static public CollisionInfo CircleOBB(CircleCollision3D circle, ObjectBoundingBoxCollision3D rect)
{
//transform circle into obb space transform.InverseTransformPoint(cirecle.postion);
//then do circle AABB
Vector3 halfExtend = (rect.posMax - rect.posMin) / 2;
Vector3 circleInOBB = rect.GetComponent <Particle3D>().GetWorldToObject().MultiplyPoint(circle.center);//rect.transform.InverseTransformPoint(circle.center);
Vector3 circleBox = new Vector3(
Mathf.Max(-halfExtend.x, Mathf.Min(circleInOBB.x, halfExtend.x)),
Mathf.Max(-halfExtend.y, Mathf.Min(circleInOBB.y, halfExtend.y)),
Mathf.Max(-halfExtend.z, Mathf.Min(circleInOBB.z, halfExtend.z)));
Vector3 distanceVec = circleInOBB - circleBox;
float distanceSQ = Vector3.Dot(distanceVec, distanceVec);
//Debug.DrawLine(circleBox, circle.center);
if (distanceSQ <= (circle.radius * circle.radius))
{
//return true;
//Debug.Log("circ obb collision");
float distance = Mathf.Sqrt(distanceSQ);
return(new CollisionInfo(circle, rect, rect.transform.TransformVector(-distanceVec).normalized, circle.radius - distance));
}
return(null);
}
public CollisionInfo(ObjectBoundingBoxCollision3D colA, ObjectBoundingBoxCollision3D colB, Vector3 normal, float penetration)
{
RigidBodyA = colA.GetComponent <Particle3D>();
RigidBodyB = colB.GetComponent <Particle3D>();
RelativeVelocity = RigidBodyB.velocity - RigidBodyA.velocity;
contacts[0].normal = normal;
contacts[0].penetration = penetration;
contacts[0].restitution = Mathf.Min(RigidBodyA.restitution, RigidBodyB.restitution);
}
static public CollisionInfo OBBOBB(ObjectBoundingBoxCollision3D rectA, ObjectBoundingBoxCollision3D rectB)
{
List <Vector3> allAxis = new List <Vector3>();
allAxis.AddRange(rectA.normAxis);
allAxis.AddRange(rectB.normAxis);
foreach (var axis in allAxis)
{
float OBB1Min = float.MaxValue;
float OBB1Max = float.MinValue;
foreach (var vert in rectA.verticeCheck)
{
float dotValue = (vert.x * axis.x + vert.y * axis.y);
if (dotValue < OBB1Min)
{
OBB1Min = dotValue;
}
if (dotValue > OBB1Max)
{
OBB1Max = dotValue;
}
}
float OBB2Min = float.MaxValue;
float OBB2Max = float.MinValue;
foreach (var vert in rectB.verticeCheck)
{
float dotValue = (vert.x * axis.x + vert.y * axis.y);
if (dotValue < OBB2Min)
{
OBB2Min = dotValue;
}
if (dotValue > OBB2Max)
{
OBB2Max = dotValue;
}
}
if (!(OBB1Max < OBB2Min && OBB2Max < OBB1Min))
{
Vector3 AtoB = rectB.center - rectA.center;
float x_overlap = rectA.halfExtends.x + rectB.halfExtends.x - Mathf.Abs(AtoB.x);
if (x_overlap > 0.0f)
{
float y_overlap = rectA.halfExtends.y + rectB.halfExtends.y - Mathf.Abs(AtoB.y);
if (y_overlap > 0.0f)
{
if (x_overlap < y_overlap)
{
//Debug.Log("OBB OBB");
return(new CollisionInfo(rectA, rectB, AtoB.x < 0.0f ? -Vector3.right : Vector3.right, x_overlap));
}
else
{
//Debug.Log("OBB OBB");
return(new CollisionInfo(rectA, rectB, AtoB.y < 0.0f ? -Vector3.up : Vector3.up, y_overlap));
}
}
}
}
}
return(null);
}
static public CollisionInfo AABBOBB(AxisAllignedBoundingBoxCollision3D colA, ObjectBoundingBoxCollision3D colB)
{
List <Vector3> allAxis = new List <Vector3>();
allAxis.AddRange(colA.normAxis);
allAxis.AddRange(colB.normAxis);
foreach (var axis in allAxis)
{
float AABBMin = float.MaxValue;
float AABBMax = float.MinValue;
foreach (var vert in colA.verticeCheck)
{
float dotValue = (vert.x * axis.x + vert.y * axis.y);
if (dotValue < AABBMin)
{
AABBMin = dotValue;
}
if (dotValue > AABBMax)
{
AABBMax = dotValue;
}
}
float OBBMin = float.MaxValue;
float OBBMax = float.MinValue;
foreach (var vert in colB.verticeCheck)
{
float dotValue = (vert.x * axis.x + vert.y * axis.y);
if (dotValue < OBBMin)
{
OBBMin = dotValue;
}
if (dotValue > OBBMax)
{
OBBMax = dotValue;
}
}
if (!(AABBMax < OBBMin && OBBMax < AABBMin))
{
Vector3 AtoB = colB.center - colA.center;
float x_overlap = colA.halfExtends.x + colB.halfExtends.x - Mathf.Abs(AtoB.x);
if (x_overlap > 0.0f)
{
float y_overlap = colA.halfExtends.y + colB.halfExtends.y - Mathf.Abs(AtoB.y);
if (y_overlap > 0.0f)
{
if (x_overlap < y_overlap)
{
//Debug.Log("ABB OBB");
return(new CollisionInfo(colA, colB, AtoB.x < 0.0f ? -Vector3.right : Vector3.right, x_overlap));
}
else
{
//Debug.Log("ABB OBB");
return(new CollisionInfo(colA, colB, AtoB.y < 0.0f ? -Vector3.up : Vector3.up, y_overlap));
}
}
}
}
}
return(null);
}