public bool BoxVsSphereCollision(CustomBoxCollider box, CustomSphereCollider sphere, out CustomCollisionInfo info)
{
info = new CustomCollisionInfo();
var spherePosition = sphere.transform.position + sphere.colliderOffset;
var boxPosition = box.transform.position + box.colliderOffset;
//List<Vector3> box1Points = box.GetOrientedBoxBounds().GetPoints();
//List<Vector3> box2Points = new List<Vector3>();
//box2Points.Add(spherePosition + sphere.U() * sphere.radius);
//box2Points.Add(spherePosition - sphere.U() * sphere.radius);
//box2Points.Add(spherePosition + sphere.V() * sphere.radius);
//box2Points.Add(spherePosition - sphere.V() * sphere.radius);
//box2Points.Add(spherePosition + sphere.W() * sphere.radius);
//box2Points.Add(spherePosition - sphere.W() * sphere.radius);
//var P1 = GetMinMaxObj(box1Points, box.V());
//var P2 = GetMinMaxObj(box2Points, box.V());
//var Q1 = GetMinMaxObj(box1Points, box.U());
//var Q2 = GetMinMaxObj(box2Points, box.U());
//var R1 = GetMinMaxObj(box1Points, box.W());
//var R2 = GetMinMaxObj(box2Points, box.W());
//var S1 = GetMinMaxObj(box1Points, sphere.V());
//var S2 = GetMinMaxObj(box2Points, sphere.V());
//var T1 = GetMinMaxObj(box1Points, sphere.U());
//var T2 = GetMinMaxObj(box2Points, sphere.U());
//var U1 = GetMinMaxObj(box1Points, sphere.W());
//var U2 = GetMinMaxObj(box2Points, sphere.W());
//bool P = P1.max < P2.min || P2.max < P1.min;
//bool Q = Q1.max < Q2.min || Q2.max < Q1.min;
//bool R = R1.max < R2.min || R2.max < R1.min;
//bool S = S1.max < S2.min || S2.max < S1.min;
//bool T = T1.max < T2.min || T2.max < T1.min;
//bool U = U1.max < U2.min || U2.max < U1.min;
////Check if seperated
//bool res = P || Q || R || S || T || U;
//if (!res)
//{
// info.intersectionSize.x =
// Mathf.Max(Mathf.Min((spherePosition + (sphere.U() * sphere.radius + sphere.V() * sphere.radius + sphere.W() * sphere.radius)).x, box.GetOrientedBoxBounds().max.x), 0);
// info.intersectionSize.y =
// Mathf.Max(Mathf.Min((spherePosition + (sphere.U() * sphere.radius + sphere.V() * sphere.radius + sphere.W() * sphere.radius)).y, box.GetOrientedBoxBounds().max.y), 0);
// info.intersectionSize.z =
// Mathf.Max(Mathf.Min((spherePosition + (sphere.U() * sphere.radius + sphere.V() * sphere.radius + sphere.W() * sphere.radius)).z, box.GetOrientedBoxBounds().max.z), 0);
// DrawBoundingVolume(box, Color.red, true);
// DrawBoundingVolume(sphere, Color.red, true, CustomCollider.ColliderType.Sphere);
//}
//return res;
var normal = (boxPosition - spherePosition).normalized;
var rad = Mathf.Abs(Vector3.Dot(box.U(), normal) + Vector3.Dot(box.V(), normal) + Vector3.Dot(box.W(), normal));
var dot = Vector3.Dot(boxPosition, normal) - Vector3.Dot(spherePosition, normal);
if (dot < rad)
{
var xMax1 = box.GetOrientedBoxBounds().max.x;
var yMax1 = box.GetOrientedBoxBounds().max.y;
var zMax1 = box.GetOrientedBoxBounds().max.z;
var xMax2 = spherePosition.x + sphere.radius;
var yMax2 = spherePosition.y + sphere.radius;
var zMax2 = spherePosition.z + sphere.radius;
info.intersectionSize.x = Mathf.Max(Mathf.Min(xMax2, xMax1), 0);
info.intersectionSize.y = Mathf.Max(Mathf.Min(yMax2, yMax1), 0);
info.intersectionSize.z = Mathf.Max(Mathf.Min(zMax2, zMax1), 0);
DrawBoundingVolume(box, Color.red, true);
DrawBoundingVolume(sphere, Color.red, true, CustomCollider.ColliderType.Sphere);
return(true);
}
return(false);
//Vector3 v;
//var centerBox = box.transform.position + box.colliderOffset;
//var currentCorner = box.GetOrientedBoxBounds().GetPoints()[0];
//var max = Vector3.Distance(centerBox, spherePosition);
//var box2sphere = boxPosition - spherePosition;
//var box2SphereNormalised = box2sphere.normalized;
//var points = box.GetOrientedBoxBounds().GetPoints();
//var closestPoint = centerBox;
//for (int i = 1; i < points.Count; ++i)
//{
// currentCorner = points[i];
// if (Vector3.Distance(currentCorner, spherePosition) < max)
// closestPoint = currentCorner;
//}
//if ((sphere.radius - (spherePosition - closestPoint).magnitude) <= 0)
// return false;
//else
//{
// var xMax1 = box.GetOrientedBoxBounds().max.x;
// var yMax1 = box.GetOrientedBoxBounds().max.y;
// var zMax1 = box.GetOrientedBoxBounds().max.z;
// var xMax2 = sphere.radius - (spherePosition.x - closestPoint.x);
// var yMax2 = sphere.radius - (spherePosition.y - closestPoint.y);
// var zMax2 = sphere.radius - (spherePosition.z - closestPoint.z);
// // info.intersectionSize.x = sphere.radius - (spherePosition.x - closestPoint.x);
// // info.intersectionSize.y = sphere.radius - (spherePosition.y - closestPoint.y);
// // info.intersectionSize.z = sphere.radius - (spherePosition.z - closestPoint.z);
// info.intersectionSize.x = Mathf.Max(Mathf.Min(xMax2, xMax1), 0) * 2;
// info.intersectionSize.y = Mathf.Max(Mathf.Min(yMax2, yMax1), 0) * 2;
// info.intersectionSize.z = Mathf.Max(Mathf.Min(zMax2, zMax1), 0) * 2;
// return true;
//}
//if (box2sphere.magnitude - max - sphere.radius > 0 && box2sphere.magnitude > 0)
// return false;
//DrawBoundingVolume(box, Color.red, true);
//DrawBoundingVolume(sphere, Color.red, true, CustomCollider.ColliderType.Sphere);
//var xMin1 = box.GetOrientedBoxBounds().min.x;
//var xMax1 = box.GetOrientedBoxBounds().max.x;
//var yMin1 = box.GetOrientedBoxBounds().min.y;
//var yMax1 = box.GetOrientedBoxBounds().max.y;
//var zMin1 = box.GetOrientedBoxBounds().min.z;
//var zMax1 = box.GetOrientedBoxBounds().max.z;
//var xMin2 = spherePosition.x - sphere.radius;
//var xMax2 = spherePosition.x + sphere.radius;
//var yMin2 = spherePosition.y - sphere.radius;
//var yMax2 = spherePosition.y + sphere.radius;
//var zMin2 = spherePosition.z - sphere.radius;
//var zMax2 = spherePosition.z + sphere.radius;
//info.intersectionSize.x = Mathf.Max(Mathf.Min(xMax2, xMax1), 0);
//info.intersectionSize.y = Mathf.Max(Mathf.Min(yMax2, yMax1), 0);
//info.intersectionSize.z = Mathf.Max(Mathf.Min(zMax2, zMax1), 0);
//return true;
}
bool CheckCollision(CustomCollider one_, CustomCollider two_, out CustomCollisionInfo hitInfo, CollisionMode mode = CollisionMode.SAT)// AABB - AABB collision
{
hitInfo = new CustomCollisionInfo();
if (one_.colliderType == CustomCollider.ColliderType.Box && two_.colliderType == CustomCollider.ColliderType.Box)
{
CustomBoxCollider one = one_ as CustomBoxCollider;
CustomBoxCollider two = two_ as CustomBoxCollider;
if (mode == CollisionMode.SAT)
{
List <Vector3> box1Points = one.GetOrientedBoxBounds().GetPoints();
List <Vector3> box2Points = two.GetOrientedBoxBounds().GetPoints();
var P1 = GetMinMaxObj(box1Points, one.V());
var P2 = GetMinMaxObj(box2Points, one.V());
var Q1 = GetMinMaxObj(box1Points, one.U());
var Q2 = GetMinMaxObj(box2Points, one.U());
var R1 = GetMinMaxObj(box1Points, one.W());
var R2 = GetMinMaxObj(box2Points, one.W());
var S1 = GetMinMaxObj(box1Points, two.V());
var S2 = GetMinMaxObj(box2Points, two.V());
var T1 = GetMinMaxObj(box1Points, two.U());
var T2 = GetMinMaxObj(box2Points, two.U());
var U1 = GetMinMaxObj(box1Points, two.W());
var U2 = GetMinMaxObj(box2Points, two.W());
bool P = P1.max < P2.min || P2.max < P1.min;
bool Q = Q1.max < Q2.min || Q2.max < Q1.min;
bool R = R1.max < R2.min || R2.max < R1.min;
bool S = S1.max < S2.min || S2.max < S1.min;
bool T = T1.max < T2.min || T2.max < T1.min;
bool U = U1.max < U2.min || U2.max < U1.min;
//Check if seperated
bool res = P || Q || R || S || T || U;
if (!res)
{
hitInfo.intersectionSize.x =
Mathf.Max(Mathf.Min(two.GetOrientedBoxBounds().max.x, one.GetOrientedBoxBounds().max.x), 0);
hitInfo.intersectionSize.y =
Mathf.Max(Mathf.Min(two.GetOrientedBoxBounds().max.y, one.GetOrientedBoxBounds().max.x), 0);
hitInfo.intersectionSize.z =
Mathf.Max(Mathf.Min(two.GetOrientedBoxBounds().max.z, one.GetOrientedBoxBounds().max.x), 0);
DrawBoundingVolume(one, Color.red, true);
DrawBoundingVolume(two, Color.red, true);
}
return(!res);
}
else
{
var xMin1 = one.GetOrientedBoxBounds().min.x;
var xMax1 = one.GetOrientedBoxBounds().max.x;
var yMin1 = one.GetOrientedBoxBounds().min.y;
var yMax1 = one.GetOrientedBoxBounds().max.y;
var zMin1 = one.GetOrientedBoxBounds().min.z;
var zMax1 = one.GetOrientedBoxBounds().max.z;
var xMin2 = two.GetOrientedBoxBounds().min.x;
var xMax2 = two.GetOrientedBoxBounds().max.x;
var yMin2 = two.GetOrientedBoxBounds().min.y;
var yMax2 = two.GetOrientedBoxBounds().max.y;
var zMin2 = two.GetOrientedBoxBounds().min.z;
var zMax2 = two.GetOrientedBoxBounds().max.z;
bool res = xMin1 <= xMax2 && xMax1 >= xMin2 &&
yMin1 <= yMax2 && yMax1 >= yMin2 &&
zMin1 <= zMax2 && zMax1 >= zMin2;
if (res)
{
hitInfo.intersectionSize.x = Mathf.Max(Mathf.Min(xMax2, xMax1), 0);
hitInfo.intersectionSize.y = Mathf.Max(Mathf.Min(yMax2, yMax1), 0);
hitInfo.intersectionSize.z = Mathf.Max(Mathf.Min(zMax2, zMax1), 0);
DrawBoundingVolume(one, Color.red, true);
DrawBoundingVolume(two, Color.red, true);
}
return(res);
}
}
if (one_.colliderType == CustomCollider.ColliderType.Sphere &&
two_.colliderType == CustomCollider.ColliderType.Box)
{
return(BoxVsSphereCollision((CustomBoxCollider)two_, (CustomSphereCollider)one_, out hitInfo));
}
else if (one_.colliderType == CustomCollider.ColliderType.Box &&
two_.colliderType == CustomCollider.ColliderType.Sphere)
{
return(BoxVsSphereCollision((CustomBoxCollider)one_, (CustomSphereCollider)two_, out hitInfo));
}
return(false);
}