private void CollisionCapsuleCapsule()
{
CapsulePoints pointsA = GetCapsuleCollider(posA, rotA, halfSizeA.y * 2);
CapsulePoints pointsB = GetCapsuleCollider(posB, rotB, halfSizeB.y * 2);
CapsulePoints spheresA = GetCapsuleSpheres(pointsA.tipPoint, pointsA.basePoint, halfSizeA.x);
CapsulePoints spheresB = GetCapsuleSpheres(pointsB.tipPoint, pointsB.basePoint, halfSizeB.x);
float3 v0 = spheresB.basePoint - spheresA.basePoint;
float3 v1 = spheresB.tipPoint - spheresA.basePoint;
float3 v2 = spheresB.basePoint - spheresA.tipPoint;
float3 v3 = spheresA.tipPoint - spheresA.tipPoint;
float d0 = math.dot(v0, v0);
float d1 = math.dot(v1, v1);
float d2 = math.dot(v2, v2);
float d3 = math.dot(v3, v3);
float3 closestPointA = math.select(spheresA.basePoint, spheresA.tipPoint, d2 < d0 || d2 < d1 || d3 < d0 || d3 < d1);
float3 closestPointB = ClosestPointOnLineSegement(spheresB.basePoint, spheresB.tipPoint, closestPointA);
closestPointA = ClosestPointOnLineSegement(spheresA.basePoint, spheresA.tipPoint, closestPointB);
float distance = math.distance(closestPointA, closestPointB);
float penetrationDepth = halfSizeA.x + halfSizeB.x - distance;
bool intersects = penetrationDepth > 0;
if (intersects)
{
ResolveCapsuleCollision(ref posA, ref posB, closestPointA, closestPointB, halfSizeA.x, halfSizeB.x, distance);
}
}
private void CollisionSphereCapsule(ref float3 spherePos, float sphereRadius, ref float3 capsulePos, float3 capsuleRotation, float capsuleLength, float capsuleRadius)
{
CapsulePoints capsulePoints = GetCapsuleCollider(capsulePos, capsuleRotation, capsuleLength);
CapsulePoints capsuleSpheres = GetCapsuleSpheres(capsulePoints.tipPoint, capsulePoints.basePoint, capsuleRadius);
float3 closestPoint = ClosestPointOnLineSegement(capsuleSpheres.basePoint, capsuleSpheres.tipPoint, spherePos);
float distance = math.distance(spherePos, closestPoint);
float penetrationDepth = sphereRadius + capsuleRadius - distance;
if (penetrationDepth > 0)
{
ResolveCapsuleCollision(ref spherePos, ref capsulePos, spherePos, closestPoint, sphereRadius, capsuleRadius, distance);
}
}
