//------------------------------------Private Functions-------------------------------------
private Matrix4x4 CalculateInertiaTensor()
{
// Calculating the moment of inertia of the body.
Vector3 momentOfInertia = Vector3.one;
switch (pCollider.pType)
{
case ColliderType.Sphere:
momentOfInertia *= PSI_PhysicsUtils.MomentOfInertiaOfSphere(Mass, ((PSI_Collider_Sphere)pCollider).pRadius);
break;
case ColliderType.Box:
momentOfInertia = PSI_PhysicsUtils.MomentOfInertiaOfBox(Mass, ((PSI_Collider_Box)pCollider).pSize);
break;
default:
return(Matrix4x4.identity);
}
// Using the moment of inertia to construct the inertia tensor matrix.
Matrix4x4 inertiaTensor = new Matrix4x4();
inertiaTensor.m00 = momentOfInertia.x;
inertiaTensor.m11 = momentOfInertia.y;
inertiaTensor.m22 = momentOfInertia.z;
inertiaTensor.m33 = 1f;
return(inertiaTensor);
}
private Vector3 CalculateAngularAcceleration(Vector3 torque)
{
// Geting the moment of inertia of the body and using to calculate the accelerating due to torque.
switch (pCollider.pType)
{
case ColliderType.Sphere:
return((Mathf.Rad2Deg * torque) * PSI_PhysicsUtils.MomentOfInertiaOfSphere(Mass, ((PSI_Collider_Sphere)pCollider).pRadius));
case ColliderType.Box:
Vector3 angAcc = (Mathf.Rad2Deg * torque);
Vector3 momentOfInertia = PSI_PhysicsUtils.MomentOfInertiaOfBox(Mass, ((PSI_Collider_Box)pCollider).pSize);
angAcc.x *= momentOfInertia.x;
angAcc.y *= momentOfInertia.y;
angAcc.z *= momentOfInertia.z;
return(angAcc);
default:
return(Vector3.zero);
}
}
//------------------------------------Private Functions-------------------------------------
private void CheckForCollision(PSI_Collider col1, PSI_Collider col2)
{
bool collisionOccurred = false;
PSI_Collision collision = new PSI_Collision();
collision.col1 = col1;
collision.col2 = col2;
// Sphere on sphere.
if (col1.pType == ColliderType.Sphere && col2.pType == ColliderType.Sphere)
{
collisionOccurred = PSI_PhysicsUtils.SphereSphereCollisionCheck((PSI_Collider_Sphere)col1, (PSI_Collider_Sphere)col2, out collision.point);
}
// Sphere on plane.
if ((col1.pType == ColliderType.Sphere && col2.pType == ColliderType.Plane) ||
(col1.pType == ColliderType.Plane && col2.pType == ColliderType.Sphere))
{
PSI_Collider_Sphere sphere = (PSI_Collider_Sphere)((col1.pType == ColliderType.Sphere) ? col1 : col2);
PSI_Collider_Plane plane = (PSI_Collider_Plane)((col1.pType == ColliderType.Sphere) ? col2 : col1);
if (PSI_PhysicsUtils.SpherePlaneCollisionOccured(sphere, plane, out collision.point))
{
collisionOccurred = true;
}
}
// Sphere on box.
if ((col1.pType == ColliderType.Sphere && col2.pType == ColliderType.Box) ||
(col1.pType == ColliderType.Box && col2.pType == ColliderType.Sphere))
{
PSI_Collider_Sphere sphere = (PSI_Collider_Sphere)((col1.pType == ColliderType.Sphere) ? col1 : col2);
PSI_Collider_Box box = (PSI_Collider_Box)((col1.pType == ColliderType.Sphere) ? col2 : col1);
if (PSI_PhysicsUtils.SphereBoxCollisionOccured(sphere, box, out collision.point))
{
collisionOccurred = true;
}
}
// Box on box.
if ((col1.pType == ColliderType.Box && col2.pType == ColliderType.Box))
{
if (PSI_PhysicsUtils.BoxBoxCollisionOccured((PSI_Collider_Box)col1, (PSI_Collider_Box)col2, out collision.point))
{
collisionOccurred = true;
}
}
// Box on plane.
if ((col1.pType == ColliderType.Box && col2.pType == ColliderType.Plane) ||
(col1.pType == ColliderType.Plane && col2.pType == ColliderType.Box))
{
PSI_Collider_Box box = (PSI_Collider_Box)((col1.pType == ColliderType.Box) ? col1 : col2);
PSI_Collider_Plane plane = (PSI_Collider_Plane)((col1.pType == ColliderType.Box) ? col2 : col1);
if (PSI_PhysicsUtils.BoxPlaneCollisionOccured(box, plane, out collision.point))
{
collisionOccurred = true;
}
}
if (collisionOccurred)
{
mCollisionData.Add(collision);
}
}
