static public CollisionInfo CircleOBB(CircleCollision3D circle, ObjectBoundingBoxCollision3D rect)
{
//transform circle into obb space transform.InverseTransformPoint(cirecle.postion);
//then do circle AABB
Vector3 halfExtend = (rect.posMax - rect.posMin) / 2;
Vector3 circleInOBB = rect.GetComponent <Particle3D>().GetWorldToObject().MultiplyPoint(circle.center);//rect.transform.InverseTransformPoint(circle.center);
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);
//Debug.DrawLine(circleBox, circle.center);
if (distanceSQ <= (circle.radius * circle.radius))
{
//return true;
//Debug.Log("circ obb collision");
float distance = Mathf.Sqrt(distanceSQ);
return(new CollisionInfo(circle, rect, rect.transform.TransformVector(-distanceVec).normalized, circle.radius - distance));
}
return(null);
}
public CollisionInfo(ObjectBoundingBoxCollision3D colA, ObjectBoundingBoxCollision3D colB, Vector3 normal, float penetration)
{
RigidBodyA = colA.GetComponent <Particle3D>();
RigidBodyB = colB.GetComponent <Particle3D>();
RelativeVelocity = RigidBodyB.velocity - RigidBodyA.velocity;
contacts[0].normal = normal;
contacts[0].penetration = penetration;
contacts[0].restitution = Mathf.Min(RigidBodyA.restitution, RigidBodyB.restitution);
}