void FixedUpdate()
{
for (var i = 0; i < allColliders.Count; i++)
{
DrawBoundingVolume(allColliders[i], Color.green);
}
collisionInfoText.text = "";
for (int i = 0; i < colliders.Count; ++i)
{
CustomCollider colliderA = colliders[i];
for (int j = 0; j < immovablecolliders.Count; ++j)
{
CustomCollider colliderB = immovablecolliders[j];
CustomCollisionInfo collisionInfo;
if (CheckCollision(colliderA, colliderB, out collisionInfo))
{
Debug.Log(colliderA.gameObject + " collision with " + colliderB.gameObject);
collisionInfoText.text += colliderA.gameObject.name + " collision with " + colliderB.gameObject.name + "\n";
float ax = Mathf.Abs(collisionInfo.intersectionSize.x);
float ay = Mathf.Abs(collisionInfo.intersectionSize.y);
float az = Mathf.Abs(collisionInfo.intersectionSize.z);
float sx = colliderA.transform.position.x < colliderB.transform.position.x ? -1.0f : 1.0f;
float sy = colliderA.transform.position.y < colliderB.transform.position.y ? -1.0f : 1.0f;
float sz = colliderA.transform.position.z < colliderB.transform.position.z ? -1.0f : 1.0f;
Vector3 firstCollisionNorm;
if (ax <= ay && ax <= az)
{
// Debug.Log("X");
firstCollisionNorm = colliderB.U().normalized *sx;
}
else if (ay <= az)
{
// Debug.Log("Y");
firstCollisionNorm = colliderB.V().normalized *sy;
}
else
{
// Debug.Log("Z");
firstCollisionNorm = colliderB.W().normalized *sz;
}
if (!colliderA.GetComponent <CustomRigidbody>().disablePhysicsInteractions)
{
var newVel =
Vector3.Reflect(colliderA.GetComponent <CustomRigidbody>().currentVelocity.normalized,
firstCollisionNorm) * colliderA.GetComponent <CustomRigidbody>().currentVelocity.magnitude *colliderA.bouncieness *(1 - colliderB.frictionCoefficient);
newVel = newVel.magnitude < 0.25f ? Vector3.zero : newVel;
// colliderA.transform.position += firstCollisionNorm * collisionInfo.intersectionSize.magnitude;
if (collisionInfo.intersectionSize.magnitude >= 0.1f)
{
if (ax <= ay && ax <= az)
{
colliderA.transform.position += firstCollisionNorm * collisionInfo.intersectionSize.x;
}
else if (ay <= az)
{
colliderA.transform.position += firstCollisionNorm * collisionInfo.intersectionSize.y;
}
else
{
colliderA.transform.position += firstCollisionNorm * collisionInfo.intersectionSize.z;
}
}
colliderA.GetComponent <CustomRigidbody>().currentVelocity = newVel;
}
}
}
for (int j = i + 1; j < colliders.Count; ++j)
{
CustomCollider colliderB = colliders[j];
CustomCollisionInfo collisionInfo;
if (CheckCollision(colliderA, colliderB, out collisionInfo))
{
Debug.Log(colliderA.gameObject + " collision with " + colliderB.gameObject);
collisionInfoText.text += colliderA.gameObject.name + " collision with " + colliderB.gameObject.name + "\n";
float ax = Mathf.Abs(collisionInfo.intersectionSize.x);
float ay = Mathf.Abs(collisionInfo.intersectionSize.y);
float az = Mathf.Abs(collisionInfo.intersectionSize.z);
float sx = colliderA.transform.position.x < colliderB.transform.position.x ? -1.0f : 1.0f;
float sy = colliderA.transform.position.y < colliderB.transform.position.y ? -1.0f : 1.0f;
float sz = colliderA.transform.position.z < colliderB.transform.position.z ? -1.0f : 1.0f;
Vector3 firstCollisionNorm;
if (ax <= ay && ax <= az)
{
// Debug.Log("X");
firstCollisionNorm = colliderB.W().normalized *sx;
}
else if (ay <= az)
{
// Debug.Log("Y");
firstCollisionNorm = colliderB.V().normalized *sy;
}
else
{
// Debug.Log("Z");
firstCollisionNorm = colliderB.U().normalized *sz;
}
// Pulled from Year 2 sphere vs cube simulation assignment
float m1, m2, x1, x2;
Vector3 v1, v2, v1x, v2x, v1y, v2y, x = (colliderA.transform.position - colliderB.transform.position);
var rbA = colliderA.GetComponent <CustomRigidbody>();
var rbB = colliderB.GetComponent <CustomRigidbody>();
x.Normalize();
v1 = rbA.currentVelocity;
x1 = Vector3.Dot(x, v1);
v1x = x * x1;
v1y = v1 - v1x;
m1 = rbA.mass;
x = x * -1;
v2 = rbB.currentVelocity;
x2 = Vector3.Dot(x, v2);
v2x = x * x2;
v2y = v2 - v2x;
m2 = rbB.mass;
if (!colliderA.GetComponent <CustomRigidbody>().disablePhysicsInteractions)
{
rbA.currentVelocity = (v1x * (m1 - m2) / (m1 + m2) + v2x * (2 * m2) / (m1 + m2) + v1y);
}
if (!colliderB.GetComponent <CustomRigidbody>().disablePhysicsInteractions)
{
rbB.currentVelocity = (v1x * (2 * m1) / (m1 + m2) + v2x * (m2 - m1) / (m1 + m2) + v2y);
}
/*continue;
*
* if (colliderA.GetComponent<CustomRigidbody>())
* {
* var directionA = colliderA.GetComponent<CustomRigidbody>().currentVelocity.normalized;
* var directionB = colliderB.GetComponent<CustomRigidbody>().currentVelocity.normalized;
* var newDir = (directionA - directionB).normalized;
* var speed = colliderA.GetComponent<CustomRigidbody>().currentVelocity.magnitude +
* colliderB.GetComponent<CustomRigidbody>().currentVelocity.magnitude;
*
* var newVel =
* Vector3.Reflect(newDir, -firstCollisionNorm) * speed * colliderA.bouncieness * colliderB.bouncieness;
* if (colliderB.GetComponent<CustomRigidbody>())
* newVel *= colliderB.GetComponent<CustomRigidbody>().currentVelocity.magnitude > 1 ? colliderB.GetComponent<CustomRigidbody>().currentVelocity.magnitude : 1;
* newVel = newVel.magnitude < 0.25f ? Vector3.zero : newVel;
* // colliderA.transform.position += firstCollisionNorm*collisionInfo.intersectionSize.magnitude;
* if (collisionInfo.intersectionSize.magnitude >= 0.1f)
* {
* if (ax <= ay && ax <= az)
* colliderA.transform.position += firstCollisionNorm * collisionInfo.intersectionSize.x;
* else if (ay <= az)
* colliderA.transform.position += firstCollisionNorm * collisionInfo.intersectionSize.y;
* else
* colliderA.transform.position += firstCollisionNorm * collisionInfo.intersectionSize.z;
* }
*
* colliderA.GetComponent<CustomRigidbody>().currentVelocity = newVel;
* }
* if (colliderB.GetComponent<CustomRigidbody>())
* {
* var directionA = colliderA.GetComponent<CustomRigidbody>().currentVelocity.normalized;
* var directionB = colliderB.GetComponent<CustomRigidbody>().currentVelocity.normalized;
* var newDir = (directionA).normalized;
* var speed = colliderA.GetComponent<CustomRigidbody>().currentVelocity.magnitude +
* colliderB.GetComponent<CustomRigidbody>().currentVelocity.magnitude;
*
* var newVel =
* Vector3.Reflect(newDir, firstCollisionNorm) * speed * colliderA.bouncieness * colliderB.bouncieness;
* if (colliderA.GetComponent<CustomRigidbody>())
* newVel *= colliderA.GetComponent<CustomRigidbody>().currentVelocity.magnitude > 1 ? colliderA.GetComponent<CustomRigidbody>().currentVelocity.magnitude : 1;
* newVel = newVel.magnitude < 0.25f ? Vector3.zero : newVel;
* // colliderB.transform.position += -firstCollisionNorm * collisionInfo.intersectionSize.magnitude;
* if (collisionInfo.intersectionSize.magnitude >= 0.1f)
* {
* if (ax <= ay && ax <= az)
* colliderB.transform.position += -firstCollisionNorm * collisionInfo.intersectionSize.x;
* else if (ay <= az)
* colliderB.transform.position += -firstCollisionNorm * collisionInfo.intersectionSize.y;
* else
* colliderB.transform.position += -firstCollisionNorm * collisionInfo.intersectionSize.z;
* }
*
* colliderB.GetComponent<CustomRigidbody>().currentVelocity = newVel;
* }*/
}
}
}
}