public static Collision ConvexConvexIntersection(ConvexCollider a, ConvexCollider b)
{
Vector2 ret = Vector2.zero;
int count = 0;
for (int i = 0; i < a.len; i++)
{
Vector2 w = a.gameObject.transform.LocalToWorldPoint(a.points [i]);
if (b.IsPointInCollider(w))
{
ret += w;
count++;
}
}
for (int i = 0; i < b.len; i++)
{
Vector2 w = b.gameObject.transform.LocalToWorldPoint(b.points [i]);
if (a.IsPointInCollider(w))
{
ret += w;
count++;
}
}
if (count > 0)
{
Collision s = new Collision();
s.point = ret / count;
s.normal = a.GetNormal(s.point);
return(s);
}
return(null);
}
public static Collision CircleConvexIntersection(CircleCollider a, ConvexCollider b, bool ImCircle = true)
{
Vector2 localPoint = b.gameObject.transform.WorldToLocalPoint(a.gameObject.transform.position);
Vector2 ret = Vector2.zero;
Vector2 nor = Vector2.zero;
int count = 0;
float area = 0;
float realRadA = a.gameObject.transform.LocalToWorldLength(a.radius);
float radALocalToB = b.gameObject.transform.WorldToLocalLength(realRadA);
float sqrRadALocalToB = radALocalToB * radALocalToB;
Vector2 a0 = localPoint - b.points [b.len - 1];
float proj0 = Vector2.Dot(a0, b.deltas[0]) / b.lengths [0];
float rej0 = Math.Abs(Vector2.Cross(a0, b.deltas [0]) / b.lengths [0]);
float rejection = 0;
if (rej0 <= radALocalToB && 0 <= proj0 && proj0 <= b.lengths [0])
{
//ret += b.points [b.len - 1] + b.deltas [0] * MyMath.Clamp(proj0 / b.lengths [0], 0, 1);
Vector2 vrej = Vector2.Reject(a0, b.deltas [0]);
float vrejMag = vrej.magnitude;
float worldVrejMag = b.gameObject.transform.LocalToWorldLength(vrejMag);
float darea = (float)(Math.PI * (realRadA - worldVrejMag) * worldVrejMag * Math.Sqrt(1.0 - worldVrejMag * worldVrejMag / realRadA / realRadA));
nor += Vector2.Rotate(b.deltas[0].normalized, MyMath.FloatPIPer2) * darea;
ret += (localPoint - vrej) * darea;
area += darea;
rejection = Math.Max(rejection, realRadA - worldVrejMag);
count++;
}
else if (Vector2.SqrDistance(b.points [0], localPoint) <= sqrRadALocalToB)
{
count++;
float y = radALocalToB - Vector2.Distance(b.points [0], localPoint);
Vector2 delta = b.points [0] - localPoint;
Vector2 proji = Vector2.Project(b.deltas [0], delta);
Vector2 projiPlus1 = Vector2.Project(b.deltas [1], delta);
Vector2 reji = b.deltas [0] - proji;
Vector2 rejiPlus1 = b.deltas [1] - projiPlus1;
float darea = 0.5f * y * y * (reji.magnitude / proji.magnitude + rejiPlus1.magnitude / projiPlus1.magnitude);
rejection = Math.Max(rejection, realRadA - b.gameObject.transform.LocalToWorldLength(delta.magnitude));
ret += b.points [1] * darea;
nor += (Vector2.Reject(a0, b.deltas [1]) + Vector2.Reject(localPoint - b.points [0], b.deltas [1])).normalized * darea;
area += darea;
}
for (int i = 1; i < b.len - 1; i++)
{
Vector2 ai = localPoint - b.points [i - 1];
float proj = Vector2.Dot(ai, b.deltas [i]) / b.lengths [i];
float rej = Math.Abs(Vector2.Cross(ai, b.deltas [i]) / b.lengths [i]);
if (rej <= radALocalToB && 0 <= proj && proj <= b.lengths [i])
{
Vector2 vrej = Vector2.Reject(ai, b.deltas [i]);
float vrejMag = vrej.magnitude;
float worldVrejMag = b.gameObject.transform.LocalToWorldLength(vrejMag);
float darea = (float)(Math.PI * (realRadA - worldVrejMag) * worldVrejMag * Math.Sqrt(1.0 - worldVrejMag * worldVrejMag / realRadA / realRadA));
nor += Vector2.Rotate(b.deltas [i].normalized, MyMath.FloatPIPer2) * darea;
ret += (localPoint - vrej) * darea;
area += darea;
rejection = Math.Max(rejection, realRadA - worldVrejMag);
count++;
}
else if (Vector2.SqrDistance(b.points [i], localPoint) <= sqrRadALocalToB)
{
count++;
float y = radALocalToB - Vector2.Distance(b.points [i], localPoint);
Vector2 delta = b.points [i] - localPoint;
Vector2 proji = Vector2.Project(b.deltas [i], delta);
Vector2 projiPlus1 = Vector2.Project(b.deltas [i + 1], delta);
Vector2 reji = b.deltas [i] - proji;
Vector2 rejiPlus1 = b.deltas [i + 1] - projiPlus1;
float darea = 0.5f * y * y * (reji.magnitude / proji.magnitude + rejiPlus1.magnitude / projiPlus1.magnitude);
rejection = Math.Max(rejection, realRadA - b.gameObject.transform.LocalToWorldLength(delta.magnitude));
ret += b.points [i] * darea;
nor += (Vector2.Reject(ai, b.deltas [i]) + Vector2.Reject(localPoint - b.points [i], b.deltas [i + 1])).normalized * darea;
area += darea;
}
}
int last = b.len - 1;
Vector2 al = localPoint - b.points [last - 1];
float projl = Vector2.Dot(al, b.deltas[last]) / b.lengths [last];
float rejl = Math.Abs(Vector2.Cross(al, b.deltas [last]) / b.lengths [last]);
if (rejl <= radALocalToB && 0 <= projl && projl <= b.lengths [last])
{
Vector2 vrej = Vector2.Reject(al, b.deltas [last]);
float vrejMag = vrej.magnitude;
float worldVrejMag = b.gameObject.transform.LocalToWorldLength(vrejMag);
float darea = (float)(Math.PI * (realRadA - worldVrejMag) * worldVrejMag * Math.Sqrt(1.0 - worldVrejMag * worldVrejMag / realRadA / realRadA));
nor += Vector2.Rotate(b.deltas[last].normalized, MyMath.FloatPIPer2) * darea;
ret += (localPoint - vrej) * darea;
area += darea;
rejection = Math.Max(rejection, realRadA - worldVrejMag);
count++;
}
else if (Vector2.SqrDistance(b.points [last], localPoint) <= sqrRadALocalToB)
{
count++;
float y = radALocalToB - Vector2.Distance(b.points [last], localPoint);
Vector2 delta = b.points [last] - localPoint;
Vector2 proji = Vector2.Project(b.deltas [last], delta);
Vector2 projiPlus1 = Vector2.Project(b.deltas [0], delta);
Vector2 reji = b.deltas [last] - proji;
Vector2 rejiPlus1 = b.deltas [0] - projiPlus1;
float darea = 0.5f * y * y * (reji.magnitude / proji.magnitude + rejiPlus1.magnitude / projiPlus1.magnitude);
rejection = Math.Max(rejection, realRadA - b.gameObject.transform.LocalToWorldLength(delta.magnitude));
ret += b.points [last] * darea;
//nor += (Vector2.Reject (al, b.deltas [last]) + Vector2.Reject (localPoint - b.points [last], b.deltas [0])).normalized * darea;
//nor +=
area += darea;
}
bool inCol = b.IsPointInCollider(a.gameObject.transform.position);
if (count > 0 || (inCol && b.isTrigger && b.hacked))
{
if (inCol)
{
area = a.area - area;
}
if (area <= 0)
{
area = MyMath.dFloat;
}
Collision s = new Collision();
s.point = b.gameObject.transform.LocalToWorldPoint(ret / area);
s.normal = (ImCircle ? -1 : 1) * a.GetNormal(s.point);
//s.normal = (ImCircle ? -1 : 1) * b.gameObject.transform.LocalToWorldDirection(nor / area).normalized;
if (!ImCircle)
{
s.normal *= -1;
}
//Console.WriteLine ("normal " + s.normal);
s.area = area;
s.collider = ImCircle ? (Collider)b : (Collider)a;
s.rejection = rejection;
//Console.WriteLine ("Collide " + MainWindow.frameCount);
//Console.WriteLine ("normal " + s.normal);
return(s);
}
return(null);
}
