public CollisionInfo(ObjectBoundingBoxCollision3D colA, AxisAllignedBoundingBoxCollision3D 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 CircleAABB(CircleCollision3D circle, AxisAllignedBoundingBoxCollision3D rect)
{
//Vector3 halfExtend = (rect.posMax - rect.posMin) / 2;
// clamp(value, min, max) - limits value to the range min..max
Vector3 circleBox = new Vector3(
Mathf.Max(rect.posMin.x + rect.center.x, Mathf.Min(circle.center.x, rect.posMax.x + rect.center.x)),
Mathf.Max(rect.posMin.y + rect.center.y, Mathf.Min(circle.center.y, rect.posMax.y + rect.center.y)),
Mathf.Max(rect.posMin.z + rect.center.z, Mathf.Min(circle.center.z, rect.posMax.z + rect.center.z)));
// Find the closest point to the circle within the rectangle
float closestX = Mathf.Clamp(circle.center.x, -rect.halfExtends.x, rect.halfExtends.x);
float closestY = Mathf.Clamp(circle.center.y, -rect.halfExtends.y, rect.halfExtends.y);
float closestZ = Mathf.Clamp(circle.center.z, -rect.halfExtends.z, rect.halfExtends.z);
Vector3 closestPoint = new Vector3(closestX, closestY, closestZ);
// Calculate the distance between the circle's center and this closest point
//float distanceX = circle.center.x - closestX;
//float distanceY = circle.center.y - closestY;
//float distanceZ = circle.center.z - closestZ;
Vector3 disVec = circle.center - circleBox;
//Vector3 distanceComplete = closestPoint - closestPoint; //possibly change to circle vox
// If the distance is less than the circle's radius, an intersection occurs
//float distSq = Vector3.Dot(distanceComplete, distanceComplete);
float distSq = Vector3.Dot(disVec, disVec);
//float distanceSquared = (distanceX * distanceX) + (distanceY * distanceY) + (distanceZ * distanceZ);
float distance = Mathf.Sqrt(distSq);
//Debug.DrawLine(closestPoint, circle.center);
if (distSq <= (circle.radius * circle.radius))
{
//Debug.Log("square circ collision)");
//return new CollisionInfo(circle, rect, -distanceComplete.normalized, circle.radius - distance);
return(new CollisionInfo(circle, rect, -disVec.normalized, circle.radius - distance));
}
return(null);
//return distanceSquared < (circle.radius * circle.radius);
}
static public CollisionInfo AABBAABB(AxisAllignedBoundingBoxCollision3D colA, AxisAllignedBoundingBoxCollision3D colB)
{
//test if max0>=min1 and max1>=min0
Vector3 distance = colB.center - colA.center;
float x_overlap = colA.halfExtends.x + colB.halfExtends.x - Mathf.Abs(distance.x);
if (x_overlap > 0.0f)
{
float y_overlap = colA.halfExtends.y + colB.halfExtends.y - Mathf.Abs(distance.y);
if (y_overlap > 0.0f)
{
float z_overlap = colA.halfExtends.z + colB.halfExtends.z - Mathf.Abs(distance.z);
if (z_overlap > 0.0f)
{
float minOverlap = Mathf.Min(x_overlap, y_overlap, z_overlap);
if (minOverlap == x_overlap)
{
//Debug.Log("Square square collision");
return(new CollisionInfo(colA, colB, distance.x < 0.0f ? -Vector3.right : Vector3.right, x_overlap));
}
else if (minOverlap == y_overlap)
{
//Debug.Log("Square square collision");
return(new CollisionInfo(colA, colB, distance.y < 0.0f ? -Vector3.up : Vector3.up, y_overlap));
}
else if (minOverlap == z_overlap)
{
//Debug.Log("Square square collision");
return(new CollisionInfo(colA, colB, distance.z < 0.0f ? -Vector3.forward : Vector3.forward, z_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);
}
