public HullCollision3D DetectCollision(SphereHull3D a, AABBHull3D b)
{
Dictionary <Vector3, float> axisValues = new Dictionary <Vector3, float>(); //norm to the overlap value
axisValues.Add(Vector3.right, checkAxisPenetration(a, b, Vector3.right));
axisValues.Add(Vector3.up, checkAxisPenetration(a, b, Vector3.up));
axisValues.Add(Vector3.forward, checkAxisPenetration(a, b, Vector3.forward));
var enumerator = axisValues.GetEnumerator();
Vector3[] contactPoints = new Vector3[1];
contactPoints[0] = Vector3.zero;
KeyValuePair <Vector3, float>?bestPenetration = null; //need to set one to compare too, no null value to just allow all checking in the for loop
while (enumerator.MoveNext())
{
if (!bestPenetration.HasValue ||
Mathf.Abs(enumerator.Current.Value) < Mathf.Abs(bestPenetration.Value.Value))
{
bestPenetration = enumerator.Current;
}
contactPoints[0] += enumerator.Current.Key * enumerator.Current.Value;
if (enumerator.Current.Value >= 0.0f)
{
return(null);
}
}
return(new HullCollision3D(a, b, bestPenetration.Value.Key, bestPenetration.Value.Value, contactPoints));
}
public HullCollision3D DetectCollision(AABBHull3D a, OBBHull3D b)
{
Dictionary <Vector3, float> axisValues = new Dictionary <Vector3, float>(); //norm to the overlap value
HashSet <Vector3> axisToCheck = new HashSet <Vector3>();
axisToCheck.Add(a.getXNormal());
axisToCheck.Add(a.getYNormal());
axisToCheck.Add(a.getZNormal());
axisToCheck.Add(b.getXNormal());
axisToCheck.Add(b.getYNormal());
axisToCheck.Add(b.getZNormal());
axisToCheck.Add(Vector3.Cross(a.getXNormal(), b.getXNormal())); //xx
axisToCheck.Add(Vector3.Cross(a.getXNormal(), b.getYNormal())); //xy
axisToCheck.Add(Vector3.Cross(a.getXNormal(), b.getZNormal())); //xz
axisToCheck.Add(Vector3.Cross(a.getYNormal(), b.getXNormal())); //yx
axisToCheck.Add(Vector3.Cross(a.getYNormal(), b.getYNormal())); //yy
axisToCheck.Add(Vector3.Cross(a.getYNormal(), b.getZNormal())); //yz
axisToCheck.Add(Vector3.Cross(a.getZNormal(), b.getXNormal())); //zx
axisToCheck.Add(Vector3.Cross(a.getZNormal(), b.getYNormal())); //zy
axisToCheck.Add(Vector3.Cross(a.getZNormal(), b.getZNormal())); //zz
foreach (Vector3 norm in axisToCheck)
{
if (norm != Vector3.zero && (!axisValues.ContainsKey(norm) || !axisValues.ContainsKey(-norm)))
{
float axisPenetration = checkAxisPenetration(a, b, norm);
if (axisPenetration < 0)
{
axisValues.Add(-norm, -axisPenetration);
}
else
{
axisValues.Add(norm, axisPenetration);
}
}
}
var enumerator = axisValues.GetEnumerator();
Vector3[] contactPoints = new Vector3[1];
KeyValuePair <Vector3, float>?bestPenetration = null; //need to set one to compare too, no null value to just allow all checking in the for loop
while (enumerator.MoveNext())
{
if (!bestPenetration.HasValue || enumerator.Current.Value < bestPenetration.Value.Value)
{
bestPenetration = enumerator.Current;
}
if (enumerator.Current.Value == 0)
{
return(null);
}
}
// Which face is in contact?
contactPoints[0] = Vector3.zero;
return(new HullCollision3D(a, b, bestPenetration.Value.Key, bestPenetration.Value.Value, contactPoints));
}