public static bool Collide(BoundingCapsule Capsule2, AABB Box1)
{
Box1.Half = (Box1.MaxExtent - Box1.MinExtent) * 0.5f;// + Box1.MinExtent;
//Get Direction Between the two boxes + edges
Box1.Centre = Box1.Half + Box1.MinExtent;
AABB Box2 = new AABB(Capsule2.A, Capsule2.B);
Box2.Half = (Box2.MaxExtent - Box2.MinExtent) * 0.5f;
Box2.Centre = Box2.Half + Box2.MinExtent;
if (Mathf.Abs(Box1.Centre.x - Box2.Centre.x) > (Box1.Half.x + Box2.Half.x))
{
return(false);
}
if (Mathf.Abs(Box1.Centre.y - Box2.Centre.y) > (Box1.Half.y + Box2.Half.y))
{
return(false);
}
if (Mathf.Abs(Box1.Centre.z - Box2.Centre.z) > (Box1.Half.z + Box2.Half.z))
{
return(false);
}
return(true);
}
public static void Resolve(BoundingCapsule Capsule2, AABB Box1, out MyVector3 Normal, out float Penetration)
{
Normal = new MyVector3(0, 0, 0);
Penetration = float.MaxValue;
Box1.Half = (Box1.MaxExtent - Box1.MinExtent) * 0.5f;// + Box1.MinExtent;
//Get Direction Between the two boxes + edges
Box1.Centre = Box1.Half + Box1.MinExtent;
AABB Box2 = new AABB(new MyVector3(Capsule2.A.x, Capsule2.A.y, Capsule2.A.z), new MyVector3(Capsule2.B.x, Capsule2.B.y, Capsule2.B.z));
Box2.Half = (Box2.MaxExtent - Box2.MinExtent) * 0.5f;
Box2.Centre = Box2.Half + Box2.MinExtent;
float CurPenetration = (Box1.Half.x + Box2.Half.x) - Mathf.Abs(Box1.Centre.x - Box2.Centre.x);
if (CurPenetration < Penetration)
{
Penetration = CurPenetration;
if (Box1.Centre.x > Box2.Centre.x)
{
Normal = new MyVector3(-1, 0, 0);
}
if (Box1.Centre.x < Box2.Centre.x)
{
Normal = new MyVector3(1, 0, 0);
}
}
CurPenetration = (Box1.Half.y + Box2.Half.y) - Mathf.Abs(Box1.Centre.y - Box2.Centre.y);
if (CurPenetration < Penetration)
{
Penetration = CurPenetration;
if (Box1.Centre.y > Box2.Centre.y)
{
Normal = new MyVector3(0, -1, 0);
}
if (Box1.Centre.y < Box2.Centre.y)
{
Normal = new MyVector3(0, 1, 0);
}
}
CurPenetration = (Box1.Half.z + Box2.Half.z) - Mathf.Abs(Box1.Centre.z - Box2.Centre.z);
if (CurPenetration < Penetration)
{
Penetration = CurPenetration;
if (Box1.Centre.z > Box2.Centre.z)
{
Normal = new MyVector3(0, 0, -1);
}
if (Box1.Centre.z < Box2.Centre.z)
{
Normal = new MyVector3(0, 0, 1);
}
}
}
public static bool Collide(BoundingCapsule capsule, BoundingCircle otherCircle)
{
float CombinedRadius = capsule.Radius + otherCircle.Radius;
float DistanceFromFloat = Mathf.Sqrt(VectorMaths.SqDistanceFromFloat(capsule.A, capsule.B, otherCircle.CentrePoint));
return(DistanceFromFloat <= CombinedRadius);
}
// Update is called once per frame
void Update()
{
myTransformation Transformation = GetComponent <myTransformation>();
float CurRadius = float.MinValue;
float MinCurRadius = float.MaxValue;
if (Transformation.ModelMaxExtent.x > CurRadius)
{
CurRadius = Transformation.ModelMaxExtent.x;
}
if (Transformation.ModelMaxExtent.z > CurRadius)
{
CurRadius = Transformation.ModelMaxExtent.z;
}
if (Transformation.ModelMinExtent.x < MinCurRadius)
{
MinCurRadius = Transformation.ModelMinExtent.x;
}
if (Transformation.ModelMaxExtent.z < MinCurRadius)
{
MinCurRadius = Transformation.ModelMinExtent.z;
}
float BiggestScale = float.MinValue;
if (Transformation.Scale.x > BiggestScale)
{
BiggestScale = Transformation.Scale.x;
}
if (Transformation.Scale.z > BiggestScale)
{
BiggestScale = Transformation.Scale.z;
}
Radius = CurRadius - MinCurRadius;
Radius *= BiggestScale;
Transformation.BoundObject = new BoundingCapsule(Transformation.Translation + (Transformation.Scale * Transformation.ModelMinExtent),
Transformation.Translation + (Transformation.Scale * Transformation.ModelMaxExtent),
Radius);
BoundingCapsule Capsule2 = Transformation.BoundObject as BoundingCapsule;
Min = Capsule2.A;
Max = Capsule2.B;
}
public override bool Intersects(BoundingObject RHS)
{
if (RHS is AABB)
{
AABB Box1 = RHS as AABB;
return(Collide(this, Box1));
}
if (RHS is BoundingCircle)
{
BoundingCircle Sphere1 = RHS as BoundingCircle;
return(Collide(this, Sphere1));
}
if (RHS is BoundingCapsule)
{
BoundingCapsule Capsule1 = RHS as BoundingCapsule;
return(Collide(this, Capsule1));
}
return(false);
}
public static bool Collide(BoundingCapsule capsule, BoundingCapsule otherCapsule)
{
float CombinedRadiusSq = (capsule.Radius + otherCapsule.Radius) * (capsule.Radius + otherCapsule.Radius);
MyVector3 LengthA = capsule.A - otherCapsule.A;
float DistanceA = LengthA.Length();
if (DistanceA <= CombinedRadiusSq)
{
return(true);
}
MyVector3 LengthB = capsule.B - otherCapsule.B;
float DistanceB = LengthB.Length();
if (DistanceB <= CombinedRadiusSq)
{
return(true);
}
return(false);
}
public override void CollisionResolution(BoundingObject RHS, out MyVector3 Norm, out float Penetration)
{
Norm = new MyVector3(0, 0, 0);
Penetration = float.MaxValue;
if (RHS is AABB)
{
AABB Box2 = RHS as AABB;
Resolve(this, Box2, out Norm, out Penetration);
}
if (RHS is BoundingCircle)
{
BoundingCircle Circle2 = RHS as BoundingCircle;
Resolve(this, Circle2, out Norm, out Penetration);
}
if (RHS is BoundingCapsule)
{
BoundingCapsule Capsule2 = RHS as BoundingCapsule;
Resolve(this, Capsule2, out Norm, out Penetration);
}
}
public static void Resolve(BoundingCapsule Capsule2, BoundingCircle Circle1, out MyVector3 Normal, out float Penetration)
{
Normal = new MyVector3(0, 0, 0);
Penetration = float.MaxValue;
AABB Box1 = new AABB(new MyVector3(Capsule2.A.x, Capsule2.A.y, Capsule2.A.z), new MyVector3(Capsule2.B.x, Capsule2.B.y, Capsule2.B.z));
Box1.Half = (Box1.MaxExtent - Box1.MinExtent) * 0.5f;
Box1.Centre = Box1.Half + Box1.MinExtent;
float Radius = Circle1.Radius;
Radius *= 0.5f;
MyVector3 Extent = new MyVector3(Radius, Radius, Radius);
AABB Box2;
Box2 = new AABB(Circle1.CentrePoint - Extent, Circle1.CentrePoint + Extent);
Box2.Half = (Box2.MaxExtent - Box2.MinExtent) * 0.5f;
Box2.Centre = Box2.Half + Box2.MinExtent;
float CurPenetration = (Box1.Half.x + Box2.Half.x) - Mathf.Abs(Box1.Centre.x - Box2.Centre.x);
if (CurPenetration < Penetration)
{
Penetration = CurPenetration;
if (Box1.Centre.x > Box2.Centre.x)
{
Normal = new MyVector3(-1, 0, 0);
}
if (Box1.Centre.x < Box2.Centre.x)
{
Normal = new MyVector3(1, 0, 0);
}
}
CurPenetration = (Box1.Half.y + Box2.Half.y) - Mathf.Abs(Box1.Centre.y - Box2.Centre.y);
if (CurPenetration < Penetration)
{
Penetration = CurPenetration;
if (Box1.Centre.y > Box2.Centre.y)
{
Normal = new MyVector3(0, -1, 0);
}
if (Box1.Centre.y < Box2.Centre.y)
{
Normal = new MyVector3(0, 1, 0);
}
}
CurPenetration = (Box1.Half.z + Box2.Half.z) - Mathf.Abs(Box1.Centre.z - Box2.Centre.z);
if (CurPenetration < Penetration)
{
Penetration = CurPenetration;
if (Box1.Centre.z > Box2.Centre.z)
{
Normal = new MyVector3(0, 0, -1);
}
if (Box1.Centre.z < Box2.Centre.z)
{
Normal = new MyVector3(0, 0, 1);
}
}
Penetration *= 0.001f;
}
