private void CollisionCapsuleBox()
{
FixedList128 <float3> verticesOBB = ColPhysics.GetAABBVerticesOBB(posB, extentsB);
verticesOBB = ColPhysics.GetRotatedVerticesOBB(verticesOBB, posB, rotB);
FixedList128 <float3> normalAxesOBB = ColPhysics.GetAxisNormalsOBB(verticesOBB[0], verticesOBB[1], verticesOBB[3], verticesOBB[4]);
FixedList128 <float> exte = new FixedList128 <float>();
exte.Add(extentsB.x);
exte.Add(extentsB.y);
exte.Add(extentsB.z);
float3x2 capsuleTips = ColPhysics.GetCapsuleEndPoints(posA, rotA, extentsA.y * 2);
float3x2 capsuleSpheres = ColPhysics.GetCapsuleEndSpheres(capsuleTips.c0, capsuleTips.c1, extentsA.x);
if (ColPhysics.CapsuleIntersectsBox(capsuleSpheres, posB, extentsA.x, normalAxesOBB, exte, out float distance))
{
isColliding = true;
if (resolveCollisions)
{
ColPhysics.ResolveSphereBoxCollision(ref posA, extentsA.x, ref posB, distance);
}
}
}
private void CollisionSphereBox()
{
float3 spherePos = posA;
float3 obbPos = posB;
float3 obbRot = rotB;
float3 obbHalfSize = extentsB;
float sphereRadius = extentsA.x;
FixedList128 <float3> vertices = ColPhysics.GetAABBVerticesOBB(obbPos, obbHalfSize); // calculated once at startup forever stored with entity
vertices = ColPhysics.GetRotatedVerticesOBB(vertices, obbPos, obbRot);
FixedList128 <float> extents = new FixedList128 <float>(); // calculated once at startup forever stored with entity
extents.Add(extentsB.x);
extents.Add(extentsB.y);
extents.Add(extentsB.z);
FixedList128 <float3> axisNormals = ColPhysics.GetAxisNormalsOBB(vertices[0], vertices[1], vertices[3], vertices[4]);
if (ColPhysics.SphereIntersectsBox(spherePos, sphereRadius, obbPos, axisNormals, extents, out float distance))
{
isColliding = true;
if (resolveCollisions)
{
ColPhysics.ResolveSphereBoxCollision(ref spherePos, sphereRadius, ref obbPos, distance);
posA = spherePos;
posB = obbPos;
}
}
}
private void CollisionBoxBox()
{
FixedList128 <float3> verticesA = ColPhysics.GetAABBVerticesOBB(posA, extentsA);
FixedList128 <float3> verticesB = ColPhysics.GetAABBVerticesOBB(posB, extentsB);
verticesA = ColPhysics.GetRotatedVerticesOBB(verticesA, posA, rotA);
verticesB = ColPhysics.GetRotatedVerticesOBB(verticesB, posB, rotB);
FixedList512 <float3> projectionAxes = ColPhysics.GetProjectionAxesOBBSAT(verticesA, verticesB);
if (ColPhysics.BoxIntersectsBox(projectionAxes, verticesA, verticesB, out float minOverlap, out float3 mtvAxis))
{
isColliding = true;
if (resolveCollisions)
{
ColPhysics.ResolveBoxCollision(ref posA, ref posB, minOverlap, mtvAxis);
}
}
}
