/// <summary>
/// Checks whether the given circle intersects with this circle, calculating the
/// collision data in that case.
/// </summary>
/// <param name="other">the circle to check</param>
/// <param name="intersection">the collision data, <code>null</code> if no collision has been detected.</param>
/// <returns>true if the colliders intersect, false otherwise.</returns>
public override bool Intersects(DSphereCollider other, out Manifold intersection)
{
intersection = null;
Fix32 rDistance = this.radius + other.radius;
Fix32 sqrRadiusDistance = rDistance * rDistance;
Vector3F centerDistance = other.center - this.center;
if (centerDistance.SqrtMagnitude > sqrRadiusDistance)
{
return(false);
}
//check if one of them is a trigger
if (this.IsTrigger || other.IsTrigger)
{
intersection = new Manifold(this.Body, other.Body);
return(true);
}
Fix32 distance = centerDistance.Magnitude;
//Debug.Log("distance:" + (double)distance);
Vector3F normal;
Fix32 penetration;
if (distance > Fix32.Zero)
{
penetration = rDistance - distance;
normal = centerDistance / distance;
}
else
{
penetration = this.radius;
normal = new Vector3F((Fix32)1, (Fix32)0, (Fix32)0);
}
intersection = new Manifold(this.Body, other.Body, normal, penetration);
return(true);
}
protected virtual void Initialize()
{
gravityPoint = gameObject.AddComponent <GravityPoint>();
dCollider = gameObject.AddComponent <DSphereCollider>();
}
/// <summary> /// Abstract function for intersections with boxes. /// </summary> /// <param name="other">sphere collider.</param> /// <param name="intersection">collision data.</param> /// <returns></returns> public abstract bool Intersects(DSphereCollider other, out Manifold intersection);
/// <summary>
/// Checks whether the given colliders intersect, generating an Intersection instance
/// with the collision data in that case.
/// Since this function represents a "box vs circle" collision, the symmetric function is called
/// instead. See DCircleCollider for more info.
/// </summary>
/// <param name="other">the second collider</param>
/// <param name="intersection">the collision data, <code>null</code> if no collision has been detected.</param>
/// <returns></returns>
public override bool Intersects(DSphereCollider other, out Manifold intersection)
{
intersection = null;
Vector3F spherePos = other.GetPosition();
Vector3F boxPos = this.GetPosition();
spherePos = spherePos - boxPos;
boxPos = Vector3F.Zero;
//spherePos = rotatePointAroundPivot(spherePos, -euler);
Vector3F h = scale / 2;
Vector3F v = Vector3F.Abs(spherePos);
Vector3F u = Vector3F.Max(v - h, Vector3F.Zero);
Vector3F f = getFlag(spherePos);
Fix32 penetration;
Vector3F normal = Vector3F.Zero;
bool ret = Vector3F.Dot(u, u) <= other.Radius * other.Radius;
if (!ret)
{
return(false);
}
else
{
if (this.IsTrigger || other.IsTrigger)
{
intersection = new Manifold(this.Body, other.Body);
return(true);
}
if (u.x > Fix32.Zero || u.y > Fix32.Zero || u.z > Fix32.Zero)
{
//real_u = rotatePointAroundPivot(real_u, euler);
if (IsDebug)
{
Debug.Log("u.x:" + (float)u.x);
Debug.Log("u.y:" + (float)u.y);
Debug.Log("u.z:" + (float)u.z);
Debug.Log("f.x:" + (float)f.x);
Debug.Log("f.y:" + (float)f.y);
Debug.Log("f.z:" + (float)f.z);
Debug.Log("spherePos.x:" + (float)spherePos.x);
Debug.Log("spherePos.y:" + (float)spherePos.y);
Debug.Log("spherePos.z:" + (float)spherePos.z);
}
normal = u / u.Magnitude;
normal = new Vector3F(normal.x * f.x, normal.y * f.y, normal.z * f.z);
penetration = other.Radius - u.Magnitude;
}
else
{
Vector3F vh = v - h;
if (vh.x < vh.y && vh.x < vh.z)
{
var n = new Vector3F(vh.x, Fix32.Zero, Fix32.Zero);
normal = n / n.Magnitude;
penetration = other.Radius - n.Magnitude;
}
else if (vh.y < vh.x && vh.y < vh.z)
{
var n = new Vector3F(Fix32.Zero, vh.y, Fix32.Zero);
normal = n / n.Magnitude;
penetration = other.Radius - n.Magnitude;
}
else
{
var n = new Vector3F(Fix32.Zero, Fix32.Zero, vh.z);
normal = n / n.Magnitude;
penetration = other.Radius - n.Magnitude;
}
}
intersection = new Manifold(this.Body, other.Body, normal, penetration);
}
return(true);
}
