private Simplex GJK(Prism prismA, Prism prismB, Vector3 dir)
{
Simplex s = new Simplex();
//First point on the edge of the minkowski difference. 1-Simplex.\
s.Add(GetSupport(prismA, prismB, dir));
//Compute negative direction of d
directionVector = -dir;
while (true)
{
//Add the point to the simplex. 2-Simplex.
s.Add(GetSupport(prismA, prismB, directionVector));
if (Vector3.Dot(s.GetLast(), directionVector) <= 0)
{
//point does not pass origin so do not add it.
return(null);
}
else
{
//CheckOrigin automatically updates the directionVector on every call. If it doesnt that means we found the origin.
if (CheckOrigin(s, directionVector))
{
return(s);
}
}
}
}
//public void SetDirectionX(string s) {
// float x;
// float.TryParse(s, out x);
// direction = new Vector3(x, direction.y, direction.z);
//}
//public void SetDirectionY(string s) {
// float y;
// float.TryParse(s, out y);
// direction = new Vector3(direction.x, y, direction.z);
//}
//public void SetDirectionZ(string s) {
// float z;
// float.TryParse(s, out z);
// direction = new Vector3(direction.x, direction.y, z);
//}
public static bool Intersects(IConvexRegion regionOne, Transform oneTrans, IConvexRegion regionTwo, Transform twoTrans, GJKState state) {
// Get an initial point on the Minkowski difference.
Vector3 s = Support(regionOne, regionTwo, twoTrans.position - oneTrans.position, state, out sa);
// Create our initial simplex.
Simplex simplex = new Simplex();
simplex.Add(s);
// TODO: Choose an initial direction.
direction = -s;
state.simplices.Add(simplex.Clone());
// Choose a maximim number of iterations to avoid an
// infinite loop during a non-convergent search.
int maxIterations = 32;
for (int i = 0; i < maxIterations; i++) {
// Get our next simplex point toward the origin.
Vector3 a = Support(regionOne, regionTwo, direction, state, out sa, out sb);
// If we move toward the origin and didn't pass it
// then we never will and there's no intersection.
if (a.IsInOppositeDirection(direction)) {
return false;
}
// otherwise we add the new point to the simplex and process it.
simplex.Add(a);
state.simplices.Add(simplex.Clone());
// Here we either find a collision or we find the closest feature of
// the simplex to the origin, make that the new simplex and update the direction
// to move toward the origin from that feature.
if (ProcessSimplex(simplex, ref direction)) {
float tolerance = 0.000001f; // Or another such small number
while (true) {
Edge e = simplex.FindClosestEdge();
Vector3 p = Support(regionOne, regionTwo, e.normal, state, out sa, out sb);
float proj = Vector3.Dot(p, e.normal);
if (proj - e.distance < tolerance) {
}
}
else {
}
}
return true;
}
private Vector3 EPA(Simplex s, Prism A, Prism B)
{
while (true)
{
var e = s.ClosestEdge();
var point = GetSupport(A, B, e.direction);
var d = Vector3.Dot(point, e.direction);
if (d - e.distance < Mathf.Pow(10, 6))
{
Debug.Log(s.numPoints);
var normal = e.direction;
var depth = d;
print("in epa");
return(normal * depth);
}
else
{
// Insert point between points in closestEdge.
Debug.Log("in epa adding point" + point + " " + e.index);
s.Add(point, e.index);
}
}
}
private Simplex GJK(Prism prismA, Prism prismB, Vector3 dir)
{
Simplex s = new Simplex
{
direction = dir
};
//First point on the edge of the minkowski difference. 1-Simplex.
s.Add(GetSupport(prismA, prismB, dir));
//s.points.ForEach(x => print(x));
//Point in opposite direction
s.direction = -s.direction;
while (true)
{
//Add the point to the simplex. 2-Simplex.
s.Add(GetSupport(prismA, prismB, s.direction));
if (Vector3.Dot(s.GetLast(), s.direction) <= 0)
{
//point does not pass origin so do not add it.
return(null);
}
else
{
//CheckOrigin automatically updates the direction parameter on every call. If it doesnt that means we found the origin.
if (CheckOrigin(s))
{
print("found origin");
return(s);
}
Debug.Log(prismA.name + " " + prismB.name);
}
}
}
public static bool GJK(MGFObject a, MGFObject b)
{
Simplex s = new Simplex();
Fix64Vector2 dir = a.GetPos() - b.GetPos();
s.Add(Support(a, b, dir));
dir = -dir;
while (true)
{
s.Add(Support(a, b, dir));
if (Fix64Vector2.Dot(s.GetLast(), dir) <= Fix64.Zero)
{
return(false);
}
else
{
if (ContainsOrigin(s, ref dir))
{
return(true);
}
}
}
}
private Vector3 EPA(Simplex s, Prism A, Prism B)
{
while (true)
{
Edge e = s.ClosestEdge();
var point = GetSupport(A, B, e.normal);
float d = Vector3.Dot(point, e.normal);
if (d - e.distance < Mathf.Pow(10, 5))
{
var normal = e.normal;
var depth = d;
return(normal * depth);
}
else
{
// we haven't reached the edge of the Minkowski Difference
// so continue expanding by adding the new point to the simplex
// in between the points that made the closest edge
s.Add(point, e.index);
}
}
}
