/// <summary>
/// Do a point collides with a box?
/// </summary>
/// <param name="colliding">The point to collide to the box collider</param>
/// <param name="collider">The box collider the test happens on</param>
/// <param name="translation">The translation required to move the point out</param>
/// <param name="force">The force applied to the point when a collision happens. Always set to <see cref="Vector3D.Zero"/></param>
/// <returns>Returns null if no collision, otherwise collision properties.</returns>
//WORKING !!
public Hit Collide(Vector3D colliding, AABBCollider collider)
{
Vector3D point = colliding;
AABB aabb = collider.AABB;
double dx = point.X - aabb.Position.X;
double px = aabb.Extents.X - Math.Abs(dx);
if (px <= 0)
{
return(new Hit());
}
double dy = point.Y - aabb.Position.Y;
double py = aabb.Extents.Y - Math.Abs(dy);
if (py <= 0)
{
return(new Hit());
}
double dz = point.Z - aabb.Position.Z;
double pz = aabb.Extents.Z - Math.Abs(dz);
if (pz <= 0)
{
return(new Hit());
}
Hit hit = new Hit(collider);
Vector3D hitDelta = hit.Delta;
Vector3D hitNormal = hit.Normal;
Vector3D hitPosition = hit.Position;
/*Axis smallestOverlap = Axis.Y;
*
* if (px < py && px < pz) smallestOverlap = Axis.X;
* else if (py < px && py < pz) smallestOverlap = Axis.Y;
* else if (pz < px && pz < py) smallestOverlap = Axis.Z;*/
if (px < py && px < pz)
{
int sx = Math.Sign(dx);
hitDelta.X = px * sx;
hitNormal.X = sx;
hitPosition.X = aabb.Position.X + aabb.Extents.X * sx;
hitPosition.Y = point.Y;
hitPosition.Z = point.Z;
}
else if (py < px && py < pz)
{
int sy = Math.Sign(dy);
hitDelta.Y = py * sy;
hitNormal.Y = sy;
hitPosition.X = point.X;
hitPosition.Y = aabb.Position.Y + aabb.Extents.Y * sy;
hitPosition.Z = point.Z;
}
else
{
int sz = Math.Sign(dz);
hitDelta.Z = pz * sz;
hitNormal.Z = sz;
hitPosition.X = point.X;
hitPosition.Y = point.Y;
hitPosition.Z = aabb.Position.Z + aabb.Extents.Z * sz;
}
hit.Delta = hitDelta;
hit.Normal = hitNormal;
hit.Position = hitPosition;
return(hit);
}
/// <summary>
/// Do a point collides with a box?
/// </summary>
/// <param name="colliding">The point to collide to the box collider</param>
/// <param name="collider">The box collider the test happens on</param>
/// <param name="translation">The translation required to move the point out</param>
/// <param name="force">The force applied to the point when a collision happens. Always set to <see cref="Vector3D.Zero"/></param>
/// <returns>Returns null if no collision, otherwise collision properties.</returns>
// WORKING
public Hit Collide(AABBCollider colliding, AABBCollider collider)
{
AABB box = colliding.AABB;
AABB col = collider.AABB;
double dx = box.Position.X - col.Position.X;
double px = (box.Extents.X + col.Extents.X) - Math.Abs(dx);
if (px <= 0.0)
{
return(new Hit());
}
double dy = box.Position.Y - col.Position.Y;
double py = (box.Extents.Y + col.Extents.Y) - Math.Abs(dy);
if (py <= 0.0)
{
return(new Hit());
}
double dz = box.Position.Z - col.Position.Z;
double pz = (box.Extents.Z + col.Extents.Z) - Math.Abs(dz);
if (pz <= 0.0)
{
return(new Hit());
}
Hit hit = new Hit(collider);
Vector3D hitDelta = hit.Delta;
Vector3D hitNormal = hit.Normal;
Vector3D hitPosition = hit.Position;
if (px < py || px < pz)
{
int sx = Math.Sign(dx);
hitDelta.X = px * sx;
hitNormal.X = sx;
hitPosition.X = col.Position.X + col.Extents.X * sx;
hitPosition.Y = box.Position.Y;
hitPosition.Z = box.Position.Z;
}
else if (py < px || py < pz)
{
int sy = Math.Sign(dy);
hitDelta.Y = py * sy;
hitNormal.Y = sy;
hitPosition.X = box.Position.X;
hitPosition.Y = col.Position.Y + col.Extents.Y * sy;
hitPosition.Z = box.Position.Z;
}
else
{
int sz = Math.Sign(dz);
hitDelta.Z = pz * sz;
hitNormal.Z = sz;
hitPosition.X = box.Position.X;
hitPosition.Y = box.Position.Y;
hitPosition.Z = col.Position.Z + col.Extents.Z * sz;
}
hit.Delta = hitDelta;
hit.Normal = hitNormal;
hit.Position = hitPosition;
return(hit);
}