protected override CollisionResult IsOverlappingBox(BoundingBox other)
{
// First trivial case.
#region SPHERE_CHECK
BoundingSphere sphere = new BoundingSphere();
sphere.Center = other.GlobalCenter();
sphere.Radius = other.HalfDiagonal();
CollisionResult resSphere = sphere.IsOverlapping(this);
if (!resSphere.CollisionDetected)
{
return(resSphere);
}
#endregion
// Need to check if any of the faces of the cube are intersecting sphere.
bool inside = true;
// First find intersection point with plane of the face, then check if casted circle intersects face.
#region PLANES_VERTICES_DEFINITION
Vector3[] faceCorners = other.Corners();
Vector3 center = GlobalCenter();
Plane[] planes = new Plane[6]
{
other.FrontFace(), other.BackFace(),
other.LeftFace(), other.RightFace(),
other.UpFace(), other.DownFace()
};
// Corners: 0 - right upper front, 1 - left upper front, 2 - left lower front,
// 3 - right lower front, 4 - right upper back, 5 - left upper back,
// 6 - left lower back, 7 - right lower back.
int[] ind = new int[24]
{
0, 1, 2, 3,
4, 5, 6, 7,
5, 1, 2, 6,
4, 0, 3, 7,
0, 1, 5, 4,
3, 2, 6, 7
};
#endregion
for (int i = 0; i < 6; ++i)
{
float t = planes[i].D - Vector3.Dot(planes[i].Normal, center);
if (t < 0.0f)
{
inside = false;
}
if (Math.Abs(t) <= radius)
{
// Check if circle created by casting sphere on plane intersect with box's face.
Vector3 intersect = center + t * planes[i].Normal;
float interRadius = (float)Math.Sqrt(radius * radius - t * t);
// Trivial check.
#region CIRCLE_CHECK
Vector3 faceCenter = (faceCorners[ind[4 * i]] + faceCorners[ind[4 * i + 2]]) / 2.0f;
if (interRadius + Vector3.Distance(faceCenter, faceCorners[ind[4 * i]]) < Vector3.Distance(intersect, faceCenter))
{
continue;
}
#endregion
// Intersection if circle's center lies in rectangle.
// 0 <= AP*AB <= AB*AB && 0 <= AP*AD <= AD*AD
#region CIRCLE_CENTER_INSIDE_FACE
Vector3 AP = intersect - faceCorners[ind[4 * i]];
Vector3 AB = faceCorners[ind[4 * i + 1]] - faceCorners[ind[4 * i]];
Vector3 AD = faceCorners[ind[4 * i + 3]] - faceCorners[ind[4 * i]];
float APAB = Vector3.Dot(AP, AB);
float APAD = Vector3.Dot(AP, AD);
if (APAB >= 0 && APAB <= AB.LengthSquared() && APAD >= 0 && APAD <= AD.LengthSquared())
{
return(new CollisionResult(true, planes[i], null, intersect));
}
#endregion
// Intersection if any edge lies close enough and shares at least one point with circle.
for (int j = 0; j < 4; ++j)
{
#region EDGE_INTERSECT_CIRCLE
AP = intersect - faceCorners[ind[4 * i + j]];
AB = faceCorners[ind[4 * i + ((j + 1) % 4)]] - faceCorners[ind[4 * i + j]];
float t1 = Vector3.Dot(AP, AB) / AB.LengthSquared();
if (t1 > 0.0f && t1 < 1.0f)
{
Vector3 X = faceCorners[ind[4 * i + j]] + t1 * AB;
if ((X - intersect).LengthSquared() <= interRadius)
{
return(new CollisionResult(true, planes[i], null, X));
}
}
// Check vertices of the edge.
if (AP.LengthSquared() <= interRadius)
{
return(new CollisionResult(true, planes[i], null, faceCorners[ind[4 * i + j]]));
}
if ((faceCorners[ind[4 * i + ((j + 1) % 4)]] - intersect).LengthSquared() <= interRadius)
{
return(new CollisionResult(true, planes[i], null, faceCorners[ind[4 * i + ((j + 1) % 4)]]));
}
#endregion
}
}
}
// The sphere can still be inside the box without touching it.
if (inside)
{
Vector3 otherCenter = other.GlobalCenter();
Vector3 centerDiff = center - otherCenter;
centerDiff.Normalize();
return(new CollisionResult(true, new Plane(centerDiff, Vector3.Dot(otherCenter, centerDiff)), new Plane(-centerDiff, Vector3.Dot(center, centerDiff)), otherCenter));
}
else
{
return(new CollisionResult());
}
}
public void Update(GameTime gameTime)
{
sceneTime += (float)gameTime.ElapsedGameTime.TotalSeconds;
foreach (GraphNode <Room, BoundingBox> node in roomGraph)
{
Room room = node.Value;
room.go.Update(gameTime);
}
foreach (GameObject go in objectsToDestroy)
{
go.Destroy();
}
objectsToDestroy.Clear();
foreach (GameObject go in objectsToRespace)
{
RemoveObject(go);
foreach (GraphNode <Room, BoundingBox> node in roomGraph)
{
if (node.Value.go.Bound.Intersects(go.Bound))
{
node.Value.contents.Add(go);
}
}
}
objectsToRespace.Clear();
foreach (GraphNode <Room, BoundingBox> node in roomGraph)
{
foreach (GameObject go in node.Value.contents)
{
Collider goCol = go.GetComponent <Collider>();
Rigidbody rig = go.GetComponent <Rigidbody>();
if (goCol != null && rig != null)
{
bool grounded = false;
foreach (GameObject go2 in node.Value.contents)
{
Collider go2Col = go2.GetComponent <Collider>();
if (go2Col != null && !go.Equals(go2))
{
if (go2Col.IsTrigger)
{
if (go.Name == "Player")
{
Bounding_Volumes.CollisionResult col = goCol.Collide(go2Col);
if (col.CollisionDetected)
{
go2Col.Trigger();
}
else
{
go2Col.Untrigger();
}
}
}
else
{
Bounding_Volumes.CollisionResult collision = goCol.Collide(go2Col);
if (collision.CollisionDetected)
{
float lostVel = Vector3.Dot(collision.CollisionPlane.Value.Normal, rig.Velocity);
if (lostVel < 0.0f)
{
Vector3 lostVelocity = -collision.CollisionPlane.Value.Normal * lostVel;
rig.AddVelocityChange(lostVelocity);
if (rig.IsGrounded || !rig.GravityEnabled)
{
go.GlobalPosition = go.GlobalPosition + lostVelocity * (float)gameTime.ElapsedGameTime.TotalSeconds;
}
}
if (Vector3.Dot(collision.CollisionPlane.Value.Normal, Vector3.Up) > 0.8f)
{
if (!rig.IsGrounded && rig.GravityEnabled)
{
go.GlobalPosition = go.GlobalPosition + collision.CollisionPlane.Value.Normal * lostVel * (float)gameTime.ElapsedGameTime.TotalSeconds;
}
rig.IsGrounded = true;
grounded = true;
}
}
}
}
}
/*foreach(GraphNode<Room, BoundingBox> neighbour in node.Neighbours)
* {
* foreach(GameObject go2 in neighbour.Value.contents)
* {
* Collider go2Col = go2.GetComponent<Collider>();
* if (go2Col != null && !go.Equals(go2))
* {
* Bounding_Volumes.CollisionResult collision = goCol.Collide(go2Col);
* if (collision.CollisionDetected)
* {
* float lostVel = Vector3.Dot(collision.CollisionPlane.Value.Normal, rig.Velocity);
* if (lostVel < 0.0f)
* {
* Vector3 lostVelocity = -collision.CollisionPlane.Value.Normal * lostVel;
* rig.AddVelocityChange(lostVelocity);
* if (rig.IsGrounded) go.GlobalPosition = go.GlobalPosition + lostVelocity * (float)gameTime.ElapsedGameTime.TotalSeconds;
* }
* if (Vector3.Dot(collision.CollisionPlane.Value.Normal, Vector3.Up) > 0.8f)
* {
* if (!rig.IsGrounded) go.GlobalPosition = go.GlobalPosition + collision.CollisionPlane.Value.Normal * lostVel * (float)gameTime.ElapsedGameTime.TotalSeconds;
* rig.IsGrounded = true;
* grounded = true;
* }
* }
* }
* }
* }*/
if (!grounded)
{
rig.IsGrounded = false;
}
}
}
}
}
