public static void CheckAABBSphere(SphereBehavior a, CubeBehaviour b)
{
var x = Mathf.Max(b.min.x, Mathf.Min(a.transform.position.x, b.max.x));
var y = Mathf.Max(b.min.y, Mathf.Min(a.transform.position.y, b.max.y));
var z = Mathf.Max(b.min.z, Mathf.Min(a.transform.position.z, b.max.z));
var distance = Mathf.Sqrt((x - a.transform.position.x) * (x - a.transform.position.x) +
(y - a.transform.position.y) * (y - a.transform.position.y) +
(z - a.transform.position.z) * (x - a.transform.position.z));
if (distance < a.size.x / 2)
{
if (!a.contacts.Contains(b))
{
a.contacts.Add(b);
a.isColliding = true;
Debug.Log("collision ");
if (b.isGround)
{
a.direction.Set(a.direction.x, -a.direction.y, a.direction.z);
}
else
{
a.direction = (((a.mass - b.mass) * a.velocity) / (a.mass + b.mass)) + ((2 * b.mass * b.velocity) / (a.mass + b.mass));
a.speed = a.direction.magnitude;
if (a.speed != 0)
{
a.direction.Set(a.direction.x / a.direction.magnitude, a.direction.y / a.direction.magnitude, a.direction.z / a.direction.magnitude);
}
//a.collisionNormal.x = (a.transform.position.x - x);
//a.collisionNormal.y = (a.transform.position.x - y);
//a.collisionNormal.z = (a.transform.position.x - z);
//if (a.collisionNormal.magnitude != 0)
// a.collisionNormal.Set(a.collisionNormal.x / a.collisionNormal.magnitude, a.collisionNormal.y / a.collisionNormal.magnitude, a.collisionNormal.z / a.collisionNormal.magnitude);
//a.relativeVelocity.Set(b.velocity.x - a.velocity.x, b.velocity.y - a.velocity.y, b.velocity.z - a.velocity.z);
//a.collisionRestitution = Mathf.Min(a.coefficientOfRestitution, b.coefficientOfRestitution);
//a.impulse = ((1 + a.collisionRestitution) * (Vector3.Dot(a.relativeVelocity, a.collisionNormal))) / ((1 / a.mass) + (1 / b.mass));
//a.t = a.relativeVelocity - (Vector3.Dot(a.relativeVelocity, a.collisionNormal) * a.collisionNormal);
//a.jt = ((1 + a.collisionRestitution) * (Vector3.Dot(a.relativeVelocity, a.t))) / ((1 / a.mass) + (1 / b.mass));
//float friction = Mathf.Sqrt(b.coFriction * a.coFriction);
//a.jt = Mathf.Max(a.jt, -1 * a.impulse * friction);
//a.jt = Mathf.Min(a.jt, a.impulse * friction);
}
}
}
else
{
if (a.contacts.Contains(b))
{
a.contacts.Remove(b);
a.isColliding = false;
// a.impulse = 0.0f;
}
}
}
public static void CheckAABBSphere1(SphereBehavior a, CubeBehaviour b)
{
var x = Mathf.Max(b.min.x, Mathf.Min(a.transform.position.x, b.max.x));
var y = Mathf.Max(b.min.y, Mathf.Min(a.transform.position.y, b.max.y));
var z = Mathf.Max(b.min.z, Mathf.Min(a.transform.position.z, b.max.z));
var distance = Mathf.Sqrt((x - a.transform.position.x) * (x - a.transform.position.x) +
(y - a.transform.position.y) * (y - a.transform.position.y) +
(z - a.transform.position.z) * (x - a.transform.position.z));
// Debug.Log("Collider Center : " + a.transform.position.x);
if (distance < a.size.x / 2)
{
if (!b.sp_contacts.Contains(a))
{
b.direction = (((b.mass - a.mass) * b.velocity) / (b.mass + a.mass)) + ((2 * a.mass * a.velocity) / (b.mass + a.mass));
b.speed = b.direction.magnitude;
if (a.speed != 0)
{
b.direction.Set(b.direction.x / b.direction.magnitude, b.direction.y / b.direction.magnitude, b.direction.z / b.direction.magnitude);
}
b.sp_contacts.Add(a);
b.isColliding = true;
//b.collisionNormal.x = (x - a.transform.position.x);
//b.collisionNormal.y = (y - a.transform.position.y);
//b.collisionNormal.z = (z - a.transform.position.z);
//if (b.collisionNormal.magnitude != 0)
// b.collisionNormal.Set(b.collisionNormal.x / b.collisionNormal.magnitude, b.collisionNormal.y / b.collisionNormal.magnitude, b.collisionNormal.z / b.collisionNormal.magnitude);
//b.relativeVelocity.Set(a.velocity.x - b.velocity.x, a.velocity.y - b.velocity.y, a.velocity.z - b.velocity.z);
//b.collisionRestitution = Mathf.Min(b.coefficientOfRestitution, a.coefficientOfRestitution);
//b.t = b.relativeVelocity - (Vector3.Dot(b.relativeVelocity, b.collisionNormal) * b.collisionNormal);
//b.impulse = ((1 + b.collisionRestitution) * (Vector3.Dot(b.relativeVelocity, b.collisionNormal))) / ((1 / a.mass) + (1 / b.mass));
//b.jt = ((1 + b.collisionRestitution) * (Vector3.Dot(b.relativeVelocity, b.t))) / ((1 / a.mass) + (1 / b.mass));
//float friction = Mathf.Sqrt(b.coFriction * a.coFriction);
//b.jt = Mathf.Max(b.jt, -1 * b.impulse * friction);
//b.jt = Mathf.Min(b.jt, b.impulse * friction);
}
}
else
{
if (b.sp_contacts.Contains(a))
{
b.sp_contacts.Remove(a);
b.isColliding = false;
// b.impulse = 0.0f;
}
}
}
public static void CheckSphereSphere(SphereBehavior a, SphereBehavior b)
{
var distance = Mathf.Sqrt((b.transform.position.x - a.transform.position.x) * (b.transform.position.x - a.transform.position.x) +
(b.transform.position.y - a.transform.position.y) * (b.transform.position.y - a.transform.position.y) +
(b.transform.position.z - a.transform.position.z) * (b.transform.position.z - a.transform.position.z));
// Debug.Log("Collider Center : " + a.transform.position.x);
if (distance < (a.size.x / 2 + b.size.x / 2))
{
if (!a.sp_contacts.Contains(b))
{
a.direction = (((a.mass - b.mass) * a.velocity) / (a.mass + b.mass)) + ((2 * b.mass * b.velocity) / (a.mass + b.mass));
a.speed = a.direction.magnitude;
if (a.speed != 0)
{
a.direction.Set(a.direction.x / a.direction.magnitude, a.direction.y / a.direction.magnitude, a.direction.z / a.direction.magnitude);
}
a.sp_contacts.Add(b);
a.isColliding = true;
// calculate the collision vector
//a.collisionNormal.x = (a.transform.position.x - b.transform.position.x);
//a.collisionNormal.y = (a.transform.position.y - b.transform.position.y);
//a.collisionNormal.z = (a.transform.position.z - b.transform.position.z);
//// normalize the collision vector
//if (a.collisionNormal.magnitude != 0)
// a.collisionNormal.Set(a.collisionNormal.x / a.collisionNormal.magnitude, a.collisionNormal.y / a.collisionNormal.magnitude, a.collisionNormal.z / a.collisionNormal.magnitude);
//a.relativeVelocity.Set(b.velocity.x - a.velocity.x, b.velocity.y - a.velocity.y, b.velocity.z - a.velocity.z);
//a.collisionRestitution = Mathf.Min(a.coefficientOfRestitution, b.coefficientOfRestitution);
//// calculate the impulse
//a.impulse = ((1 + a.collisionRestitution) * (Vector3.Dot(a.relativeVelocity, a.collisionNormal))) / ((1 / a.mass) + (1 / b.mass));
//a.t = a.relativeVelocity - (Vector3.Dot(a.relativeVelocity, a.collisionNormal) * a.collisionNormal);
//a.jt = ((1 + a.collisionRestitution) * (Vector3.Dot(a.relativeVelocity, a.t))) / ((1 / a.mass) + (1 / b.mass));
//float friction = Mathf.Sqrt(b.coFriction * a.coFriction);
//a.jt = Mathf.Max(a.jt, -1 * a.impulse * friction);
//a.jt = Mathf.Min(a.jt, a.impulse * friction);
}
}
else
{
if (a.sp_contacts.Contains(b))
{
a.sp_contacts.Remove(b);
a.isColliding = false;
// a.impulse = 0.0f;
}
}
}
