/*WORKING*/
public static HullCollision2D detectCollisionResponse(CircleHull2D circle, AABBHull2D square)
{
float dist = Vector2.Distance(circle.position, square.GetClosestPoint(circle.position));
Vector2 squareClosestPoint = square.GetClosestPoint(circle.position);
Vector2 circleClosestPoint = circle.GetClosestPoint(squareClosestPoint); //need to do second
Debug.DrawLine(squareClosestPoint, circleClosestPoint);
if (circle.radius > dist)
{
Vector2 pen = squareClosestPoint - circleClosestPoint;
Vector2 penNorm = pen.normalized;
if (penNorm.x > penNorm.y)
{
pen.y = 0.0f;
}
else
{
pen.x = 0.0f;
}
HullCollision2D collision;
collision = new HullCollision2D(circle, square, penNorm.normalized, pen.magnitude);
return(collision);
}
return(null);
}
public static HullCollision2D detectCollisionResponse(AABBHull2D a, AABBHull2D b)
{
Dictionary <Vector2, float> axisValues = new Dictionary <Vector2, float>(); //norm to the overlap value
axisValues.Add(Vector2.up, checkAxisPenetration(a, b, Vector2.up));
axisValues.Add(Vector2.right, checkAxisPenetration(a, b, Vector2.right));
Dictionary <Vector2, float> .Enumerator enumerator = axisValues.GetEnumerator();
enumerator.MoveNext();
KeyValuePair <Vector2, float> bestPenetration = enumerator.Current; //need to set one to compare too, no null value to just allow all checking in the for loop
if (bestPenetration.Value == 0.0f)
{
return(null);
}
while (enumerator.MoveNext())
{
if (Mathf.Abs(enumerator.Current.Value) < Mathf.Abs(bestPenetration.Value))
{
bestPenetration = enumerator.Current;
}
if (bestPenetration.Value == 0.0f)
{
return(null);
}
}
HullCollision2D collision;
collision = new HullCollision2D(a, b, bestPenetration.Key, Mathf.Abs(bestPenetration.Value));
return(collision);
}
public static HullCollision2D detectCollisionResponse(CircleHull2D a, CircleHull2D b)
{
float dist = Vector2.Distance(a.position, b.position);
if (a.radius + b.radius > dist)
{
Vector2 penetration = (a.position - b.position).normalized;
float penAmount = (a.radius + b.radius) - Vector2.Distance(a.position, b.position);
HullCollision2D collision = new HullCollision2D(a, b, penetration, penAmount);
//collision.closingVelocity = -(lft.velocity - rgt.velocity) *(lft.velocity - rgt.velocity).normalized;
return(collision);
}
return(null);//failed
}
void FixedUpdate()
{
for (int i = 0; i < mPhysicsObjects.Count; i++)
{
for (int j = i + 1; j < mPhysicsObjects.Count; j++)
{
//bool coll = mPhysicsObjects[i].detectCollision(mPhysicsObjects[j]);
HullCollision2D collision = mPhysicsObjects[i].detectCollisionResponse(mPhysicsObjects[j]);
if (collision != null)
{
collision.a.OnCollision(collision.b); //info is still valid before resolved called
collision.b.OnCollision(collision.a);
collision.Resolve(Time.fixedDeltaTime);
}
}
}
}
public static HullCollision2D detectCollisionResponse(OBBHull2D a, OBBHull2D b)
{
Dictionary <Vector2, float> axisValues = new Dictionary <Vector2, float>(); //norm to the overlap value
axisValues.Add(a.getXNormal(), checkAxisPenetration(a, b, a.getXNormal()));
axisValues.Add(a.getYNormal(), checkAxisPenetration(a, b, a.getYNormal()));
if (a.rotation != b.rotation)
{
axisValues.Add(b.getXNormal(), checkAxisPenetration(a, b, b.getXNormal()));
axisValues.Add(b.getYNormal(), checkAxisPenetration(a, b, b.getYNormal()));
}
Dictionary <Vector2, float> .Enumerator enumerator = axisValues.GetEnumerator();
enumerator.MoveNext();
Vector2 pos = a.position;
KeyValuePair <Vector2, float> bestPenetration = enumerator.Current; //need to set one to compare too, no null value to just allow all checking in the for loop
if (bestPenetration.Value == 0.0f)
{
return(null);
}
while (enumerator.MoveNext())
{
if (Mathf.Abs(enumerator.Current.Value) < Mathf.Abs(bestPenetration.Value))
{
bestPenetration = enumerator.Current;
}
if (bestPenetration.Value == 0.0f)
{
return(null);
}
}
HullCollision2D collision;
Vector2 norm = bestPenetration.Key;
if (bestPenetration.Value <= 0.0f) //ooh this was an easy thing to miss
{
norm *= -1.0f;
}
collision = new HullCollision2D(a, b, norm, Mathf.Abs(bestPenetration.Value));
//collision.contactPoint = pos;
return(collision);
}
//TODO
public static HullCollision2D detectCollisionResponse(CircleHull2D circle, OBBHull2D square)
{
Vector2 closestPointSquare = square.GetClosestPoint(circle.position);
Vector2 closestPointCircle = circle.GetClosestPoint(closestPointSquare);
Debug.DrawLine(new Vector3(closestPointSquare.x, closestPointSquare.y, 0), new Vector3(closestPointCircle.x, closestPointCircle.y, 0));
if (circle.radius > Vector2.Distance(circle.position, closestPointSquare))
{
Vector2 penNorm = closestPointSquare - closestPointCircle;
HullCollision2D collision;
if (penNorm.x > 0.0f)
{
collision = new HullCollision2D(circle, square, penNorm.normalized, penNorm.magnitude);
}
else
{
collision = new HullCollision2D(circle, square, penNorm.normalized, penNorm.magnitude);
}
return(collision);
}
return(null);
}
