//Test for Plane --> Sphere Collision
public Contact Collides(Plane plane)
{
return base.Collides(this, plane);
}
//Sphere --> Plane Collision Detection and Contact Info generation
//Returns null if no collision, a contact object if a collision occurs
protected Contact Collides(Sphere sphere, Plane plane)
{
//Remove the absolute value to allow full penetration of the sphere
//float Distance = Vector3.Dot(plane.Normal, sphere.position - plane.position) / plane.Normal.Length();
float Distance = Math.Abs(Vector3.Dot(plane.Normal, sphere.Position - plane.Position)) / plane.Normal.Length();
if (Distance <= sphere.Radius)
{
Contact contact = new Contact();
contact.ContactType = CollisionType.FaceFace;
contact.ContactNormal = plane.Normal;
contact.PenetrationDepth = sphere.Radius - Distance;
contact.ContactPoint = sphere.Position - contact.ContactNormal * Distance;
contact.DeepestPoint = sphere.Position - contact.ContactNormal * (Distance + contact.PenetrationDepth);
return contact;
}
//No Collision
return null;
}
//Box --> Plane Collision Detection and Contact Info generation
//Returns null if no collision, a contact List object if a collision occurs
protected List<Contact> Collides(Box box, Plane plane)
{
List<Contact> contacts = new List<Contact>();
Vector3[] Vertices = box.GetVertices();
foreach (Vector3 vertex in Vertices)
{
float Distance = Vector3.Dot(plane.Normal, vertex - plane.Position) / plane.Normal.Length();
if (Distance <= 0)
{
Contact contact = new Contact();
contact.ContactType = CollisionType.VertexFace;
contact.ContactNormal = plane.Normal;
contact.PenetrationDepth = -Distance;
contact.ContactPoint = vertex;
contact.DeepestPoint = vertex;
contacts.Add(contact);
}
}
return contacts;
}
public List<Contact> Collides(Plane plane)
{
return base.Collides(this, plane);
}