public override bool Collides(Collider other)
{
if(other is SphereCollider)
{
SphereCollider collider = other as SphereCollider;
return (Transform.Position - collider.Transform.Position).LengthSquared() <
System.Math.Pow(Radius + collider.Radius, 2);
}
return base.Collides(other);
}
public override bool Collides(Collider other, out Vector3 normal)
{
if (other is SphereCollider)
{
SphereCollider collider = other as SphereCollider;
if ((Transform.Position - collider.Transform.Position).LengthSquared() <
System.Math.Pow(Radius + collider.Radius, 2))
{
normal = Vector3.Normalize(Transform.Position - collider.Transform.Position);
return true;
}
}
else if (other is BoxCollider)
return other.Collides(this, out normal);
return base.Collides(other, out normal);
}
public override bool Collides(Collider other, out Vector3 normal)
{
if (other is SphereCollider)
{
SphereCollider collider = other as SphereCollider;
normal = Vector3.Zero; // no collision
bool isColliding = false;
// For each face
for (int i = 0; i < 6; i++)
{
// For each triangle in the face
for (int j = 0; j < 2; j++)
{
// Extract the vertices and normal for this triangle
int baseIndex = i * 6 + j * 3;
Vector3 a = vertices[indices[baseIndex]] * Size;
Vector3 b = vertices[indices[baseIndex + 1]] * Size;
Vector3 c = vertices[indices[baseIndex + 2]] * Size;
Vector3 n = normals[i];
// How far is the sphere center from the plane?
float d = Math.Abs(Vector3.Dot(collider.Transform.Position - a, n));
// Check for closeness to plane
if (d < collider.Radius)
{
// Close enough, find point in plane
Vector3 pointOnPlane = collider.Transform.Position - n * d;
// Now, find areas of the three "inner" triangles
float area1 = Vector3.Dot(Vector3.Cross(b - a, pointOnPlane - a), n);
float area2 = Vector3.Dot(Vector3.Cross(c - b, pointOnPlane - b), n);
float area3 = Vector3.Dot(Vector3.Cross(a - c, pointOnPlane - c), n);
// No collision if either one is less than zero
if (!(area1 < 0 || area2 < 0 || area3 < 0))
{
normal += n;
j = 1; // skip second triangle, if necessary
if (i % 2 == 0) i += 1; // skip opposite side if necessary
isColliding = true;
}
}
}
}
normal.Normalize();
return isColliding;
}
return base.Collides(other, out normal);
}
public virtual bool Collides(Collider other)
{
return false;
}
public virtual bool Collides(Collider other, out Vector3 normal)
{
normal = Vector3.Zero;
return false;
}
