private static bool ComputeCylinderIntersection
(
Vector3 localFixedPoint,
Vector3 localMovingPoint,
float combinedRadius,
ref Vector3 intersectionPoint
)
{
float t1;
float t2;
var projectedFixedPoint = new Vector2(localFixedPoint.x, localFixedPoint.z);
var projectedMovingPoint = new Vector2(localMovingPoint.x, localMovingPoint.z);
if (!SpringSphereCollider.FindLineSegmentIntersection(
new Vector2(0f, 0f),
combinedRadius,
projectedFixedPoint,
projectedMovingPoint,
out t1,
out t2) ||
t1 >= 1f ||
t2 <= 0f)
{
return(false);
}
intersectionPoint = localFixedPoint + t1 * (localMovingPoint - localFixedPoint);
return(true);
}
private bool IntersectsLineSegment
(
Vector3 pointA,
Vector3 pointB,
float segmentRadius
)
{
if (SpringSphereCollider.IntersectsLineSegment(
transform, new Vector3(0f, 0f, 0f), radius, pointA, pointB, segmentRadius))
{
return(true);
}
if (SpringSphereCollider.IntersectsLineSegment(
transform, new Vector3(0f, height, 0f), radius, pointA, pointB, segmentRadius))
{
return(true);
}
var localPointA = transform.InverseTransformPoint(pointA);
var localPointB = transform.InverseTransformPoint(pointB);
var otherRadius = transform.InverseTransformDirection(segmentRadius, 0f, 0f).magnitude;
var combinedRadius = radius + otherRadius;
var intersectionPoint = new Vector3(0f, 0f, 0f);
return(ComputeCylinderIntersection(localPointA, localPointB, combinedRadius, ref intersectionPoint) &&
intersectionPoint.y > 0f &&
intersectionPoint.y < height);
}
private static SphereColliderSerializer SphereColliderToSerializer(SpringSphereCollider sourceCollider)
{
return(new SphereColliderSerializer
{
baseInfo = TransformToColliderSerializerBaseInfo(sourceCollider.transform, SphereColliderToken),
radius = sourceCollider.radius,
linkedRenderer = GetComponentName(sourceCollider.linkedRenderer)
});
}
public SpringBone.CollisionStatus CheckForCollisionAndReact
(
Vector3 moverHeadPosition,
ref Vector3 moverPosition,
float moverRadius
)
{
if ((linkedRenderer != null &&
!linkedRenderer.enabled) ||
radius <= 0.0001f)
{
return(SpringBone.CollisionStatus.NoCollision);
}
if (needToCacheTransform)
{
CacheTransform();
}
// Lower than start cap
var localHeadPosition = worldToLocal.MultiplyPoint3x4(moverHeadPosition);
var localMoverPosition = worldToLocal.MultiplyPoint3x4(moverPosition);
var localMoverRadius = moverRadius * radiusScale;
var moverIsAboveTop = localMoverPosition.y >= height;
var useSphereCheck = (localMoverPosition.y <= 0f) | moverIsAboveTop;
if (useSphereCheck)
{
var sphereOrigin = new Vector3(0f, 0f, 0f);
sphereOrigin.y = moverIsAboveTop ? height : 0f;
var combinedRadius = localMoverRadius + radius;
if ((localMoverPosition - sphereOrigin).sqrMagnitude >= combinedRadius * combinedRadius)
{
// Not colliding
return(SpringBone.CollisionStatus.NoCollision);
}
var originToHead = localHeadPosition - sphereOrigin;
var isHeadEmbedded = originToHead.sqrMagnitude <= radius * radius;
#if UNITY_EDITOR
RecordSphereCollision(
sphereOrigin,
localMoverPosition,
moverRadius,
isHeadEmbedded ?
SpringBone.CollisionStatus.HeadIsEmbedded :
SpringBone.CollisionStatus.TailCollision);
#endif
if (isHeadEmbedded)
{
// The head is inside the sphere, so just try to push the tail out
localMoverPosition =
sphereOrigin + (localMoverPosition - sphereOrigin).normalized * combinedRadius;
moverPosition = transform.TransformPoint(localMoverPosition);
return(SpringBone.CollisionStatus.HeadIsEmbedded);
}
var localHeadRadius = (localMoverPosition - localHeadPosition).magnitude;
var intersection = new Circle3();
if (SpringSphereCollider.ComputeIntersection(
localHeadPosition,
localHeadRadius,
sphereOrigin,
combinedRadius,
ref intersection))
{
localMoverPosition = SpringSphereCollider.ComputeNewTailPosition(intersection, localMoverPosition);
moverPosition = transform.TransformPoint(localMoverPosition);
}
return(SpringBone.CollisionStatus.TailCollision);
}
// Cylinder
var collisionStatus = CheckForCylinderCollisionAndReact(
localHeadPosition, ref moverPosition, localMoverRadius, localMoverPosition);
return(collisionStatus);
}
