public void OBB_Method()
{
OBB_Collider[] boxColliders = (OBB_Collider[])GameObject.FindObjectsOfType(typeof(OBB_Collider));
// Loop for checking all AABB and OBB against other AABB and OBB
for (int i = 0; i < boxColliders.Length; i++)
{
OBB_Collider First_Box = boxColliders[i];
for (int j = 1; j < boxColliders.Length; j++)
{
if (j > i)
{
OBB_Collider Second_Box = boxColliders[j];
if (!(First_Box.GetComponent <My_Rigid_Body>().asleep_ == true && Second_Box.GetComponent <My_Rigid_Body>().asleep_ == true))
{
if (First_Box.GetComponent <My_Rigid_Body>().mass != 0 || Second_Box.GetComponent <My_Rigid_Body>().mass != 0 ||
Second_Box.GetComponent <My_Rigid_Body>().mass != 0 || First_Box.GetComponent <My_Rigid_Body>().mass != 0)
{
if (OBB_to_OBB(First_Box.GetComponent <OBB_Collider>(), Second_Box.GetComponent <OBB_Collider>()))
{
Debug.Log("Works");
First_Box.GetComponent <My_Rigid_Body>().asleep_ = true;
Second_Box.GetComponent <My_Rigid_Body>().asleep_ = true;
}
}
}
}
}
}
}
public bool OBB_to_OBB(OBB_Collider A, OBB_Collider B)
{
float ra, rb;
Matrix4x4 R = Matrix4x4.identity;
Matrix4x4 AbsR = Matrix4x4.identity;
// Compute rotation matrix expressing b in a’s coordinate frame
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
R[i, j] = Vector3.Dot(A.positionArray[i], B.positionArray[j]);
}
}
// Compute translation vector t
Vector3 t = B.Center_Of_Mass - A.Center_Of_Mass;
// Bring translation into a’s coordinate frame
t = new Vector3(Vector3.Dot(t, A.positionArray[0]), Vector3.Dot(t, A.positionArray[1]), Vector3.Dot(t, A.positionArray[2]));
// Compute common subexpressions. Add in an epsilon term to
// counteract arithmetic errors when two edges are parallel and
// their cross product is (near) null (see text for details)
float EPSILON = 0.001f;
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
AbsR[i, j] = Mathf.Abs(R[i, j]) + EPSILON;
}
}
// Test axes L = A0, L = A1, L = A2
for (int i = 0; i < 3; i++)
{
ra = A.extents[i];
rb = B.extents[0] * AbsR[i, 0] + B.extents[1] * AbsR[i, 1] + B.extents[2] * AbsR[i, 2];
if (Mathf.Abs(t[i]) > ra + rb)
{
return(false);
}
}
// Test axes L = B0, L = B1, L = B2
for (int i = 0; i < 3; i++)
{
ra = A.extents[0] * AbsR[0, i] + A.extents[1] * AbsR[1, i] + A.extents[2] * AbsR[2, i];
rb = B.extents[i];
if (Mathf.Abs(t[0] * R[0, i] + t[1] * R[1, i] + t[2] * R[2, i]) > ra + rb)
{
return(false);
}
}
// Test axis L = A0 x B0
ra = A.extents[1] * AbsR[2, 0] + A.extents[2] * AbsR[1, 0];
rb = B.extents[1] * AbsR[0, 2] + B.extents[2] * AbsR[0, 1];
if (Mathf.Abs(t[2] * R[1, 0] - t[1] * R[2, 0]) > ra + rb)
{
return(false);
}
// Test axis L = A0 x B1
ra = A.extents[1] * AbsR[2, 1] + A.extents[2] * AbsR[1, 1];
rb = B.extents[0] * AbsR[0, 2] + B.extents[2] * AbsR[0, 0];
if (Mathf.Abs(t[2] * R[1, 1] - t[1] * R[2, 1]) > ra + rb)
{
return(false);
}
// Test axis L = A0 x B2
ra = A.extents[1] * AbsR[2, 2] + A.extents[2] * AbsR[1, 2];
rb = B.extents[0] * AbsR[0, 1] + B.extents[1] * AbsR[0, 0];
if (Mathf.Abs(t[2] * R[1, 2] - t[1] * R[2, 2]) > ra + rb)
{
return(false);
}
// Test axis L = A1 x B0
ra = A.extents[0] * AbsR[2, 0] + A.extents[2] * AbsR[0, 0];
rb = B.extents[1] * AbsR[1, 2] + B.extents[2] * AbsR[1, 1];
if (Mathf.Abs(t[0] * R[2, 0] - t[2] * R[0, 0]) > ra + rb)
{
return(false);
}
// Test axis L = A1 x B1
ra = A.extents[0] * AbsR[2, 1] + A.extents[2] * AbsR[0, 1];
rb = B.extents[0] * AbsR[1, 2] + B.extents[2] * AbsR[1, 0];
if (Mathf.Abs(t[0] * R[2, 1] - t[2] * R[0, 1]) > ra + rb)
{
return(false);
}
// Test axis L = A1 x B2
ra = A.extents[0] * AbsR[2, 2] + A.extents[2] * AbsR[0, 2];
rb = B.extents[0] * AbsR[1, 1] + B.extents[1] * AbsR[1, 0];
if (Mathf.Abs(t[0] * R[2, 2] - t[2] * R[0, 2]) > ra + rb)
{
return(false);
}
// Test axis L = A2 x B0
ra = A.extents[0] * AbsR[1, 0] + A.extents[1] * AbsR[0, 0];
rb = B.extents[1] * AbsR[2, 2] + B.extents[2] * AbsR[2, 1];
if (Mathf.Abs(t[1] * R[0, 0] - t[0] * R[1, 0]) > ra + rb)
{
return(false);
}
// Test axis L = A2 x B1
ra = A.extents[0] * AbsR[1, 1] + A.extents[1] * AbsR[0, 1];
rb = B.extents[0] * AbsR[2, 2] + B.extents[2] * AbsR[2, 0];
if (Mathf.Abs(t[1] * R[0, 1] - t[0] * R[1, 1]) > ra + rb)
{
return(false);
}
// Test axis L = A2 x B2
ra = A.extents[0] * AbsR[1, 2] + A.extents[1] * AbsR[0, 2];
rb = B.extents[0] * AbsR[2, 1] + B.extents[1] * AbsR[2, 0];
if (Mathf.Abs(t[1] * R[0, 2] - t[0] * R[1, 2]) > ra + rb)
{
return(false);
}
// Since no separating axis is found, the OBBs must be intersecting
return(true);
}
