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);
}
protected static CollisionInfo CircleVSOBB(CircleHull circle, OBBHull OBB)
{
Vector3 halfExtend = OBB.halfExtends;
Vector3 circleInOBB = OBB.GetComponent<Particle3D>().getWorldToObject().MultiplyPoint(circle.GetCenter());
Vector3 circleBox = new Vector3(Mathf.Max(-halfExtend.x, Mathf.Min(circleInOBB.x, halfExtend.x)),
Mathf.Max(-halfExtend.y, Mathf.Min(circleInOBB.y, halfExtend.y)),
Mathf.Max(-halfExtend.z, Mathf.Min(circleInOBB.z, halfExtend.z)));
Vector3 distanceVec = circleInOBB - circleBox;
float distanceSQ = Vector3.Dot(distanceVec, distanceVec);
if (distanceSQ > (circle.radius * circle.radius))
{
return null;
}
Vector3 closestPt = new Vector3(0f,0f,0f);
float dist;
// Clamp each coordinate to the box.
dist = circleInOBB.x;
if (dist > OBB.halfExtends.x) dist = OBB.halfExtends.x;
if (dist < -OBB.halfExtends.x) dist = -OBB.halfExtends.x;
closestPt.x = dist;
dist = circleInOBB.y;
if (dist > OBB.halfExtends.y) dist = OBB.halfExtends.y;
if (dist < -OBB.halfExtends.y) dist = -OBB.halfExtends.y;
closestPt.y = dist;
dist = circleInOBB.z;
if (dist > OBB.halfExtends.z) dist = OBB.halfExtends.z;
if (dist < -OBB.halfExtends.z) dist = -OBB.halfExtends.z;
closestPt.z = dist;
// Check to see if we’re in contact.
dist = (closestPt - circleInOBB).sqrMagnitude;
if (dist > circle.radius * circle.radius)
return null;
// Compile the contact.
Vector3 closestPtWorld = OBB.GetComponent<Particle3D>().getObjectToWorld().MultiplyPoint(closestPt);
//place contact point in world space
float distance = Mathf.Sqrt(distanceSQ);
//Debug.LogError(closestPtWorld);
return new CollisionInfo(circle, OBB, (-distanceVec).normalized, (circle.radius - distance),closestPtWorld);
//OBB.GetComponent<Particle3D>().getObjectToWorld().MultiplyPoint(-distanceVec).normalized this failed to work, removing it fixed it
}
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);
}
static protected CollisionInfo CircleVSOBB(CircleHull circle, OBBHull OBB)
{
Vector3 halfExtend = OBB.halfExtends;
Vector3 circleInOBB = OBB.GetComponent <Particle3D>().getWorldToObject().MultiplyPoint(circle.GetCenter());
Vector3 circleBox = new Vector3(Mathf.Max(-halfExtend.x, Mathf.Min(circleInOBB.x, halfExtend.x)),
Mathf.Max(-halfExtend.y, Mathf.Min(circleInOBB.y, halfExtend.y)),
Mathf.Max(-halfExtend.z, Mathf.Min(circleInOBB.z, halfExtend.z)));
Vector3 distanceVec = circleInOBB - circleBox;
float distanceSQ = Vector3.Dot(distanceVec, distanceVec);
if (distanceSQ > (circle.radius * circle.radius))
{
return(null);
}
//place contact point in world space
float distance = Mathf.Sqrt(distanceSQ);
return(new CollisionInfo(circle, OBB, (-distanceVec).normalized, (circle.radius - distance)));
//OBB.GetComponent<Particle3D>().getObjectToWorld().MultiplyPoint(-distanceVec).normalized this failed to work, removing it fixed it
}
