static public bool OBBOBB(ObjectBoundingBoxCollision2D rectA, ObjectBoundingBoxCollision2D rectB)
{
//grab 4 axis of both shapes
// grab all vertices of both shapes, then put them onto each axis of both shapes
//
Vector2 rightA = new Vector2(Mathf.Cos(rectA.zRot), -Mathf.Sin(rectA.zRot));
Vector2 upA = new Vector2(Mathf.Sin(rectA.zRot), Mathf.Cos(rectA.zRot));
Vector2 rightB = new Vector2(Mathf.Cos(rectB.zRot), -Mathf.Sin(rectB.zRot));
Vector2 upB = new Vector2(Mathf.Sin(rectB.zRot), Mathf.Cos(rectB.zRot));
if (OBBTest(rightA, rectA, rectB))
{
if (OBBTest(upA, rectA, rectB))
{
if (OBBTest(rightB, rectB, rectA))
{
if (OBBTest(upB, rectB, rectB))
{
return(true);
}
}
}
}
return(false);
}
public CollisionInfo(CircleCollision2D colA, ObjectBoundingBoxCollision2D colB, Vector2 normal, float penetration)
{
RigidBodyA = colA.GetComponent <Particle2D>();
RigidBodyB = colB.GetComponent <Particle2D>();
RelativeVelocity = RigidBodyB.velocity - RigidBodyA.velocity;
contacts[0].normal = normal;
contacts[0].penetration = penetration;
contacts[0].restitution = Mathf.Min(RigidBodyA.restitution, RigidBodyB.restitution);
}
static public bool CircleOBB(CircleCollision2D circle, ObjectBoundingBoxCollision2D rect)
{
//transform circle into obb space transform.InverseTransformPoint(cirecle.postion);
//then do circle AABB
Vector2 halfExtend = (rect.posMax - rect.posMin) / 2;
Vector2 circleInOBB = rect.transform.InverseTransformPoint(circle.center);
Vector2 circleBox = new Vector2(Mathf.Max(-halfExtend.x, Mathf.Min(circleInOBB.x, halfExtend.x)),
Mathf.Max(-halfExtend.y, Mathf.Min(circleInOBB.y, halfExtend.y)));
Vector2 distance = circleInOBB - circleBox;
float distanceSQ = Vector2.Dot(distance, distance);
Debug.DrawLine(circleBox, circle.center);
if (distanceSQ <= (circle.radius * circle.radius))
{
return(true);
}
return(false);
}
static private bool OBBTest(Vector2 norm, ObjectBoundingBoxCollision2D proj, ObjectBoundingBoxCollision2D main)
{
//top left is min.x, max y
//bottom right is max.x, min.y
Vector2 Max1;
Vector2 Min1;
Vector2 Max2;
Vector2 Min2;
Vector2 p1 = Vector2.Dot(proj.topRight, norm) * norm;
Vector2 p2 = Vector2.Dot(proj.botLeft, norm) * norm;
Vector2 p3 = Vector2.Dot(new Vector2(proj.topRight.x, proj.botLeft.y), norm) * norm;
Vector2 p4 = Vector2.Dot(proj.botLeft, norm) * norm;
if (p1.x <= p3.x && p1.y <= p3.y)
{
p1 = p3;
}
if (p2.x >= p4.x && p2.y >= p4.y)
{
p2 = p4;
}
Max1 = p1;
Min1 = p2;
Max2 = Vector2.Dot(main.topRight, norm) * norm;
Min2 = Vector2.Dot(main.botLeft, norm) * norm;
if (Max1.x >= Min2.x && Max1.y >= Min2.y && Max2.x >= Min1.x && Max2.y >= Min1.y)
{
return(true);
}
return(false);
}
static public bool AABBOBB(AxisAllignedBoundingBoxCollision2D colA, ObjectBoundingBoxCollision2D colB)
{
//AxisAllignedBoundingBoxCollision2D
//transform min and max into obb space, then do AABB AABB
if (colA.posMax.x >= colB.posMin.x && colB.posMax.x >= colA.posMin.x)
{
if (colA.posMax.y >= colB.posMin.y && colB.posMax.y >= colA.posMin.y)
{
//return true;
Vector2 abbMinTrans = colB.transform.InverseTransformPoint(colA.posMin);
Vector2 abbMaxTrans = colB.transform.InverseTransformPoint(colA.posMax);
if (abbMaxTrans.x >= colB.posMin.x && colB.posMax.x >= abbMinTrans.x)
{
if (abbMaxTrans.y >= colB.posMin.y && colB.posMax.y >= abbMinTrans.y)
{
return(true);
}
}
}
}
return(false);
}
static public CollisionInfo CircleOBB(CircleCollision2D circle, ObjectBoundingBoxCollision2D rect)
{
//transform circle into obb space transform.InverseTransformPoint(cirecle.postion);
//then do circle AABB
Vector2 halfExtend = (rect.posMax - rect.posMin) / 2;
Vector2 circleInOBB = rect.transform.InverseTransformPoint(circle.center);
Vector2 circleBox = new Vector2(Mathf.Max(-halfExtend.x, Mathf.Min(circleInOBB.x, halfExtend.x)),
Mathf.Max(-halfExtend.y, Mathf.Min(circleInOBB.y, halfExtend.y)));
Vector2 distanceVec = circleInOBB - circleBox;
float distanceSQ = Vector2.Dot(distanceVec, distanceVec);
//Debug.DrawLine(circleBox, circle.center);
if (distanceSQ <= (circle.radius * circle.radius))
{
//return true;
float distance = Mathf.Sqrt(distanceSQ);
return(new CollisionInfo(circle, rect, rect.transform.TransformVector(-distanceVec).normalized, circle.radius - distance));
}
return(null);
}
static public CollisionInfo OBBOBB(ObjectBoundingBoxCollision2D rectA, ObjectBoundingBoxCollision2D rectB)
{
List <Vector2> allAxis = new List <Vector2>();
allAxis.AddRange(rectA.normAxis);
allAxis.AddRange(rectB.normAxis);
foreach (var axis in allAxis)
{
float OBB1Min = float.MaxValue;
float OBB1Max = float.MinValue;
foreach (var vert in rectA.verticeCheck)
{
float dotValue = (vert.x * axis.x + vert.y * axis.y);
if (dotValue < OBB1Min)
{
OBB1Min = dotValue;
}
if (dotValue > OBB1Max)
{
OBB1Max = dotValue;
}
}
float OBB2Min = float.MaxValue;
float OBB2Max = float.MinValue;
foreach (var vert in rectB.verticeCheck)
{
float dotValue = (vert.x * axis.x + vert.y * axis.y);
if (dotValue < OBB2Min)
{
OBB2Min = dotValue;
}
if (dotValue > OBB2Max)
{
OBB2Max = dotValue;
}
}
if (!(OBB1Max < OBB2Min && OBB2Max < OBB1Min))
{
Vector2 AtoB = rectB.center - rectA.center;
float x_overlap = rectA.halfExtends.x + rectB.halfExtends.x - Mathf.Abs(AtoB.x);
if (x_overlap > 0.0f)
{
float y_overlap = rectA.halfExtends.y + rectB.halfExtends.y - Mathf.Abs(AtoB.y);
if (y_overlap > 0.0f)
{
if (x_overlap < y_overlap)
{
return(new CollisionInfo(rectA, rectB, AtoB.x < 0.0f ? -Vector2.right : Vector2.right, x_overlap));
}
else
{
return(new CollisionInfo(rectA, rectB, AtoB.y < 0.0f ? -Vector2.up : Vector2.up, y_overlap));
}
}
}
}
}
return(null);
}
static public CollisionInfo AABBOBB(AxisAllignedBoundingBoxCollision2D colA, ObjectBoundingBoxCollision2D colB)
{
//AxisAllignedBoundingBoxCollision2D
//transform min and max into obb space, then do AABB AABB
//if (colA.posMax.x >= colB.posMin.x && colB.posMax.x >= colA.posMin.x)
//{
// if (colA.posMax.y >= colB.posMin.y && colB.posMax.y >= colA.posMin.y)
// {
// //return true;
// Vector2 abbMinTrans = colB.transform.InverseTransformPoint(colA.posMin);
// Vector2 abbMaxTrans = colB.transform.InverseTransformPoint(colA.posMax);
// if (abbMaxTrans.x >= colB.posMin.x && colB.posMax.x >= abbMinTrans.x)
// {
// if (abbMaxTrans.y >= colB.posMin.y && colB.posMax.y >= abbMinTrans.y)
// {
// return true;
// }
// }
// }
//}
//return false;
List <Vector2> allAxis = new List <Vector2>();
allAxis.AddRange(colA.normAxis);
allAxis.AddRange(colB.normAxis);
foreach (var axis in allAxis)
{
float AABBMin = float.MaxValue;
float AABBMax = float.MinValue;
foreach (var vert in colA.verticeCheck)
{
float dotValue = (vert.x * axis.x + vert.y * axis.y);
if (dotValue < AABBMin)
{
AABBMin = dotValue;
}
if (dotValue > AABBMax)
{
AABBMax = dotValue;
}
}
float OBBMin = float.MaxValue;
float OBBMax = float.MinValue;
foreach (var vert in colB.verticeCheck)
{
float dotValue = (vert.x * axis.x + vert.y * axis.y);
if (dotValue < OBBMin)
{
OBBMin = dotValue;
}
if (dotValue > OBBMax)
{
OBBMax = dotValue;
}
}
if (!(AABBMax < OBBMin && OBBMax < AABBMin))
{
Vector2 AtoB = colB.center - colA.center;
float x_overlap = colA.halfExtends.x + colB.halfExtends.x - Mathf.Abs(AtoB.x);
if (x_overlap > 0.0f)
{
float y_overlap = colA.halfExtends.y + colB.halfExtends.y - Mathf.Abs(AtoB.y);
if (y_overlap > 0.0f)
{
if (x_overlap < y_overlap)
{
return(new CollisionInfo(colA, colB, AtoB.x < 0.0f ? -Vector2.right : Vector2.right, x_overlap));
}
else
{
return(new CollisionInfo(colA, colB, AtoB.y < 0.0f ? -Vector2.up : Vector2.up, y_overlap));
}
}
}
}
}
return(null);
}
