public static HullCollision OBBOBBCollision(OBBHull boxHull1, OBBHull boxHull2) { Particle2D A = boxHull1.GetComponent <Particle2D>(); Particle2D B = boxHull2.GetComponent <Particle2D>(); Vector3[] shape1Corners; Vector3[] shape2Corners; shape1Corners = new Vector3[4]; shape2Corners = new Vector3[4]; Vector3[] normals = new Vector3[4]; float[] shape1MinMax = new float[2]; float[] shape2MinMax = new float[2]; shape1Corners = getRotatedCorners(boxHull1); shape2Corners = getRotatedCorners(boxHull2); normals[0] = getUpNormal(-boxHull1.currentRotation); normals[1] = getRightNormal(-boxHull1.currentRotation); normals[2] = getUpNormal(-boxHull2.currentRotation); normals[3] = getRightNormal(-boxHull2.currentRotation); HullCollision col = new HullCollision(); col.a = boxHull1; col.b = boxHull2; Vector3 range = (boxHull2.transform.position + boxHull2.offset) - (boxHull1.transform.position + boxHull1.offset); //float xOverlap = boxHull1.halfX + boxHull2.halfX - Mathf.Abs(range.x); //float yOverlap = boxHull1.halfY + boxHull2.halfY - Mathf.Abs(range.y); //TRANSPORTATION //col.penetration = new Vector3(xOverlap, yOverlap); //Vector3 closingVel = A.velocity - B.velocity; Vector3 closingVel = B.velocity - A.velocity; col.closingVelocity = closingVel; HullCollision.Contact con0 = new HullCollision.Contact(); con0.point = new Vector3(Mathf.Clamp(range.x, -boxHull1.halfX, boxHull1.halfX), Mathf.Clamp(range.y, -boxHull1.halfY, boxHull1.halfY)); con0.restitution = Mathf.Min(boxHull1.restitution, boxHull2.restitution); con0.normal = range.normalized; for (int i = 0; i < normals.Length; i++) { //Debug.Log("testing corner" + i); shape1MinMax = SatTest(normals[i], shape1Corners); shape2MinMax = SatTest(normals[i], shape2Corners); if (!Overlap(shape1MinMax[0], shape1MinMax[1], shape2MinMax[0], shape2MinMax[1])) { //Debug.Log("falure"); col.status = false; return(col); } } col.status = true; col.contacts[0] = con0; return(col); }
public static HullCollision CircleAABBCollision(CircleHull circleHull, AABBHull boxHull) { Particle2D A = boxHull.GetComponent <Particle2D>(); Particle2D B = circleHull.GetComponent <Particle2D>(); Vector3 closestPoint = new Vector3(0.0f, 0.0f); Vector3 range = (circleHull.transform.position + circleHull.offset) - (boxHull.transform.position + boxHull.offset); closestPoint = new Vector3(Mathf.Clamp(range.x, -boxHull.halfX, boxHull.halfX), Mathf.Clamp(range.y, -boxHull.halfY, boxHull.halfY)); HullCollision col = new HullCollision(); col.a = boxHull; col.b = circleHull; Vector3 closingVel = B.velocity - A.velocity; Vector3 penetration = range - (closestPoint - circleHull.transform.position + circleHull.offset); col.closingVelocity = closingVel; col.penetration = penetration; HullCollision.Contact con0 = new HullCollision.Contact(); con0.point = closestPoint; con0.restitution = Mathf.Min(boxHull.restitution, circleHull.restitution); Vector3 collisionNormal = new Vector3(); if ((range - closestPoint).magnitude - circleHull.radius < 0) { if (con0.point.x == boxHull.halfX)//added mathf { collisionNormal = new Vector3(1.0f, 0.0f); } if (con0.point.x == -boxHull.halfX)//added mathf { collisionNormal = new Vector3(-1.0f, 0.0f); } if (con0.point.y == boxHull.halfY) { collisionNormal = new Vector3(0.0f, 1.0f); } if (con0.point.y == -boxHull.halfY) { collisionNormal = new Vector3(0.0f, -1.0f); } con0.normal = collisionNormal; col.status = true; col.contacts[0] = con0; } else { col.status = false; } return(col); }
public static HullCollision CircleOBBCollision(CircleHull circleHull, OBBHull OBBHull) { Particle2D A = circleHull.GetComponent <Particle2D>(); Particle2D B = OBBHull.GetComponent <Particle2D>(); Vector3[] OBBCorners; OBBCorners = new Vector3[2];//was 4 Vector3[] normals = new Vector3[2]; float[] OBBMinMax = new float[2]; float[] circleMinMax = new float[2]; OBBCorners = getRotatedCorners(OBBHull); normals[0] = getUpNormal(-OBBHull.currentRotation); normals[1] = getRightNormal(-OBBHull.currentRotation); //normals[2] = getUpNormal(-OBBHull2.currentRotation); //normals[3] = getRightNormal(-boxHull2.currentRotation); HullCollision col = new HullCollision(); col.a = circleHull; col.b = OBBHull; Vector3 range = (OBBHull.transform.position + OBBHull.offset) - (circleHull.transform.position + circleHull.offset); Vector3 rotatedRange = getRotatedPoint(range, new Vector3(0.0f, 0.0f), -OBBHull.currentRotation);// 2 circleHull.transform.position Vector3 point = new Vector3(Mathf.Clamp(rotatedRange.x, -OBBHull.halfX, OBBHull.halfX), Mathf.Clamp(rotatedRange.y, -OBBHull.halfY, OBBHull.halfY)); //Debug.Log("range " + range); //Debug.Log("rotrange " + rotatedRange); //float xOverlap = boxHull1.halfX + boxHull2.halfX - Mathf.Abs(range.x); //float yOverlap = boxHull1.halfY + boxHull2.halfY - Mathf.Abs(range.y); //col.penetration = new Vector3(xOverlap, yOverlap); Vector3 closingVel = B.velocity - A.velocity; col.closingVelocity = closingVel; HullCollision.Contact con0 = new HullCollision.Contact(); con0.point = new Vector3(Mathf.Clamp(range.x, -OBBHull.halfX, OBBHull.halfX), Mathf.Clamp(range.y, -OBBHull.halfY, OBBHull.halfY)); con0.restitution = Mathf.Min(OBBHull.restitution, circleHull.restitution); con0.normal = range.normalized; //Debug.Log("point " + point); col.status = false; if ((rotatedRange - point).magnitude - circleHull.radius < 0) { col.status = true; col.contacts[0] = con0; } return(col); }
public static HullCollision CircleCircleCollision(CircleHull circleHull1, CircleHull circleHull2) { // *IMPORTANT* for circle and square the collision only wirks with obejct1 - object 2 and not viceversa, must be a prob in clollision resolution Vector3 c1Offset = circleHull1.offset; Vector3 c2Offset = circleHull2.offset; Vector3 range = (circleHull2.transform.position + c2Offset) - (circleHull1.transform.position + c1Offset); // make sure offsets arent screwing things up float overlap = (circleHull2.radius + circleHull1.radius) - range.magnitude; HullCollision col = new HullCollision(); col.a = circleHull1; col.b = circleHull2; col.penetration = range * overlap; HullCollision.Contact con0 = new HullCollision.Contact(); con0.point = (range.normalized * circleHull1.radius); con0.point += new Vector3(circleHull1.transform.position.x, circleHull1.transform.position.y); con0.normal = range.normalized; con0.restitution = Mathf.Min(circleHull1.restitution, circleHull2.restitution); col.contacts[0] = con0; Particle2D c1 = circleHull1.GetComponentInParent <Particle2D>(); Particle2D c2 = circleHull2.GetComponentInParent <Particle2D>(); Vector3 closingVel = c2.velocity - c1.velocity; // started as c1 -c2 col.closingVelocity = closingVel; if (overlap > 0) { col.status = true; return(col); } else { col.status = false; return(col); } }
public static HullCollision AABBAABBCollision(AABBHull boxHull1, AABBHull boxHull2) { Vector3 min0, max0, min1, max1; Vector3 b1Offset = boxHull1.offset; Vector3 b2Offset = boxHull2.offset; Particle2D A = boxHull1.GetComponent <Particle2D>(); Particle2D B = boxHull2.GetComponent <Particle2D>(); min0 = boxHull1.transform.position - new Vector3(boxHull1.halfX, boxHull1.halfY) + b1Offset; max0 = boxHull1.transform.position + new Vector3(boxHull1.halfX, boxHull1.halfY) + b1Offset; min1 = boxHull2.transform.position - new Vector3(boxHull2.halfX, boxHull2.halfY) + b2Offset; max1 = boxHull2.transform.position + new Vector3(boxHull2.halfX, boxHull2.halfY) + b2Offset; Vector3 range = (boxHull2.transform.position + b2Offset) - (boxHull1.transform.position + b1Offset); // make sure offsets arent screwing things up HullCollision col = new HullCollision(); col.a = boxHull1; col.b = boxHull2; float xOverlap = boxHull1.halfX + boxHull2.halfX - Mathf.Abs(range.x); float yOverlap = boxHull1.halfY + boxHull2.halfY - Mathf.Abs(range.y); //TRANSPORTATION col.penetration = new Vector3(xOverlap, yOverlap); //Vector3 closingVel = A.velocity - B.velocity; Vector3 closingVel = B.velocity - A.velocity; col.closingVelocity = closingVel; HullCollision.Contact con0 = new HullCollision.Contact(); con0.point = new Vector3(Mathf.Clamp(range.x, -boxHull1.halfX, boxHull1.halfX), Mathf.Clamp(range.y, -boxHull1.halfY, boxHull1.halfY)); con0.restitution = Mathf.Min(boxHull1.restitution, boxHull2.restitution); if (max0.x >= min1.x && max1.x >= min0.x) { if (max0.y >= min1.y && max1.y >= min0.y) { Vector3 collisionNormal = new Vector3(); if (con0.point.x == boxHull1.halfX)//added mathf { collisionNormal = new Vector3(1.0f, 0.0f); } if (con0.point.x == -boxHull1.halfX)//added mathf { collisionNormal = new Vector3(-1.0f, 0.0f); } if (con0.point.y == boxHull1.halfY) { collisionNormal = new Vector3(0.0f, 1.0f); } if (con0.point.y == -boxHull1.halfY) { collisionNormal = new Vector3(0.0f, -1.0f); } con0.normal = collisionNormal; col.status = true; } } else { col.status = false; } col.contacts[0] = con0; return(col); }