private void CollisionSphereBox()
{
float3 spherePos = posA;
float3 obbPos = posB;
float3 obbRot = rotB;
float3 obbHalfSize = extentsB;
float sphereRadius = extentsA.x;
FixedList128 <float3> vertices = ColPhysics.GetAABBVerticesOBB(obbPos, obbHalfSize); // calculated once at startup forever stored with entity
vertices = ColPhysics.GetRotatedVerticesOBB(vertices, obbPos, obbRot);
FixedList128 <float> extents = new FixedList128 <float>(); // calculated once at startup forever stored with entity
extents.Add(extentsB.x);
extents.Add(extentsB.y);
extents.Add(extentsB.z);
FixedList128 <float3> axisNormals = ColPhysics.GetAxisNormalsOBB(vertices[0], vertices[1], vertices[3], vertices[4]);
if (ColPhysics.SphereIntersectsBox(spherePos, sphereRadius, obbPos, axisNormals, extents, out float distance))
{
isColliding = true;
if (resolveCollisions)
{
ColPhysics.ResolveSphereBoxCollision(ref spherePos, sphereRadius, ref obbPos, distance);
posA = spherePos;
posB = obbPos;
}
}
}
private void CollisionCapsuleBox()
{
FixedList128 <float3> verticesOBB = ColPhysics.GetAABBVerticesOBB(posB, extentsB);
verticesOBB = ColPhysics.GetRotatedVerticesOBB(verticesOBB, posB, rotB);
FixedList128 <float3> normalAxesOBB = ColPhysics.GetAxisNormalsOBB(verticesOBB[0], verticesOBB[1], verticesOBB[3], verticesOBB[4]);
FixedList128 <float> exte = new FixedList128 <float>();
exte.Add(extentsB.x);
exte.Add(extentsB.y);
exte.Add(extentsB.z);
float3x2 capsuleTips = ColPhysics.GetCapsuleEndPoints(posA, rotA, extentsA.y * 2);
float3x2 capsuleSpheres = ColPhysics.GetCapsuleEndSpheres(capsuleTips.c0, capsuleTips.c1, extentsA.x);
if (ColPhysics.CapsuleIntersectsBox(capsuleSpheres, posB, extentsA.x, normalAxesOBB, exte, out float distance))
{
isColliding = true;
if (resolveCollisions)
{
ColPhysics.ResolveSphereBoxCollision(ref posA, extentsA.x, ref posB, distance);
}
}
}
private void CollisionCapsuleLock()
{
float3 p1 = posA;
float3 p2 = posB;
float r1 = extentsA.x;
float r2 = extentsB.x;
float h1 = extentsA.y * 2;
float h2 = extentsB.y * 2;
if (ColPhysics.ParallelLinesIntersectYAxis(p1.y, p2.y, h1, h2))
{
float3 s1 = new float3(p1.x, 0, p1.z);
float3 s2 = new float3(p2.x, 0, p2.z);
if (ColPhysics.SpheresIntersect(s1, s2, r1, r2, out float distance))
{
isColliding = true;
if (resolveCollisions)
{
ColPhysics.ResolveSphereCollision(ref s1, ref s2, r1, r2, distance);
posA = new float3(s1.x, p1.y, s1.z);
posB = new float3(s2.x, p2.y, s2.z);
}
}
}
}
// SPHERE TRIANGLE
public void HandleSphereTriangle()
{
float3 spherePos = posA;
float sphereRadius = extentsA.x;
float3 triPos = posB;
float3 triSize = extentsB;
float3 triRot = rotB;
float3[] triangleVerts = GetVerticesOfTriangle(triPos, triSize, triRot); // would already be stored
FixedList128 <float3> triVertices = new FixedList128 <float3>();
triVertices.Add(triangleVerts[0]);
triVertices.Add(triangleVerts[1]);
triVertices.Add(triangleVerts[2]);
if (ColPhysics.SphereIntersectsOrientedTriangle(spherePos, sphereRadius, triVertices, out float3 closestPoint, out float distance))
{
isColliding = true;
if (drawMarkers)
{
display.DrawMarker(closestPoint);
}
if (resolveCollisions)
{
ColPhysics.ResolveSphereTriangleCollision(ref spherePos, sphereRadius, distance, closestPoint);
}
posA = spherePos;
}
display.DrawSphereTriangle(posA, posB, rotB, extentsA.x, extentsB);
}
public void DrawSphereCapsule(float3 spherePos, float3 capsulePos, float3 capsuleRot, float shpereRadius, float capsuleRadius, float capsuleHalfLength)
{
shapeA.transform.position = spherePos;
shapeB.transform.position = capsulePos;
float xRotation = ColPhysics.DegreesToRadians(90);
shapeB.transform.rotation = quaternion.EulerXYZ(capsuleRot.x + xRotation, capsuleRot.y, capsuleRot.z);
shapeA.transform.localScale = new float3(shpereRadius * 2, shpereRadius * 2, shpereRadius * 2);
shapeB.transform.localScale = new float3(capsuleRadius * 2, capsuleHalfLength * 2, capsuleRadius * 2);
}
public void DrawCapsuleBox(float3 capsulePos, float3 boxPos, float3 capusleRot, float3 boxRot, float capsuleRadius, float capsuleHalfLength, float3 boxHalfSize)
{
shapeA.transform.position = capsulePos;
shapeB.transform.position = boxPos;
float xRotation = ColPhysics.DegreesToRadians(90);
shapeA.transform.rotation = quaternion.EulerXYZ(capusleRot.x + xRotation, capusleRot.y, capusleRot.z);
shapeB.transform.rotation = quaternion.EulerXYZ(boxRot);
shapeA.transform.localScale = new float3(capsuleRadius * 2, capsuleHalfLength * 2, capsuleRadius * 2);
shapeB.transform.localScale = boxHalfSize * 2;
}
public void DrawCapsules(float3 posA, float3 posB, float3 rotA, float3 rotB, float radiusA, float radiusB, float halfLengthA, float halfLengthB)
{
shapeA.transform.position = posA;
shapeB.transform.position = posB;
float xRotation = ColPhysics.DegreesToRadians(90);
shapeA.transform.rotation = quaternion.EulerXYZ(rotA.x + xRotation, rotA.y, rotA.z);
shapeB.transform.rotation = quaternion.EulerXYZ(rotB.x + xRotation, rotB.y, rotB.z);
shapeA.transform.localScale = new float3(radiusA * 2, halfLengthA * 2, radiusA * 2);
shapeB.transform.localScale = new float3(radiusB * 2, halfLengthB * 2, radiusB * 2);
}
private float3[] GetVerticesOfTriangle(float3 position, float3 halfSize, float3 rotation)
{
float3[] vertices = new float3[3];
vertices[0] = position + new float3(-halfSize.x, -halfSize.y, 0);
vertices[1] = position + new float3(halfSize.x, -halfSize.y, 0);
vertices[2] = position + new float3(0, halfSize.y, 0);
for (int i = 0; i < vertices.Length; i++)
{
vertices[i] = ColPhysics.RotatePoint3D(vertices[i], position, rotation.y, rotation.z, rotation.x);
}
return(vertices);
}
private void CollisionBoxBox()
{
FixedList128 <float3> verticesA = ColPhysics.GetAABBVerticesOBB(posA, extentsA);
FixedList128 <float3> verticesB = ColPhysics.GetAABBVerticesOBB(posB, extentsB);
verticesA = ColPhysics.GetRotatedVerticesOBB(verticesA, posA, rotA);
verticesB = ColPhysics.GetRotatedVerticesOBB(verticesB, posB, rotB);
FixedList512 <float3> projectionAxes = ColPhysics.GetProjectionAxesOBBSAT(verticesA, verticesB);
if (ColPhysics.BoxIntersectsBox(projectionAxes, verticesA, verticesB, out float minOverlap, out float3 mtvAxis))
{
isColliding = true;
if (resolveCollisions)
{
ColPhysics.ResolveBoxCollision(ref posA, ref posB, minOverlap, mtvAxis);
}
}
}
private void CollisionSphere()
{
float3 pa = posA;
float3 pb = posB;
float ra = extentsA.x;
float rb = extentsB.x;
if (ColPhysics.SpheresIntersect(pa, pb, ra, rb, out float distance))
{
isColliding = true;
if (resolveCollisions)
{
ColPhysics.ResolveSphereCollision(ref pa, ref pb, ra, rb, distance);
posA = pa;
posB = pb;
}
}
}
private void CollisionCapsule()
{
float3 pa = posA;
float3 pb = posB;
float lengthA = extentsA.y * 2;
float lengthB = extentsB.y * 2;
float radiusA = extentsA.x;
float radiusB = extentsB.x;
if (ColPhysics.CapsuleIntersectsCapsule(pa, pb, rotA, rotB, lengthA, lengthB, radiusA, radiusB, out float distance))
{
isColliding = true;
if (resolveCollisions)
{
ColPhysics.ResolveSphereCollision(ref pa, ref pb, radiusA, radiusB, distance);
posA = pa;
posB = pb;
}
}
}
private void CollisionSphereCapsule()
{
float3 spherePos = posA;
float sphereRadius = extentsA.x;
float3 capsulePos = posB;
float3 capsuleRot = rotB;
float capsuleLength = extentsB.y * 2;
float capsuleRadius = extentsB.x;
if (ColPhysics.SphereIntersectsCapsule(spherePos, sphereRadius, capsulePos, capsuleRot, capsuleLength, capsuleRadius, out float distance))
{
isColliding = true;
if (resolveCollisions)
{
ColPhysics.ResolveSphereCollision(ref spherePos, ref capsulePos, sphereRadius, capsuleRadius, distance);
posA = spherePos;
posB = capsulePos;
}
}
}
