/// <summary>
/// Checks wheter the hyperbox is colliding with the given hyperbox
/// using AAABBtechnique
/// </summary>
/// <param name="bx">An hyperbox to check for collision with</param>
/// <returns>The possible separation planes (if there's any)</returns>
public List <PPlane> Collide(Hyperbox bx)
{
var planes = new List <PPlane>();
for (var axis = 0; axis < Axis.Count; axis++)
{
var reachCurrent = Axis[axis].Reach;
var reachCompare = bx.Axis[axis].Reach;
var distance = Math.Abs(Axis[axis].Middle - bx.Axis[axis].Middle);
if (reachCurrent == 0.0)
{
var l = Axis[axis].Middle;
if (l >= bx.Axis[axis].Min && l <= bx.Axis[axis].Max)
{
continue;
}
}
else if (reachCompare == 0.0)
{
var l = bx.Axis[axis].Middle;
if (l >= Axis[axis].Min && l <= Axis[axis].Max)
{
continue;
}
}
else if (reachCurrent + reachCompare >= distance)
{
continue; //collision! >= : doesn't allow the boxes to touch each other; >: allows the touching
}
double min, max;
var axisA = Axis[axis];
var axisB = bx.Axis[axis];
if (axisA.Average < axisB.Average)
{
min = axisB.Min;
max = axisA.Max;
}
else
{
min = axisA.Min;
max = axisB.Max;
}
var value = (min + max) / 2;
planes.Add(new PPlane(axis, value));
return(planes);//do not keep looking for separation planes if one is found
}
return(planes);
}
/// <summary>
/// Informs the [previously calculated] separation parallel plane between two given objects
/// </summary>
/// <param name="a">An object A</param>
/// <param name="b">An object B</param>
/// <returns>The separation parallel plane (PPlane object)</returns>
private PPlane GetSeparationPlane(Hyperbox a, Hyperbox b)
{
var idxA = GetObjectIdx(a);
var idxB = GetObjectIdx(b);
if (_separationPlanes == null || _separationPlanes[idxA] == null || _separationPlanes[idxB] == null || _separationPlanes[idxA][idxB] == null)
{
return(null);
}
else
{
return(_separationPlanes[idxB][idxA]);
}
}
/// <summary>
/// Informs the object index from the objects list of the system
/// NOT THE OBJECT'S ID!!
/// </summary>
/// <param name="o">An object to be found</param>
/// <returns>The object's index</returns>
private int GetObjectIdx(Hyperbox o)
{
var idx = 0;
foreach (var obj in Objects)
{
if (o.ID == obj.ID)
{
return(idx);
}
idx++;
}
return(-1);
}
private IEnumerable <Range> FindRanges(Hyperbox box)
{
var boxRanges = new List <Range>();
foreach (var range in Ranges)
{
var axis = range.Axis;
var min = box.Axis[axis].Min;
var max = box.Axis[axis].Max;
if (range.Check(min) || range.Check(max))
{
boxRanges.Add(range);
}
}
return(boxRanges);
}