예제 #1
0
 public static int SphereAndTruePlane(CollisionSphere sphere, CollisionPlane plane, ref CollisionData data)
 {
     if (data.ContactsLeft <= 0) return 0;
     Vector3 position = sphere.GetAxis(3);
     float centreDistance = Vector3.Dot(plane.Normal, position) - plane.D;
     if (centreDistance * centreDistance > sphere.Radius * sphere.Radius)
     {
         return 0;
     }
     Vector3 normal = plane.Normal;
     float penetration = -centreDistance;
     if (centreDistance < 0)
     {
         normal *= -1;
         penetration = -penetration;
     }
     penetration += sphere.Radius;
     Contact contact = new Contact();
     contact.ContactNormal = normal;
     contact.Penetration = penetration;
     contact.ContactPoint = position - plane.Normal * centreDistance;
     contact.SetData(sphere.Body, null, data.Friction, data.Restitution);
     data.Contacts.Add(contact);
     data.AddContacts(1);
     return 1;
 }
예제 #2
0
 public static int SphereAndHalfSpace(CollisionSphere sphere, CollisionPlane plane, ref CollisionData data)
 {
     if (data.ContactsLeft <= 0) return 0;
     Vector3 position = sphere.GetAxis(3);
     float ballDistance = Vector3.Dot(plane.Normal, position) - sphere.Radius - plane.D;
     if (ballDistance >= 0) return 0;
     Contact contact = new Contact();
     contact.ContactNormal = plane.Normal;
     contact.Penetration = -ballDistance;
     contact.ContactPoint = position - plane.Normal * (ballDistance + sphere.Radius);
     contact.SetData(sphere.Body, null, data.Friction, data.Restitution);
     data.Contacts.Add(contact);
     data.AddContacts(1);
     return 1;
 }
예제 #3
0
 public static int SphereAndSphere(CollisionSphere one, CollisionSphere two, ref CollisionData data)
 {
     if (data.ContactsLeft <= 0) return 0;
     Vector3 positionOne = one.GetAxis(3);
     Vector3 positionTwo = two.GetAxis(3);
     Vector3 midline = positionOne - positionTwo;
     float size = midline.Magnitude;
     if (size <= 0.0f || size >= one.Radius + two.Radius)
     {
         return 0;
     }
     Vector3 normal = midline * ((1.0f) / size);
     Contact contact = new Contact();
     contact.ContactNormal = normal;
     contact.ContactPoint = positionOne + midline * (float)0.5;
     contact.Penetration = (one.Radius + two.Radius - size);
     contact.SetData(one.Body, two.Body, data.Friction, data.Restitution);
     data.Contacts.Add(new Contact());
     data.AddContacts(1);
     return 1;
 }
예제 #4
0
 public static bool SphereAndSphere(CollisionSphere one, CollisionSphere two)
 {
     Vector3 midline = one.GetAxis(3) - two.GetAxis(3);
     return midline.SquaredMagnitude < (one.Radius + two.Radius) * (one.Radius + two.Radius);
 }
예제 #5
0
 public static bool SphereAndHalfSpace(CollisionSphere sphere, CollisionPlane plane)
 {
     float ballDistance = Vector3.Dot(plane.Normal, sphere.GetAxis(3)) - sphere.Radius;
     return ballDistance <= plane.D;
 }
예제 #6
0
 public static int BoxAndSphere(CollisionBox box, CollisionSphere sphere, ref CollisionData data)
 {
     Vector3 centre = sphere.GetAxis(3);
     Vector3 relCentre = box.Transform.TransformInverse(centre);
     if (MathHelper.Abs(relCentre.X) - sphere.Radius > box.HalfSize.X ||
         MathHelper.Abs(relCentre.Y) - sphere.Radius > box.HalfSize.Y ||
         MathHelper.Abs(relCentre.Z) - sphere.Radius > box.HalfSize.Z)
     {
         return 0;
     }
     Vector3 closestPt = new Vector3();
     float dist;
     dist = relCentre.X;
     if (dist > box.HalfSize.X) dist = box.HalfSize.X;
     if (dist < -box.HalfSize.X) dist = -box.HalfSize.X;
     closestPt.X = dist;
     dist = relCentre.Y;
     if (dist > box.HalfSize.Y) dist = box.HalfSize.Y;
     if (dist < -box.HalfSize.Y) dist = -box.HalfSize.Y;
     closestPt.Y = dist;
     dist = relCentre.Z;
     if (dist > box.HalfSize.Z) dist = box.HalfSize.Z;
     if (dist < -box.HalfSize.Z) dist = -box.HalfSize.Z;
     closestPt.Z = dist;
     dist = (closestPt - relCentre).SquaredMagnitude;
     if (dist > sphere.Radius * sphere.Radius) return 0;
     Vector3 closestPtWorld = box.Transform.Transform(closestPt);
     Contact contact = new Contact();
     contact.ContactNormal = (closestPtWorld - centre);
     contact.ContactNormal.Normalize();
     contact.ContactPoint = closestPtWorld;
     contact.Penetration = sphere.Radius - MathHelper.Sqrt(dist);
     contact.SetData(box.Body, sphere.Body,
         data.Friction, data.Restitution);
     data.Contacts.Add(contact);
     data.AddContacts(1);
     return 1;
 }