protected bool IsOverlapingOnAxis(Vector3[] colliderAVerts, Vector3[] colliderBVerts, Vector3 axis)
{
JSegment segmentA = JMeshCollider.GetMeshSegmentOnAxis(colliderAVerts, axis);
JSegment segmentB = JMeshCollider.GetMeshSegmentOnAxis(colliderBVerts, axis);
return(JSegment.IsOverlapping(segmentA, segmentB));
}
protected Vector3[] GetAxesOfSeperation(JMeshCollider colliderA, JMeshCollider colliderB)
{
return(new Vector3[]
{
colliderA.transform.right,
colliderA.transform.up,
colliderA.transform.forward,
colliderB.transform.right,
colliderB.transform.up,
colliderB.transform.forward,
Vector3.Cross(colliderA.transform.right, colliderB.transform.right),
Vector3.Cross(colliderA.transform.up, colliderB.transform.right),
Vector3.Cross(colliderA.transform.forward, colliderB.transform.right),
Vector3.Cross(colliderA.transform.right, colliderB.transform.up),
Vector3.Cross(colliderA.transform.up, colliderB.transform.up),
Vector3.Cross(colliderA.transform.forward, colliderB.transform.up),
Vector3.Cross(colliderA.transform.right, colliderB.transform.forward),
Vector3.Cross(colliderA.transform.up, colliderB.transform.forward),
Vector3.Cross(colliderA.transform.forward, colliderB.transform.forward)
});
}
protected bool IsOverlapping(JMeshCollider colliderA, JMeshCollider colliderB)
{
Vector3[] colliderAVerts = colliderA.GetVertices();
Vector3[] colliderBVerts = colliderB.GetVertices();
Vector3[] axesOfSeperation = GetAxesOfSeperation(colliderA, colliderB);
for (int i = 0; i < 15; i++)
{
if (!IsOverlapingOnAxis(colliderAVerts, colliderBVerts, axesOfSeperation[i]))
{
return(false);
}
}
return(true);
}
private float FindPenetrationDepth(Vector3[] colliderAVertices, Vector3[] colliderBVertices, Vector3 axis, out bool flipNormals) // 😏
{
JSegment segmentA = JMeshCollider.GetMeshSegmentOnAxis(colliderAVertices, axis.normalized);
JSegment segmentB = JMeshCollider.GetMeshSegmentOnAxis(colliderBVertices, axis.normalized);
flipNormals = (segmentB.Min < segmentA.Min);
if (!JSegment.IsOverlapping(segmentA, segmentB))
{
return(0);
}
float minSegment = Mathf.Min(segmentA.Min, segmentB.Min);
float maxSegment = Mathf.Max(segmentA.Max, segmentB.Max);
float length = maxSegment - minSegment;
return((segmentA.Length + segmentB.Length) - length);
}
protected override bool CheckCollision(JCuboidCollider colliderA, JCuboidCollider colliderB, out JCollision collision)
{
collision = new JCollision();
Vector3[] axesOfSeperation = GetAxesOfSeperation(colliderA, colliderB);
Vector3 normal = Vector3.zero;
bool shouldFlip = false;
collision.collisionDepth = float.PositiveInfinity;
collision.colliderA = colliderA;
collision.colliderB = colliderB;
Vector3[] colliderAVerts = colliderA.GetVertices();
Vector3[] colliderBVerts = colliderB.GetVertices();
for (int i = 0; i < axesOfSeperation.Length; i++)
{
if (Vector3.SqrMagnitude(axesOfSeperation[i]) < 0.001f)// If out axis has a length of 0, some false positives can happen, soooooo lets just not do that
{
continue;
}
float depth = FindPenetrationDepth(colliderAVerts, colliderBVerts, axesOfSeperation[i], out shouldFlip);
if (depth <= 0)
{
return(false);
}
else if (depth < collision.collisionDepth)
{
collision.collisionDepth = depth;
normal = shouldFlip ? axesOfSeperation[i] * -1.0f : axesOfSeperation[i];
}
}
if (normal == Vector3.zero)
{
return(false);
}
Vector3 sharedPlaneAxis = normal.normalized;
List <Vector3> contacts = new List <Vector3>();
contacts.AddRange(CuboidIntersectionPoints(colliderB, colliderA));
contacts.AddRange(CuboidIntersectionPoints(colliderA, colliderB));
JSegment meshSegment = JMeshCollider.GetMeshSegmentOnAxis(colliderAVerts, sharedPlaneAxis);
float distance = (meshSegment.Length * 0.5f) - (collision.collisionDepth * 0.5f);
Vector3 pointOnPlane = colliderA.transform.position + sharedPlaneAxis * distance;
collision.collisionNormal = sharedPlaneAxis;
collision.valid = contacts.Count > 0;
for (int i = 0; i < contacts.Count; i++)
{
Vector3 contact = contacts[i];
contact = contact + (sharedPlaneAxis * Vector3.Dot(sharedPlaneAxis, pointOnPlane - contact));
bool unique = true;
for (int j = 0; j < collision.collisionPoints.Count; j++)
{
if (Vector3.Distance(contact, collision.collisionPoints[j]) < 0.2f)
{
unique = false;
}
}
if (unique)
{
collision.collisionPoints.Add(contact);
}
}
return(collision.valid);
}
