//returns a most most extreme on the Minkowski Difference along direction
//created by this shape and other
Vector3 MinkowskiDiffSupport(GJKCollider other, Vector3 direction)
{
Vector3 my_support = support.Support(direction);
Vector3 other_support = other.support.Support(-direction);
Vector3 result = my_support - other_support;
return(result);
}
public override void OnInspectorGUI()
{
GJKCollider gjkCollider = (GJKCollider)target;
if (DrawDefaultInspector())
{
gjkCollider.EditorStart();
}
}
//returns true if this chape is colliding with other
public bool CollidesWithOther(GJKCollider other)
{
Vector3 newest_point;
//get point in arbitrary direction
Vector3 direction = Vector3.right;
Vector3 C = MinkowskiDiffSupport(other, direction);
//if that point is in the opposite direction from the origin,
//no collision
if (Vector3.Dot(C, direction) < 0)
{
return(false);
}
//get point in other direction
direction = -C;
Vector3 B = MinkowskiDiffSupport(other, direction);
//if that point is in the opposite direction from the origin,
//no collision
if (Vector3.Dot(B, direction) < 0)
{
return(false);
}
//set next direction to check as perpendicular to that line
direction = Cross_ABA(C - B, -B);
List <Vector3> simplex = new List <Vector3>
{
B, C
};
for (int i = 0; i < MAX_ITERATIONS; i++)
{
//get the support point in newest direction
newest_point = MinkowskiDiffSupport(other, direction);
//if that point is not closer to the origin,
//there is no collision
if (Vector3.Dot(newest_point, direction) < 0)
{
return(false);
}
//operate on the simplex,
//return true if the simplex is a tetrahedron
//that contains the origin
if (DoSimplex(newest_point, ref simplex, ref direction))
{
return(true);
}
}
//don't iterate too much to avoid slowdown
return(false);
}
