private Collision _SphereCollide(SphereCollider sc)
{
var center = sc.Sphere.Center;
var radius = sc.Sphere.Radius;
var closest = Obb.ClosestPoint(center);
var normal = center - closest;
var depth = radius - normal.Length();
if (depth < 0) return null;
normal.Normalize();
return new Collision(this, sc
, new Contact(closest, center - radius * normal, normal, depth)
);
}
private Collision _SphereCollide(SphereCollider sc)
{
var center = Sphere.Center;
var radius = Sphere.Radius;
var scCenter = sc.Sphere.Center;
var scRadius = sc.Sphere.Radius;
var normal = scCenter - center;
var depth = scRadius + radius - normal.Length();
if (depth < 0) return null;
normal.Normalize();
return new Collision(this, sc
, new Contact(
center + radius * normal,
scCenter - scRadius * normal,
normal, depth
));
}