//------------------------------------Private Functions-------------------------------------
private void CheckForCollision(PSI_Collider col1, PSI_Collider col2)
{
// Sphere on sphere.
if (col1.pColliderType == ColliderType.Sphere && col2.pColliderType == ColliderType.Sphere)
{
if (PSI_Physics.SphereSphereCollisionOccured((PSI_SphereCollider)col1, (PSI_SphereCollider)col2))
{
PSI_Physics.HandleSphereSphereCollision((PSI_SphereCollider)col1, (PSI_SphereCollider)col2);
FindObjectOfType <DebugManager>().CollisionOccured(col1, col2);
}
}
// AABB on AABB.
if (col1.pColliderType == ColliderType.AABB && col2.pColliderType == ColliderType.AABB)
{
if (PSI_Physics.AABBAABBCollisionOccured((PSI_AABBCollider)col1, (PSI_AABBCollider)col2))
{
PSI_Physics.HandleAABBAABBCollision((PSI_AABBCollider)col1, (PSI_AABBCollider)col2);
FindObjectOfType <DebugManager>().CollisionOccured(col1, col2);
}
}
// Sphere on plane.
if ((col1.pColliderType == ColliderType.Sphere && col2.pColliderType == ColliderType.Plane) ||
(col1.pColliderType == ColliderType.Plane && col2.pColliderType == ColliderType.Sphere))
{
PSI_SphereCollider sphere = (PSI_SphereCollider)((col1.pColliderType == ColliderType.Sphere) ? col1 : col2);
PSI_PlaneCollider plane = (PSI_PlaneCollider)((col1.pColliderType == ColliderType.Sphere) ? col2 : col1);
if (PSI_Physics.SpherePlaneCollisionOccured(sphere, plane))
{
PSI_Physics.HandleSpherePlaneCollision(sphere, plane);
FindObjectOfType <DebugManager>().CollisionOccured(col1, col2);
}
}
}
public static void HandleAABBAABBCollision(PSI_AABBCollider col1, PSI_AABBCollider col2)
{
// Calculating the collision vector.
Vector3 colVector = col1.pPosition - col2.pPosition;
// Determining what axis the collision occured on.
List <float> colVectorAxes = new List <float>()
{
Mathf.Abs(colVector.x), Mathf.Abs(colVector.y), Mathf.Abs(colVector.z)
};
colVectorAxes.Sort();
string axisName = "";
if (Mathf.Abs(colVector.x) == colVectorAxes[2])
{
axisName = "x";
}
if (Mathf.Abs(colVector.y) == colVectorAxes[2])
{
axisName = "y";
}
if (Mathf.Abs(colVector.z) == colVectorAxes[2])
{
axisName = "z";
}
// Generating an axis aligned collision vector.
object tempVector = Vector3.zero;
typeof(Vector3).GetField(axisName).SetValue(tempVector, typeof(Vector3).GetField(axisName).GetValue(colVector));
Vector3 aaColVector = (Vector3)tempVector;
// Getting the size of each collider on the collision axis.
float size1 = (float)col1.Size.GetType().GetField(axisName).GetValue(col1.Size);
float size2 = (float)col2.Size.GetType().GetField(axisName).GetValue(col2.Size);
// Calculating the minimum translation vector needed to reset the two colliders positions.
var minTranslationVector = aaColVector * ((((size1 + size2) * 0.5f) - aaColVector.magnitude) / aaColVector.magnitude);
// Calculating the inverse masses once for efficiency.
var inverseMass1 = 1.0f / col1.pRigidBody.pMass;
var inverseMass2 = 1.0f / col2.pRigidBody.pMass;
// Moving the two colliders so they are not overlapping.
col1.transform.Translate(minTranslationVector * (inverseMass1 / (inverseMass1 + inverseMass2)));
col2.transform.Translate(-minTranslationVector * (inverseMass2 / (inverseMass1 + inverseMass2)));
// Applying the impulse to the bodies.
var impulse = PSI_Physics.CalculateImpulse(col1.pRigidBody, col2.pRigidBody, minTranslationVector);
col1.pRigidBody.Velocity += impulse.Impulse1;
col2.pRigidBody.Velocity += impulse.Impulse2;
}
//-----------------------------------Handling Collisions------------------------------------
public static void HandleSphereSphereCollision(PSI_SphereCollider col1, PSI_SphereCollider col2)
{
// Calculating the collision vector.
var colVector = col1.pPosition - col2.pPosition;
// Calculating the minimum translation vector needed to reset the two colliders positions.
var minTranslationVector = colVector * (((col1.Radius + col2.Radius) - colVector.magnitude) / colVector.magnitude);
// Calculating the inverse masses once for efficiency.
var inverseMass1 = 1.0f / col1.pRigidBody.pMass;
var inverseMass2 = 1.0f / col2.pRigidBody.pMass;
// Moving the two colliders so they are not overlapping.
col1.transform.Translate(minTranslationVector * (inverseMass1 / (inverseMass1 + inverseMass2)));
col2.transform.Translate(-minTranslationVector * (inverseMass2 / (inverseMass1 + inverseMass2)));
// Applying the impulse to the bodies.
var impulse = PSI_Physics.CalculateImpulse(col1.pRigidBody, col2.pRigidBody, minTranslationVector);
col1.pRigidBody.Velocity += impulse.Impulse1;
col2.pRigidBody.Velocity += impulse.Impulse2;
}
public static void HandleSpherePlaneCollision(PSI_SphereCollider sphereCol, PSI_PlaneCollider planeCol)
{
float distToProjectedPoint = Vector3.Dot(planeCol.pNormal, (sphereCol.pPosition - planeCol.pPosition));
Vector3 projectedPoint = sphereCol.pPosition - distToProjectedPoint * planeCol.pNormal;
// Calculating the collision vector.
var colVector = sphereCol.pPosition - projectedPoint;
// Calculating the minimum translation vector needed to reset the sphere.
var minTranslationVector = colVector * ((sphereCol.Radius - colVector.magnitude) / colVector.magnitude);
// Moving the sphere collider so it is not overlapping.
sphereCol.transform.Translate(minTranslationVector);
// Applying the impulse to the bodies.
if (planeCol.pRigidBody != null)
{
sphereCol.pRigidBody.Velocity += PSI_Physics.CalculateImpulseAgainstStaticRB(sphereCol.pRigidBody, planeCol.pRigidBody, minTranslationVector);
}
else
{
sphereCol.pRigidBody.Velocity += PSI_Physics.CalculateImpulseAgainstStaticCollider(sphereCol.pRigidBody, minTranslationVector);
}
}
