public static bool AABBAABBCollisionOccured(PSI_AABBCollider col1, PSI_AABBCollider col2)
{
return((col1.pPosition.x < col2.pPosition.x + col2.Size.x) &&
col1.pPosition.x + col1.Size.x > col2.pPosition.x &&
col1.pPosition.y < col2.pPosition.y + col2.Size.y &&
col1.pPosition.y + col1.Size.y > col2.pPosition.y &&
col1.pPosition.z < col2.pPosition.z + col2.Size.z &&
col1.pPosition.z + col1.Size.z > col2.pPosition.z);
}
public static void HandleAABBAABBCollision(PSI_AABBCollider col1, PSI_AABBCollider col2)
{
// Calculating the collision vector.
Vector3 colVector = col1.pPosition - col2.pPosition;
// Determining what axis the collision occured on.
List <float> colVectorAxes = new List <float>()
{
Mathf.Abs(colVector.x), Mathf.Abs(colVector.y), Mathf.Abs(colVector.z)
};
colVectorAxes.Sort();
string axisName = "";
if (Mathf.Abs(colVector.x) == colVectorAxes[2])
{
axisName = "x";
}
if (Mathf.Abs(colVector.y) == colVectorAxes[2])
{
axisName = "y";
}
if (Mathf.Abs(colVector.z) == colVectorAxes[2])
{
axisName = "z";
}
// Generating an axis aligned collision vector.
object tempVector = Vector3.zero;
typeof(Vector3).GetField(axisName).SetValue(tempVector, typeof(Vector3).GetField(axisName).GetValue(colVector));
Vector3 aaColVector = (Vector3)tempVector;
// Getting the size of each collider on the collision axis.
float size1 = (float)col1.Size.GetType().GetField(axisName).GetValue(col1.Size);
float size2 = (float)col2.Size.GetType().GetField(axisName).GetValue(col2.Size);
// Calculating the minimum translation vector needed to reset the two colliders positions.
var minTranslationVector = aaColVector * ((((size1 + size2) * 0.5f) - aaColVector.magnitude) / aaColVector.magnitude);
// Calculating the inverse masses once for efficiency.
var inverseMass1 = 1.0f / col1.pRigidBody.pMass;
var inverseMass2 = 1.0f / col2.pRigidBody.pMass;
// Moving the two colliders so they are not overlapping.
col1.transform.Translate(minTranslationVector * (inverseMass1 / (inverseMass1 + inverseMass2)));
col2.transform.Translate(-minTranslationVector * (inverseMass2 / (inverseMass1 + inverseMass2)));
// Applying the impulse to the bodies.
var impulse = PSI_Physics.CalculateImpulse(col1.pRigidBody, col2.pRigidBody, minTranslationVector);
col1.pRigidBody.Velocity += impulse.Impulse1;
col2.pRigidBody.Velocity += impulse.Impulse2;
}
