public void HandleCollision(Manifold m, TFRigidbody a, TFRigidbody b)
{
TFCircleCollider A = (TFCircleCollider)a.coll;
TFCircleCollider B = (TFCircleCollider)b.coll;
//Calculate translational vector, which is normal
FixVec2 normal = ((FixVec2)b.Position) - ((FixVec2)a.Position);
Fix distSpr = normal.GetMagnitudeSquared();
Fix radius = A.radius + B.radius;
//Not in contact
if (distSpr >= radius * radius)
{
m.contactCount = 0;
return;
}
Fix distance = FixMath.Sqrt(distSpr);
m.contactCount = 1;
if (distance == Fix.zero)
{
m.penetration = A.radius;
m.normal = new FixVec2(1, 0);
m.contacts[0] = (FixVec2)a.Position;
}
else
{
m.penetration = radius - distance;
m.normal = normal / distance;
m.contacts[0] = m.normal * A.radius + ((FixVec2)a.Position);
}
}
void CreateCircle()
{
GameObject go = new GameObject("Circle");
TFTransform fp = go.AddComponent <TFTransform>();
TFCircleCollider cc = go.AddComponent <TFCircleCollider>();
TFRigidbody rb = go.AddComponent <TFRigidbody>();
var v3 = Input.mousePosition;
v3.z = 0;
v3 = Camera.main.ScreenToWorldPoint(v3);
fp.Position = new FixVec3((Fix)v3.x, (Fix)v3.y, 0);
cc.radius = (Fix)Random.Range(0.05f, 1.2f);
rb.bodyType = TFBodyType.Dynamic;
rb.inertia = (Fix)Random.Range(0.0f, 1.0f);
rb.Position = (FixVec2)fp.Position;
rb.material = TFPhysics.instance.settings.defaultMaterial;
fp.LocalScale = new FixVec3(cc.radius * ((Fix)1.45f), cc.radius * ((Fix)1.45f), 1);
//Sprite
GameObject cSprite = GameObject.Instantiate(circleSprite);
cSprite.transform.SetParent(go.transform, false);
}
public void HandleCollision(Manifold m, TFRigidbody a, TFRigidbody b)
{
TFEdgeCollider A = (TFEdgeCollider)a.coll;
TFCircleCollider B = (TFCircleCollider)b.coll;
// No line segments, return out.
if (A.vertices.Count < 2)
{
return;
}
// Transform circle center to Edge model space
FixVec2 circleCenter = A.u.Transposed() * (b.Position - a.Position);
// Iterate through all the line segments to find contact point.
for (int i = 0; i < A.vertices.Count - 1; i++)
{
FixVec2 rayDir = (A.vertices[i + 1] - A.vertices[i]);
FixVec2 centerRay = (A.vertices[i] - circleCenter);
Fix k = rayDir.Dot(rayDir);
Fix l = 2 * centerRay.Dot(rayDir);
Fix n = centerRay.Dot(centerRay) - (B.radius * B.radius);
Fix discriminant = l * l - 4 * k * n;
// No intersection.
if (discriminant <= Fix.zero)
{
continue;
}
discriminant = FixMath.Sqrt(discriminant);
Fix t1 = (-l - discriminant) / (2 * k);
Fix t2 = (-l + discriminant) / (2 * k);
Fix s = FixVec2.Dot(A.normals[i], circleCenter - A.vertices[i]);
if (t1 >= Fix.zero && t1 <= Fix.one)
{
//t1 is the intersection, and it's closer than t2.
m.contactCount = 1;
m.contacts[0] = (A.u * A.vertices[i] + a.Position) + (t1 * rayDir);
m.normal = A.normals[i];
m.penetration = B.radius - s;
return;
}
if (t2 >= Fix.zero && t2 <= Fix.one)
{
// t1 didn't insection, so we either started inside the circle
// or completely past it.
m.contactCount = 1;
m.contacts[0] = (A.u * A.vertices[i] + a.Position) + (t2 * rayDir);
m.normal = A.normals[i];
m.penetration = B.radius - s;
return;
}
}
}
public void HandleCollision(Manifold m, TFRigidbody a, TFRigidbody b)
{
TFCircleCollider A = (TFCircleCollider)a.coll;
TFPolygonCollider B = (TFPolygonCollider)b.coll;
m.contactCount = 0;
// Transform circle center to Polygon model space
FixVec2 center = B.u.Transposed() * (a.Position - b.Position);
// Find edge with minimum penetration
// Exact concept as using support points in Polygon vs Polygon
Fix separation = -Fix.MaxValue;
int faceNormal = 0;
for (int i = 0; i < B.VertexCount; ++i)
{
Fix s = FixVec2.Dot(B.normals[i], center - B.GetVertex(i));
if (s > A.radius)
{
return;
}
if (s > separation)
{
separation = s;
faceNormal = i;
}
}
// Grab face's vertices
FixVec2 v1 = B.GetVertex(faceNormal);
int i2 = (faceNormal + 1) < B.VertexCount ? faceNormal + 1 : 0;
FixVec2 v2 = B.GetVertex(i2);
// Check to see if center is within polygon
if (separation < Fix.Epsilon)
{
m.contactCount = 1;
m.normal = -(B.u * B.normals[faceNormal]);
m.contacts[0] = m.normal * A.radius + a.Position;
m.penetration = A.radius;
return;
}
// Determine which voronoi region of the edge center of circle lies within
Fix dot1 = FixVec2.Dot(center - v1, v2 - v1);
Fix dot2 = FixVec2.Dot(center - v2, v1 - v2);
m.penetration = A.radius - separation;
//Closest to v1
if (dot1 <= Fix.zero)
{
if ((center - v1).GetMagnitudeSquared() > A.radius * A.radius)
{
return;
}
m.contactCount = 1;
FixVec2 n = v1 - center;
n = B.u * n;
n = n.Normalized();
m.normal = n;
v1 = B.u * v1 + b.Position;
m.contacts[0] = v1;
}
else if (dot2 <= Fix.zero)
{
//Closest to v2
if ((center - v2).GetMagnitudeSquared() > A.radius * A.radius)
{
return;
}
m.contactCount = 1;
FixVec2 n = v2 - center;
v2 = B.u * v2 + b.Position;
m.contacts[0] = v2;
n = B.u * n;
n = n.Normalized();
m.normal = n;
}
else
{
//Closest to face
FixVec2 n = B.normals[faceNormal];
if (FixVec2.Dot(center - v1, n) > A.radius)
{
return;
}
n = B.u * n;
m.normal = -n;
m.contacts[0] = m.normal * A.radius + a.Position;
m.contactCount = 1;
}
}
