static public CollisionInfo CircleOBB(CircleCollision3D circle, ObjectBoundingBoxCollision3D rect)
{
//transform circle into obb space transform.InverseTransformPoint(cirecle.postion);
//then do circle AABB
Vector3 halfExtend = (rect.posMax - rect.posMin) / 2;
Vector3 circleInOBB = rect.GetComponent <Particle3D>().GetWorldToObject().MultiplyPoint(circle.center);//rect.transform.InverseTransformPoint(circle.center);
Vector3 circleBox = new Vector3(
Mathf.Max(-halfExtend.x, Mathf.Min(circleInOBB.x, halfExtend.x)),
Mathf.Max(-halfExtend.y, Mathf.Min(circleInOBB.y, halfExtend.y)),
Mathf.Max(-halfExtend.z, Mathf.Min(circleInOBB.z, halfExtend.z)));
Vector3 distanceVec = circleInOBB - circleBox;
float distanceSQ = Vector3.Dot(distanceVec, distanceVec);
//Debug.DrawLine(circleBox, circle.center);
if (distanceSQ <= (circle.radius * circle.radius))
{
//return true;
//Debug.Log("circ obb collision");
float distance = Mathf.Sqrt(distanceSQ);
return(new CollisionInfo(circle, rect, rect.transform.TransformVector(-distanceVec).normalized, circle.radius - distance));
}
return(null);
}
static public CollisionInfo CircleCircle(CircleCollision3D colA, CircleCollision3D colB)
{
//How the slides say to do it
//Step1: Calculate distance from center to center, distance = colB.center - colA.center
//Step2: Add the two radius together colB.radius + colA.radius
//Step3: Do DotProduct(distance,distance)<radius together^2
Vector3 distance = colB.center - colA.center;
float radialSum = colA.radius + colB.radius;
if (Vector3.Dot(distance, distance) <= (radialSum * radialSum))
{
/*double angle = System.Math.Atan2(colB.center.y - colA.center.y, colB.center.x - colA.center.x);
* float circleDistance = (float)System.Math.Sqrt((colB.center.x - colA.center.x) * (colB.center.x - colA.center.x) + (colB.center.y - colA.center.y) * (colB.center.y - colA.center.y));
* float distToMove = radialSum - circleDistance;
* colB.center.x += (float)(System.Math.Cos(angle) * circleDistance);
* colB.center.y += (float)(System.Math.Cos(angle) * circleDistance);*/
float fDistance = Mathf.Sqrt(Vector3.Dot(distance, distance));
//Debug.Log("Circ - collision");
return(new CollisionInfo(colA, colB, distance / fDistance, radialSum - fDistance));
}
else
{
return(null);
}
}
public CollisionInfo(CircleCollision3D colA, CircleCollision3D colB, Vector3 normal, float penetration)
{
RigidBodyA = colA.GetComponent <Particle3D>();
RigidBodyB = colB.GetComponent <Particle3D>();
RelativeVelocity = RigidBodyB.velocity - RigidBodyA.velocity;
contacts[0].normal = normal;
contacts[0].penetration = penetration;
contacts[0].restitution = Mathf.Min(RigidBodyA.restitution, RigidBodyB.restitution);
}
static public CollisionInfo CircleAABB(CircleCollision3D circle, AxisAllignedBoundingBoxCollision3D rect)
{
//Vector3 halfExtend = (rect.posMax - rect.posMin) / 2;
// clamp(value, min, max) - limits value to the range min..max
Vector3 circleBox = new Vector3(
Mathf.Max(rect.posMin.x + rect.center.x, Mathf.Min(circle.center.x, rect.posMax.x + rect.center.x)),
Mathf.Max(rect.posMin.y + rect.center.y, Mathf.Min(circle.center.y, rect.posMax.y + rect.center.y)),
Mathf.Max(rect.posMin.z + rect.center.z, Mathf.Min(circle.center.z, rect.posMax.z + rect.center.z)));
// Find the closest point to the circle within the rectangle
float closestX = Mathf.Clamp(circle.center.x, -rect.halfExtends.x, rect.halfExtends.x);
float closestY = Mathf.Clamp(circle.center.y, -rect.halfExtends.y, rect.halfExtends.y);
float closestZ = Mathf.Clamp(circle.center.z, -rect.halfExtends.z, rect.halfExtends.z);
Vector3 closestPoint = new Vector3(closestX, closestY, closestZ);
// Calculate the distance between the circle's center and this closest point
//float distanceX = circle.center.x - closestX;
//float distanceY = circle.center.y - closestY;
//float distanceZ = circle.center.z - closestZ;
Vector3 disVec = circle.center - circleBox;
//Vector3 distanceComplete = closestPoint - closestPoint; //possibly change to circle vox
// If the distance is less than the circle's radius, an intersection occurs
//float distSq = Vector3.Dot(distanceComplete, distanceComplete);
float distSq = Vector3.Dot(disVec, disVec);
//float distanceSquared = (distanceX * distanceX) + (distanceY * distanceY) + (distanceZ * distanceZ);
float distance = Mathf.Sqrt(distSq);
//Debug.DrawLine(closestPoint, circle.center);
if (distSq <= (circle.radius * circle.radius))
{
//Debug.Log("square circ collision)");
//return new CollisionInfo(circle, rect, -distanceComplete.normalized, circle.radius - distance);
return(new CollisionInfo(circle, rect, -disVec.normalized, circle.radius - distance));
}
return(null);
//return distanceSquared < (circle.radius * circle.radius);
}
