public static HullCollision OBBOBBCollision(OBBHull boxHull1, OBBHull boxHull2)
{
Particle2D A = boxHull1.GetComponent <Particle2D>();
Particle2D B = boxHull2.GetComponent <Particle2D>();
Vector3[] shape1Corners;
Vector3[] shape2Corners;
shape1Corners = new Vector3[4];
shape2Corners = new Vector3[4];
Vector3[] normals = new Vector3[4];
float[] shape1MinMax = new float[2];
float[] shape2MinMax = new float[2];
shape1Corners = getRotatedCorners(boxHull1);
shape2Corners = getRotatedCorners(boxHull2);
normals[0] = getUpNormal(-boxHull1.currentRotation);
normals[1] = getRightNormal(-boxHull1.currentRotation);
normals[2] = getUpNormal(-boxHull2.currentRotation);
normals[3] = getRightNormal(-boxHull2.currentRotation);
HullCollision col = new HullCollision();
col.a = boxHull1;
col.b = boxHull2;
Vector3 range = (boxHull2.transform.position + boxHull2.offset) - (boxHull1.transform.position + boxHull1.offset);
//float xOverlap = boxHull1.halfX + boxHull2.halfX - Mathf.Abs(range.x);
//float yOverlap = boxHull1.halfY + boxHull2.halfY - Mathf.Abs(range.y);
//TRANSPORTATION
//col.penetration = new Vector3(xOverlap, yOverlap);
//Vector3 closingVel = A.velocity - B.velocity;
Vector3 closingVel = B.velocity - A.velocity;
col.closingVelocity = closingVel;
HullCollision.Contact con0 = new HullCollision.Contact();
con0.point = new Vector3(Mathf.Clamp(range.x, -boxHull1.halfX, boxHull1.halfX), Mathf.Clamp(range.y, -boxHull1.halfY, boxHull1.halfY));
con0.restitution = Mathf.Min(boxHull1.restitution, boxHull2.restitution);
con0.normal = range.normalized;
for (int i = 0; i < normals.Length; i++)
{
//Debug.Log("testing corner" + i);
shape1MinMax = SatTest(normals[i], shape1Corners);
shape2MinMax = SatTest(normals[i], shape2Corners);
if (!Overlap(shape1MinMax[0], shape1MinMax[1], shape2MinMax[0], shape2MinMax[1]))
{
//Debug.Log("falure");
col.status = false;
return(col);
}
}
col.status = true;
col.contacts[0] = con0;
return(col);
}
static protected bool AABBVSOBB(AABBHull AABB, OBBHull OBB)
{
Vector2 AABBMinTransform = OBB.transform.InverseTransformPoint(AABB.min + AABB.center);
Vector2 AABBMaxTransform = OBB.transform.InverseTransformPoint(AABB.max + AABB.center);
//Debug.DrawLine(AABBMinTransform, AABBMaxTransform, Color.red);
//Debug.DrawLine(OBB.min, OBB.max, Color.green);
//Debug.DrawLine(AABB.center, OBB.center, Color.yellow);
if (AABB.max.x + AABB.center.x >= OBB.min.x + OBB.center.x && OBB.max.x + OBB.center.x >= AABB.min.x + AABB.center.x)
{
if (AABB.max.y + AABB.center.y >= OBB.min.y + OBB.center.y && OBB.max.y + OBB.center.y >= AABB.min.y + AABB.center.y)
{
/*if (obbMinTransform.x > obbMaxTransform.x && obbMinTransform.y > obbMaxTransform.y)
* {
* Vector2 temp = obbMinTransform;
* obbMinTransform = obbMaxTransform;
* obbMaxTransform = temp;
* }*/
if (AABBMaxTransform.x + AABB.center.x >= OBB.min.x + OBB.center.x && OBB.max.x + OBB.center.x >= AABBMinTransform.x + AABB.center.x)
{
if (AABBMaxTransform.y + AABB.center.y >= OBB.min.x + OBB.center.y && OBB.max.x + OBB.center.y >= AABBMinTransform.y + AABB.center.y)
{
return(true);
}
}
}
}
return(false);
}
static Vector3[] getRotatedCorners(OBBHull newHull)
{
Vector3[] returnPoints = new Vector3[4];
returnPoints[0] = getRotatedPoint(new Vector3(newHull.transform.position.x - newHull.halfX, newHull.transform.position.y - newHull.halfY), newHull.transform.position, newHull.currentRotation);
returnPoints[1] = getRotatedPoint(new Vector3(newHull.transform.position.x - newHull.halfX, newHull.transform.position.y + newHull.halfY), newHull.transform.position, newHull.currentRotation);
returnPoints[2] = getRotatedPoint(new Vector3(newHull.transform.position.x + newHull.halfX, newHull.transform.position.y - newHull.halfY), newHull.transform.position, newHull.currentRotation);
returnPoints[3] = getRotatedPoint(new Vector3(newHull.transform.position.x + newHull.halfX, newHull.transform.position.y + newHull.halfY), newHull.transform.position, newHull.currentRotation);
return(returnPoints);
}
public static HullCollision CircleOBBCollision(CircleHull circleHull, OBBHull OBBHull)
{
Particle2D A = circleHull.GetComponent <Particle2D>();
Particle2D B = OBBHull.GetComponent <Particle2D>();
Vector3[] OBBCorners;
OBBCorners = new Vector3[2];//was 4
Vector3[] normals = new Vector3[2];
float[] OBBMinMax = new float[2];
float[] circleMinMax = new float[2];
OBBCorners = getRotatedCorners(OBBHull);
normals[0] = getUpNormal(-OBBHull.currentRotation);
normals[1] = getRightNormal(-OBBHull.currentRotation);
//normals[2] = getUpNormal(-OBBHull2.currentRotation);
//normals[3] = getRightNormal(-boxHull2.currentRotation);
HullCollision col = new HullCollision();
col.a = circleHull;
col.b = OBBHull;
Vector3 range = (OBBHull.transform.position + OBBHull.offset) - (circleHull.transform.position + circleHull.offset);
Vector3 rotatedRange = getRotatedPoint(range, new Vector3(0.0f, 0.0f), -OBBHull.currentRotation);// 2 circleHull.transform.position
Vector3 point = new Vector3(Mathf.Clamp(rotatedRange.x, -OBBHull.halfX, OBBHull.halfX), Mathf.Clamp(rotatedRange.y, -OBBHull.halfY, OBBHull.halfY));
//Debug.Log("range " + range);
//Debug.Log("rotrange " + rotatedRange);
//float xOverlap = boxHull1.halfX + boxHull2.halfX - Mathf.Abs(range.x);
//float yOverlap = boxHull1.halfY + boxHull2.halfY - Mathf.Abs(range.y);
//col.penetration = new Vector3(xOverlap, yOverlap);
Vector3 closingVel = B.velocity - A.velocity;
col.closingVelocity = closingVel;
HullCollision.Contact con0 = new HullCollision.Contact();
con0.point = new Vector3(Mathf.Clamp(range.x, -OBBHull.halfX, OBBHull.halfX), Mathf.Clamp(range.y, -OBBHull.halfY, OBBHull.halfY));
con0.restitution = Mathf.Min(OBBHull.restitution, circleHull.restitution);
con0.normal = range.normalized;
//Debug.Log("point " + point);
col.status = false;
if ((rotatedRange - point).magnitude - circleHull.radius < 0)
{
col.status = true;
col.contacts[0] = con0;
}
return(col);
}
static protected bool OBBVSOBB(OBBHull OBB1, OBBHull OBB2)
{
List <Vector2> allAxis = new List <Vector2>();
allAxis.AddRange(OBB1.NormalAxis);
allAxis.AddRange(OBB2.NormalAxis);
foreach (var axis in allAxis)
{
float OBB1Min = float.MaxValue;
float OBB1Max = float.MinValue;
foreach (var vert in OBB1.Vertices)
{
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 OBB2.Vertices)
{
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))
{
return(false);
}
}
return(true);
}
static protected bool CircleVSOBB(CircleHull circle, OBBHull OBB)
{
Vector2 halfExtend = (OBB.max - OBB.min) / 2;
Vector2 circleInOBB = OBB.transform.InverseTransformPoint(circle.GetCenter());
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);
if (distanceSQ <= (circle.radius * circle.radius))
{
return(true);
}
return(false);
}
static protected CollisionInfo CircleVSOBB(CircleHull circle, OBBHull OBB)
{
Vector2 halfExtend = (OBB.max - OBB.min) / 2;
Vector2 circleInOBB = OBB.transform.InverseTransformPoint(circle.GetCenter());
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);
if (distanceSQ > (circle.radius * circle.radius))
{
return(null);
}
float distance = Mathf.Sqrt(distanceSQ);
return(new CollisionInfo(circle, OBB, OBB.transform.TransformVector(-distanceVec).normalized, circle.radius - distance));
}
protected static CollisionInfo CircleVSOBB(CircleHull circle, OBBHull OBB)
{
Vector3 halfExtend = OBB.halfExtends;
Vector3 circleInOBB = OBB.GetComponent<Particle3D>().getWorldToObject().MultiplyPoint(circle.GetCenter());
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);
if (distanceSQ > (circle.radius * circle.radius))
{
return null;
}
Vector3 closestPt = new Vector3(0f,0f,0f);
float dist;
// Clamp each coordinate to the box.
dist = circleInOBB.x;
if (dist > OBB.halfExtends.x) dist = OBB.halfExtends.x;
if (dist < -OBB.halfExtends.x) dist = -OBB.halfExtends.x;
closestPt.x = dist;
dist = circleInOBB.y;
if (dist > OBB.halfExtends.y) dist = OBB.halfExtends.y;
if (dist < -OBB.halfExtends.y) dist = -OBB.halfExtends.y;
closestPt.y = dist;
dist = circleInOBB.z;
if (dist > OBB.halfExtends.z) dist = OBB.halfExtends.z;
if (dist < -OBB.halfExtends.z) dist = -OBB.halfExtends.z;
closestPt.z = dist;
// Check to see if we’re in contact.
dist = (closestPt - circleInOBB).sqrMagnitude;
if (dist > circle.radius * circle.radius)
return null;
// Compile the contact.
Vector3 closestPtWorld = OBB.GetComponent<Particle3D>().getObjectToWorld().MultiplyPoint(closestPt);
//place contact point in world space
float distance = Mathf.Sqrt(distanceSQ);
//Debug.LogError(closestPtWorld);
return new CollisionInfo(circle, OBB, (-distanceVec).normalized, (circle.radius - distance),closestPtWorld);
//OBB.GetComponent<Particle3D>().getObjectToWorld().MultiplyPoint(-distanceVec).normalized this failed to work, removing it fixed it
}
static protected CollisionInfo CircleVSOBB(CircleHull circle, OBBHull OBB)
{
Vector3 halfExtend = OBB.halfExtends;
Vector3 circleInOBB = OBB.GetComponent <Particle3D>().getWorldToObject().MultiplyPoint(circle.GetCenter());
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);
if (distanceSQ > (circle.radius * circle.radius))
{
return(null);
}
//place contact point in world space
float distance = Mathf.Sqrt(distanceSQ);
return(new CollisionInfo(circle, OBB, (-distanceVec).normalized, (circle.radius - distance)));
//OBB.GetComponent<Particle3D>().getObjectToWorld().MultiplyPoint(-distanceVec).normalized this failed to work, removing it fixed it
}
static protected CollisionInfo OBBVSOBB(OBBHull OBB1, OBBHull OBB2)
{
List <Vector2> allAxis = new List <Vector2>();
allAxis.AddRange(OBB1.NormalAxis);
allAxis.AddRange(OBB2.NormalAxis);
foreach (var axis in allAxis)
{
float OBB1Min = float.MaxValue;
float OBB1Max = float.MinValue;
foreach (var vert in OBB1.Vertices)
{
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 OBB2.Vertices)
{
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 = OBB2.center - OBB1.center;
float x_overlap = OBB1.halfExtends.x + OBB2.halfExtends.x - Mathf.Abs(AtoB.x);
if (x_overlap > 0.0f)
{
float y_overlap = OBB1.halfExtends.y + OBB2.halfExtends.y - Mathf.Abs(AtoB.y);
if (y_overlap > 0.0f)
{
if (x_overlap < y_overlap)
{
return(new CollisionInfo(OBB1, OBB2, AtoB.x < 0.0f ? -Vector2.right : Vector2.right, x_overlap));
}
else
{
return(new CollisionInfo(OBB1, OBB2, AtoB.y < 0.0f ? -Vector2.up : Vector2.up, y_overlap));
}
}
}
}
}
return(null);
}
static protected CollisionInfo AABBVSOBB(AABBHull AABB, OBBHull OBB)
{
List <Vector2> allAxis = new List <Vector2>();
allAxis.AddRange(AABB.NormalAxis);
allAxis.AddRange(OBB.NormalAxis);
foreach (var axis in allAxis)
{
float AABBMin = float.MaxValue;
float AABBMax = float.MinValue;
foreach (var vert in AABB.Vertices)
{
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 OBB.Vertices)
{
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 OBBExtend = (OBB.RotMax - OBB.RotMin) / 2f;
Vector2 AtoB = OBB.center - AABB.center;
float x_overlap = AABB.halfExtends.x + OBBExtend.x - Mathf.Abs(AtoB.x);
if (x_overlap > 0.0f)
{
float y_overlap = AABB.halfExtends.y + OBBExtend.y - Mathf.Abs(AtoB.y);
if (y_overlap > 0.0f)
{
if (x_overlap < y_overlap)
{
return(new CollisionInfo(AABB, OBB, AtoB.x < 0.0f ? -Vector2.right : Vector2.right, x_overlap));
}
else
{
return(new CollisionInfo(AABB, OBB, AtoB.y < 0.0f ? -Vector2.up : Vector2.up, y_overlap));
}
}
}
}
}
return(null);
}
// Start is called before the first frame update
void Start()
{
thrust = GetComponent <Particle2D>();
hull = GetComponent <OBBHull>();
bulletPrefab = Resources.Load("Bullet") as GameObject;
}
protected static CollisionInfo AABBVSOBB(AABBHull AABB, OBBHull OBB)
{
Vector3 toCenter = AABB.center - OBB.center;
return boxTest(AABB, OBB, toCenter, AABB.halfExtends, OBB.halfExtends);
}
protected static CollisionInfo OBBVSOBB(OBBHull OBB1, OBBHull OBB2)
{
Vector3 toCenter = OBB1.center - OBB2.center;
return boxTest(OBB1,OBB2, toCenter,OBB1.halfExtends,OBB2.halfExtends);
}
static public bool OBBVSOBB(OBBHull OBB1, OBBHull OBB2)
{
//project onto both axis, get new min and max for both, then aabb test
return(false);
}
