisionNormals.Clear();
if (colType == CollisionType.AABB)
{
minAABBx = this.transform.position.x - (this.transform.localScale.x / 2f);
maxAABBx = this.transform.position.x + (this.transform.localScale.x / 2f);
minAABBy = this.transform.position.y - (this.transform.localScale.y / 2f);
maxAABBy = this.transform.position.y + (this.transform.localScale.y / 2f);
minAABBz = this.transform.position.z - (this.transform.localScale.z / 2f);
maxAABBz = this.transform.position.z + (this.transform.localScale.z / 2f);
}
//Checking through all the collidable objects in the scene (may get expensive, could limit to things within range
foreach (GameObject collider in collidableObjects)
{
Collision_System thisCollider = collider.GetComponent <Collision_System>();
#region Sphere_Collision_Test
if (this.colType == CollisionType.Sphere && thisCollider.colType == CollisionType.Sphere)
{
if (Vector3.Distance(collider.transform.position, transform.position) < (thisCollider.sphereRadius + sphereRadius))
{
Debug.Log("Collision between " + name + " and " + thisCollider.name);
collidingWith.Add(collider);
collisionNormals.Add(Vector3.Normalize(collider.transform.position - transform.position));
if (collider.GetComponent <Object_Movement>().previousPosition != collider.GetComponent <Object_Movement>().currentPosition&&
GetComponent <Object_Movement>().previousPosition != GetComponent <Object_Movement>().currentPosition)
{
Vector3 thisPositionMinus = collider.GetComponent <Object_Movement>().previousPosition - collider.GetComponent <Object_Movement>().currentPosition;
Vector3 myPositionMinus = GetComponent <Object_Movement>().previousPosition - GetComponent <Object_Movement>().currentPosition;
recursiveStepBack(collider, thisCollider, thisPositionMinus, myPositionMinus);
}
}
}
#endregion
#region AABB_Collision_Tests
if (this.colType == CollisionType.AABB && thisCollider.colType == CollisionType.AABB)
{
if ((minAABBx > thisCollider.maxAABBx) || (thisCollider.minAABBx > maxAABBx) ||
(minAABBy > thisCollider.maxAABBy) || (thisCollider.minAABBy > maxAABBy) ||
(minAABBz > thisCollider.maxAABBz) || (thisCollider.minAABBz > maxAABBz))
{
//Check closest plane and store locally
//float centresDistance = Vector3.Distance(this.transform.position, thisCollider.transform.position);
separatingPlane = SeparatingPlane.NULL;
if (Mathf.Abs((minAABBx - thisCollider.maxAABBx)) > Mathf.Abs((thisCollider.minAABBx - maxAABBx)) ||
Mathf.Abs((minAABBx - thisCollider.maxAABBx)) > Mathf.Abs((minAABBy - thisCollider.maxAABBy)) ||
Mathf.Abs((minAABBx - thisCollider.maxAABBx)) > Mathf.Abs((thisCollider.minAABBy - maxAABBy)) ||
Mathf.Abs((minAABBx - thisCollider.maxAABBx)) > Mathf.Abs((minAABBz - thisCollider.maxAABBz)) ||
Mathf.Abs((minAABBx - thisCollider.maxAABBx)) > Mathf.Abs((thisCollider.minAABBz - maxAABBz)))
{
separatingPlane = SeparatingPlane.Right;
}
else if (Mathf.Abs((thisCollider.minAABBx - maxAABBx)) > Mathf.Abs((minAABBx - thisCollider.maxAABBx)) ||
Mathf.Abs((thisCollider.minAABBx - maxAABBx)) > Mathf.Abs((minAABBy - thisCollider.maxAABBy)) ||
Mathf.Abs((thisCollider.minAABBx - maxAABBx)) > Mathf.Abs((thisCollider.minAABBy - maxAABBy)) ||
Mathf.Abs((thisCollider.minAABBx - maxAABBx)) > Mathf.Abs((minAABBz - thisCollider.maxAABBz)) ||
Mathf.Abs((thisCollider.minAABBx - maxAABBx)) > Mathf.Abs((thisCollider.minAABBz - maxAABBz)))
{
separatingPlane = SeparatingPlane.Left;
}
else if (Mathf.Abs((minAABBy - thisCollider.maxAABBy)) > Mathf.Abs((minAABBx - thisCollider.maxAABBx)) ||
Mathf.Abs((minAABBy - thisCollider.maxAABBy)) > Mathf.Abs((thisCollider.minAABBx - maxAABBx)) ||
Mathf.Abs((minAABBy - thisCollider.maxAABBy)) > Mathf.Abs((thisCollider.minAABBy - maxAABBy)) ||
Mathf.Abs((minAABBy - thisCollider.maxAABBy)) > Mathf.Abs((minAABBz - thisCollider.maxAABBz)) ||
Mathf.Abs((minAABBy - thisCollider.maxAABBy)) > Mathf.Abs((thisCollider.minAABBz - maxAABBz)))
{
separatingPlane = SeparatingPlane.Bottom;
}
else if (Mathf.Abs((thisCollider.minAABBy - maxAABBy)) > Mathf.Abs((minAABBx - thisCollider.maxAABBx)) ||
Mathf.Abs((thisCollider.minAABBy - maxAABBy)) > Mathf.Abs((thisCollider.minAABBx - maxAABBx)) ||
Mathf.Abs((thisCollider.minAABBy - maxAABBy)) > Mathf.Abs((minAABBy - thisCollider.maxAABBy)) ||
Mathf.Abs((thisCollider.minAABBy - maxAABBy)) > Mathf.Abs((minAABBz - thisCollider.maxAABBz)) ||
Mathf.Abs((thisCollider.minAABBy - maxAABBy)) > Mathf.Abs((thisCollider.minAABBz - maxAABBz)))
{
separatingPlane = SeparatingPlane.Top;
}
else if (Mathf.Abs((minAABBz - thisCollider.maxAABBz)) > Mathf.Abs((minAABBx - thisCollider.maxAABBx)) ||
Mathf.Abs((minAABBz - thisCollider.maxAABBz)) > Mathf.Abs((thisCollider.minAABBx - maxAABBx)) ||
Mathf.Abs((minAABBz - thisCollider.maxAABBz)) > Mathf.Abs((minAABBy - thisCollider.maxAABBy)) ||
Mathf.Abs((minAABBz - thisCollider.maxAABBz)) > Mathf.Abs((thisCollider.minAABBy - maxAABBy)) ||
Mathf.Abs((minAABBz - thisCollider.maxAABBz)) > Mathf.Abs((thisCollider.minAABBz - maxAABBz)))
{
separatingPlane = SeparatingPlane.Front;
}
else
{
separatingPlane = SeparatingPlane.Back;
}
}
if ((minAABBx <= thisCollider.maxAABBx) && (thisCollider.minAABBx <= maxAABBx) &&
(minAABBy <= thisCollider.maxAABBy) && (thisCollider.minAABBy <= maxAABBy) &&
(minAABBz <= thisCollider.maxAABBz) && (thisCollider.minAABBz <= maxAABBz))
{
//Is intersecting
collidingWith.Add(collider);
collisionNormals.Add(Vector3.Normalize(collider.transform.position - transform.position));
Debug.Log("Collision between " + name + " and " + thisCollider.name);
Vector3 thisPositionMinus = collider.GetComponent <Object_Movement>().previousPosition - collider.GetComponent <Object_Movement>().currentPosition;
Vector3 myPositionMinus = GetComponent <Object_Movement>().previousPosition - GetComponent <Object_Movement>().currentPosition;
recursiveStepBack(collider, thisCollider, thisPositionMinus, myPositionMinus);
}
}
#endregion
#region Sphere-AABB_Collision_Tests
if (this.colType == CollisionType.Sphere && thisCollider.colType == CollisionType.AABB)
{
Vector3 normanL = Vector3.Normalize(collider.transform.position - transform.position);
Vector3 sphereChecker = this.transform.position + (normanL * this.sphereRadius);
if ((sphereChecker.x <= thisCollider.maxAABBx) && (thisCollider.minAABBx <= sphereChecker.x) &&
(sphereChecker.y <= thisCollider.maxAABBy) && (thisCollider.minAABBy <= sphereChecker.y) &&
(sphereChecker.z <= thisCollider.maxAABBz) && (thisCollider.minAABBz <= sphereChecker.z))
{
collidingWith.Add(collider);
collisionNormals.Add(Vector3.Normalize(collider.transform.position - transform.position));
Debug.Log("Collision between " + name + " and " + thisCollider.name);
Vector3 thisPositionMinus = collider.GetComponent <Object_Movement>().previousPosition - collider.GetComponent <Object_Movement>().currentPosition;
Vector3 myPositionMinus = GetComponent <Object_Movement>().previousPosition - GetComponent <Object_Movement>().currentPosition;
recursiveStepBack(collider, thisCollider, thisPositionMinus, myPositionMinus);
}
}
#endregion
#region AABB-Sphere_Collision_Tests
if (this.colType == CollisionType.AABB && thisCollider.colType == CollisionType.Sphere)
{
Vector3 normanL = Vector3.Normalize(collider.transform.position - transform.position);
Vector3 sphereChecker = thisCollider.transform.position + (normanL * thisCollider.sphereRadius);
if ((minAABBx <= sphereChecker.x) && (sphereChecker.x <= maxAABBx) &&
(minAABBy <= sphereChecker.y) && (sphereChecker.y <= maxAABBy) &&
(minAABBz <= sphereChecker.z) && (sphereChecker.z <= maxAABBz))
{
collidingWith.Add(collider);
collisionNormals.Add(Vector3.Normalize(collider.transform.position - transform.position));
Debug.Log("Collision between " + name + " and " + thisCollider.name);
Vector3 thisPositionMinus = collider.GetComponent <Object_Movement>().previousPosition - collider.GetComponent <Object_Movement>().currentPosition;
Vector3 myPositionMinus = GetComponent <Object_Movement>().previousPosition - GetComponent <Object_Movement>().currentPosition;
recursiveStepBack(collider, thisCollider, thisPositionMinus, myPositionMinus);
}
}
#endregion
}
#region Impulse_Method
//If any object collided with this object, it will switch the boolean to true
if (collidingWith.Count > 0)
{
isColliding = true;
}
else
{
isColliding = false;
}
if (isColliding)
{
foreach (GameObject collider in collidingWith)
{
if (!this.hasImpulsed && !collider.GetComponent <Collision_System>().hasImpulsed)
{
//Finds the normal that was stored between the two objects
Vector3 norm = collisionNormals[collidingWith.IndexOf(collider)];
//Find impulse J
float imp1 = Vector3.Dot((-(this.GetComponent <Object_Movement>().velocity - collider.GetComponent <Object_Movement>().velocity) * (coefficientOfRestitution + 1)), norm);
float imp2 = ((1 / this.GetComponent <Object_Movement>().mass) + (1 / collider.GetComponent <Object_Movement>().mass));
float impulse = imp1 / imp2;
//This new velocity for each object
this.GetComponent <Object_Movement>().velocity = ((impulse / this.GetComponent <Object_Movement>().mass) * norm) + this.GetComponent <Object_Movement>().velocity;
collider.GetComponent <Object_Movement>().velocity = ((-impulse / collider.GetComponent <Object_Movement>().mass) * norm) + collider.GetComponent <Object_Movement>().velocity;
hasImpulsed = true;
collider.GetComponent <Collision_System>().hasImpulsed = true;
}
}
}
hasImpulsed = false;
#endregion
//Rebounds off of the ground to prevent falling through the "ground"
#region Ground_Plane_Impulse
if (transform.position.y < transform.localScale.y)
{
var imp1 = (-(this.GetComponent <Object_Movement>().velocity.y) * (coefficientOfRestitution + 1));
var imp2 = (1 / this.GetComponent <Object_Movement>().mass);
var impulse = imp1 / imp2;
this.GetComponent <Object_Movement>().velocity.y = (impulse / this.GetComponent <Object_Movement>().mass) + this.GetComponent <Object_Movement>().velocity.y;
}
#endregion
//These checks are just to keep the objects within the area, as regular bounding boxes surrounding it were breaking the entirety of scene
#region Containment_Box_Impulses
if (transform.position.x < (transform.localScale.x - 50))
{
transform.position = new Vector3(transform.position.x + 0.2f, transform.position.y, transform.position.z);
var imp1 = (-(this.GetComponent <Object_Movement>().velocity.x) * (coefficientOfRestitution + 1));
var imp2 = (1 / this.GetComponent <Object_Movement>().mass);
var impulse = imp1 / imp2;
this.GetComponent <Object_Movement>().velocity.x = (impulse / this.GetComponent <Object_Movement>().mass) + this.GetComponent <Object_Movement>().velocity.x;
}
if (transform.position.x > (50 - transform.localScale.x))
{
transform.position = new Vector3(transform.position.x - 0.2f, transform.position.y, transform.position.z);
var imp1 = (-(this.GetComponent <Object_Movement>().velocity.x) * (coefficientOfRestitution + 1));
var imp2 = (1 / this.GetComponent <Object_Movement>().mass);
var impulse = imp1 / imp2;
this.GetComponent <Object_Movement>().velocity.x = (impulse / this.GetComponent <Object_Movement>().mass) + this.GetComponent <Object_Movement>().velocity.x;
}
if (transform.position.z < (transform.localScale.z - 25))
{
transform.position = new Vector3(transform.position.x, transform.position.y, transform.position.z + 0.2f);
var imp1 = (-(this.GetComponent <Object_Movement>().velocity.z) * (coefficientOfRestitution + 1));
var imp2 = (1 / this.GetComponent <Object_Movement>().mass);
var impulse = imp1 / imp2;
this.GetComponent <Object_Movement>().velocity.z = (impulse / this.GetComponent <Object_Movement>().mass) + this.GetComponent <Object_Movement>().velocity.z;
}
if (transform.position.z > (25 - transform.localScale.z))
{
transform.position = new Vector3(transform.position.x, transform.position.y, transform.position.z - 0.2f);
var imp1 = (-(this.GetComponent <Object_Movement>().velocity.z) * (coefficientOfRestitution + 1));
var imp2 = (1 / this.GetComponent <Object_Movement>().mass);
var impulse = imp1 / imp2;
this.GetComponent <Object_Movement>().velocity.z = (impulse / this.GetComponent <Object_Movement>().mass) + this.GetComponent <Object_Movement>().velocity.z;
}
#endregion
}
