public bool Collide(Vector3 boneCenter, float boneRadius, out Vector3 push)
{
switch (Shape)
{
case Type.Sphere:
{
float minScale = VectorUtil.MinComponent(transform.localScale);
return(Collision.SphereSphere(boneCenter, boneRadius, transform.position, minScale * Radius, out push));
}
case Type.Capsule:
{
float minScale = VectorUtil.MinComponent(transform.localScale);
Vector3 head = transform.TransformPoint(0.5f * Height * Vector3.up);
Vector3 tail = transform.TransformPoint(0.5f * Height * Vector3.down);
return(Collision.SphereCapsule(boneCenter, boneRadius, head, tail, minScale * Radius, out push));
}
case Type.Box:
{
Vector3 centerLs = transform.InverseTransformPoint(boneCenter);
Vector3 scaledHalfExtents = 0.5f * VectorUtil.ComponentWiseMult(transform.localScale, Dimensions);
bool collided = Collision.SphereBox(centerLs, boneRadius, scaledHalfExtents, out push);
if (!collided)
{
return(false);
}
push = transform.TransformVector(push);
return(true);
}
// TODO?
/*
* case Type.InverseSphere:
* {
* float minScale = VectorUtil.MinComponent(transform.localScale);
* return Collision.SphereSphereInverse(boneCenter, boneRadius, transform.position, minScale * Radius, out push);
* }
*
* case Type.InverseCapsule:
* {
* float minScale = VectorUtil.MinComponent(transform.localScale);
* Vector3 head = transform.TransformPoint(0.5f * Height * Vector3.up);
* Vector3 tail = transform.TransformPoint(0.5f * Height * Vector3.down);
* return Collision.SphereCapsuleInverse(boneCenter, boneRadius, head, tail, minScale * Radius, out push);
* }
*/
}
push = Vector3.zero;
return(false);
}
public void DrawGizmos()
{
switch (Shape)
{
case Type.Sphere:
//case Type.InverseSphere: // TODO?
{
float minScale = VectorUtil.MinComponent(transform.localScale);
float scaledRadius = minScale * Radius;
Gizmos.matrix = Matrix4x4.TRS(transform.position, transform.rotation, Vector3.one);
if (Shape == Type.Sphere)
{
Gizmos.color = new Color(1.0f, 1.0f, 1.0f, 0.5f);
Gizmos.DrawSphere(Vector3.zero, scaledRadius);
}
Gizmos.color = Color.white;
Gizmos.DrawWireSphere(Vector3.zero, scaledRadius);
Gizmos.matrix = Matrix4x4.identity;
}
break;
case Type.Capsule:
//case Type.InverseCapsule: // TODO?
{
float minScale = VectorUtil.MinComponent(transform.localScale);
float scaledRadius = minScale * Radius;
float scaledHalfHeight = 0.5f * minScale * Height;
Gizmos.matrix = Matrix4x4.TRS(transform.position, transform.rotation, Vector3.one);
if (Shape == Type.Capsule)
{
Gizmos.color = new Color(1.0f, 1.0f, 1.0f, 0.5f);
Gizmos.DrawSphere(scaledHalfHeight * Vector3.up, scaledRadius);
Gizmos.DrawSphere(scaledHalfHeight * Vector3.down, scaledRadius);
}
Gizmos.color = Color.white;
Gizmos.DrawWireSphere(scaledHalfHeight * Vector3.up, scaledRadius);
Gizmos.DrawWireSphere(scaledHalfHeight * Vector3.down, scaledRadius);
for (int i = 0; i < 4; ++i)
{
float theta = i * MathUtil.HalfPi;
Vector3 offset = new Vector3(scaledRadius * Mathf.Cos(theta), 0.0f, scaledRadius * Mathf.Sin(theta));
Gizmos.DrawLine(offset + scaledHalfHeight * Vector3.up, offset + scaledHalfHeight * Vector3.down);
}
Gizmos.matrix = Matrix4x4.identity;
}
break;
case Type.Box:
//case Type.InverseBox: // TODO?
{
Vector3 scaledDimensions = VectorUtil.ComponentWiseMult(transform.localScale, Dimensions);
Gizmos.matrix = transform.localToWorldMatrix;
if (Shape == Type.Box)
{
Gizmos.color = new Color(1.0f, 1.0f, 1.0f, 0.5f);
Gizmos.DrawCube(Vector3.zero, scaledDimensions);
}
Gizmos.color = Color.white;
Gizmos.DrawWireCube(Vector3.zero, scaledDimensions);
Gizmos.matrix = Matrix4x4.identity;
}
break;
}
}