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CollisionTester.cs
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CollisionTester.cs
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using UnityEngine;
using Unity.Mathematics;
using Unity.Collections;
public enum CollisionType
{
SphereSphere , SphereCapsule , SphereOBB , SphereTriangle , CapsuleLockCapsuleLock , CaspuleCapsule , CapsuleOBB , OBBOBB
}
public class CollisionTester : MonoBehaviour
{
public CollisionType collisionType;
public bool resolveCollisions;
public bool drawMarkers;
public float3 posA;
public float3 posB;
public float3 rotA;
public float3 rotB;
public float3 extentsA;
public float3 extentsB;
private CollisionType lastCollisionType;
private bool isColliding = false;
private CollisionDisplay display;
private void Start()
{
display = new CollisionDisplay();
display.SetupScene( collisionType , drawMarkers );
}
private void Update()
{
isColliding = false;
if ( collisionType != lastCollisionType )
OnCollisionTypeChange();
ChooseCollisionFunction();
display.SetShapeColor( isColliding );
}
private void OnCollisionTypeChange()
{
lastCollisionType = collisionType;
posA = new float3( -1 , -1 , -1 );
posB = new float3( 1 , 1 , 1 );
rotA = float3.zero;
rotB = float3.zero;
extentsA = new float3( 1 , 1 , 1 );
extentsB = new float3( 1 , 1 , 1 );
display.SetupScene( collisionType , drawMarkers );
}
private void ChooseCollisionFunction()
{
switch ( collisionType )
{
case CollisionType.SphereSphere:
HandleSpheres();
break;
case CollisionType.SphereCapsule:
HandleSphereCapsule();
break;
case CollisionType.SphereOBB:
HandleSphereBox();
break;
case CollisionType.CapsuleLockCapsuleLock:
HandleCapsulesLock();
break;
case CollisionType.CaspuleCapsule:
HandleCapsuleCapsule();
break;
case CollisionType.CapsuleOBB:
HandleCapsuleBox();
break;
case CollisionType.OBBOBB:
HandeBoxBox();
break;
case CollisionType.SphereTriangle:
HandleSphereTriangle();
break;
default:
Debug.Log( "No CollisionType Selected" );
break;
}
}
// SPHERE SPHERE
private void HandleSpheres()
{
CollisionSphere();
display.DrawSpheres( posA , posB , extentsA.x , extentsB.x );
}
private void CollisionSphere()
{
float3 pa = posA;
float3 pb = posB;
float ra = extentsA.x;
float rb = extentsB.x;
if ( ColPhysics.SpheresIntersect( pa , pb , ra , rb , out float distance ) )
{
isColliding = true;
if ( resolveCollisions )
{
ColPhysics.ResolveSphereCollision( ref pa , ref pb , ra , rb , distance );
posA = pa;
posB = pb;
}
}
}
// SPHERE CAPSULE
private void HandleSphereCapsule()
{
CollisionSphereCapsule();
display.DrawSphereCapsule( posA , posB , rotB , extentsA.x , extentsB.x , extentsB.y );
}
private void CollisionSphereCapsule()
{
float3 spherePos = posA;
float sphereRadius = extentsA.x;
float3 capsulePos = posB;
float3 capsuleRot = rotB;
float capsuleLength = extentsB.y * 2;
float capsuleRadius = extentsB.x;
if ( ColPhysics.SphereIntersectsCapsule( spherePos , sphereRadius , capsulePos , capsuleRot , capsuleLength , capsuleRadius , out float distance ) )
{
isColliding = true;
if ( resolveCollisions )
{
ColPhysics.ResolveSphereCollision( ref spherePos , ref capsulePos , sphereRadius , capsuleRadius , distance );
posA = spherePos;
posB = capsulePos;
}
}
}
// SPHERE BOX
private void HandleSphereBox()
{
CollisionSphereBox();
display.DrawSphereBox( posA , posB , rotB , extentsA.x , extentsB );
}
private void CollisionSphereBox()
{
float3 spherePos = posA;
float3 obbPos = posB;
float3 obbRot = rotB;
float3 obbHalfSize = extentsB;
float sphereRadius = extentsA.x;
FixedList128<float3> vertices = ColPhysics.GetAABBVerticesOBB( obbPos , obbHalfSize ); // calculated once at startup forever stored with entity
vertices = ColPhysics.GetRotatedVerticesOBB( vertices , obbPos , obbRot );
FixedList128<float> extents = new FixedList128<float>(); // calculated once at startup forever stored with entity
extents.Add( extentsB.x );
extents.Add( extentsB.y );
extents.Add( extentsB.z );
FixedList128<float3> axisNormals = ColPhysics.GetAxisNormalsOBB( vertices[ 0 ] , vertices[ 1 ] , vertices[ 3 ] , vertices[ 4 ] );
if ( ColPhysics.SphereIntersectsBox( spherePos , sphereRadius , obbPos , axisNormals , extents , out float distance ) )
{
isColliding = true;
if ( resolveCollisions )
{
ColPhysics.ResolveSphereBoxCollision( ref spherePos , sphereRadius , ref obbPos , distance );
posA = spherePos;
posB = obbPos;
}
}
}
// SPHERE TRIANGLE
public void HandleSphereTriangle()
{
float3 spherePos = posA;
float sphereRadius = extentsA.x;
float3 triPos = posB;
float3 triSize = extentsB;
float3 triRot = rotB;
float3[] triangleVerts = GetVerticesOfTriangle( triPos , triSize , triRot ); // would already be stored
FixedList128<float3> triVertices = new FixedList128<float3>();
triVertices.Add( triangleVerts[ 0 ] );
triVertices.Add( triangleVerts[ 1 ] );
triVertices.Add( triangleVerts[ 2 ] );
if ( ColPhysics.SphereIntersectsOrientedTriangle( spherePos , sphereRadius , triVertices , out float3 closestPoint , out float distance ) )
{
isColliding = true;
if ( drawMarkers )
display.DrawMarker( closestPoint );
if ( resolveCollisions )
ColPhysics.ResolveSphereTriangleCollision( ref spherePos , sphereRadius , distance , closestPoint );
posA = spherePos;
}
display.DrawSphereTriangle( posA , posB , rotB , extentsA.x , extentsB );
}
private float3[] GetVerticesOfTriangle( float3 position , float3 halfSize , float3 rotation )
{
float3[] vertices = new float3[ 3 ];
vertices[ 0 ] = position + new float3( -halfSize.x , -halfSize.y , 0 );
vertices[ 1 ] = position + new float3( halfSize.x , -halfSize.y , 0 );
vertices[ 2 ] = position + new float3( 0 , halfSize.y , 0 );
for ( int i = 0; i < vertices.Length; i++ )
vertices[ i ] = ColPhysics.RotatePoint3D( vertices[ i ] , position , rotation.y , rotation.z , rotation.x );
return vertices;
}
// CAPSULELOCK CAPSULELOCK
private void HandleCapsulesLock()
{
CollisionCapsuleLock();
display.DrawCapsuleLock( posA , posB , extentsA.x , extentsB.x , extentsA.y , extentsB.y );
}
private void CollisionCapsuleLock()
{
float3 p1 = posA;
float3 p2 = posB;
float r1 = extentsA.x;
float r2 = extentsB.x;
float h1 = extentsA.y*2;
float h2 = extentsB.y*2;
if ( ColPhysics.ParallelLinesIntersectYAxis( p1.y , p2.y , h1 , h2 ) )
{
float3 s1 = new float3( p1.x , 0 , p1.z );
float3 s2 = new float3( p2.x , 0 , p2.z );
if ( ColPhysics.SpheresIntersect( s1 , s2 , r1 , r2 , out float distance ) )
{
isColliding = true;
if ( resolveCollisions )
{
ColPhysics.ResolveSphereCollision( ref s1 , ref s2 , r1 , r2 , distance );
posA = new float3( s1.x , p1.y , s1.z );
posB = new float3( s2.x , p2.y , s2.z );
}
}
}
}
// CAPSULE CAPSULE
private void HandleCapsuleCapsule()
{
CollisionCapsule();
display.DrawCapsules( posA , posB , rotA , rotB , extentsA.x , extentsB.x , extentsA.y , extentsB.y );
}
private void CollisionCapsule()
{
float3 pa = posA;
float3 pb = posB;
float lengthA = extentsA.y * 2;
float lengthB = extentsB.y * 2;
float radiusA = extentsA.x;
float radiusB = extentsB.x;
if ( ColPhysics.CapsuleIntersectsCapsule( pa , pb , rotA , rotB , lengthA , lengthB , radiusA , radiusB , out float distance ) )
{
isColliding = true;
if ( resolveCollisions )
{
ColPhysics.ResolveSphereCollision( ref pa , ref pb , radiusA , radiusB , distance );
posA = pa;
posB = pb;
}
}
}
// CAPSULE BOX
private void HandleCapsuleBox()
{
CollisionCapsuleBox();
display.DrawCapsuleBox( posA , posB , rotA , rotB , extentsA.x , extentsA.y , extentsB );
}
private void CollisionCapsuleBox()
{
FixedList128<float3> verticesOBB = ColPhysics.GetAABBVerticesOBB( posB , extentsB );
verticesOBB = ColPhysics.GetRotatedVerticesOBB( verticesOBB , posB , rotB );
FixedList128<float3> normalAxesOBB = ColPhysics.GetAxisNormalsOBB( verticesOBB[ 0 ] , verticesOBB[ 1 ] , verticesOBB[ 3 ] , verticesOBB[ 4 ] );
FixedList128<float> exte = new FixedList128<float>();
exte.Add( extentsB.x );
exte.Add( extentsB.y );
exte.Add( extentsB.z );
float3x2 capsuleTips = ColPhysics.GetCapsuleEndPoints( posA , rotA , extentsA.y * 2 );
float3x2 capsuleSpheres = ColPhysics.GetCapsuleEndSpheres( capsuleTips.c0 , capsuleTips.c1 , extentsA.x );
if ( ColPhysics.CapsuleIntersectsBox( capsuleSpheres , posB , extentsA.x , normalAxesOBB , exte , out float distance ) )
{
isColliding = true;
if ( resolveCollisions )
ColPhysics.ResolveSphereBoxCollision( ref posA , extentsA.x , ref posB , distance );
}
}
// BOX BOX
private void HandeBoxBox()
{
CollisionBoxBox();
display.DrawBoxes( posA , posB , rotA , rotB , extentsA , extentsB );
}
private void CollisionBoxBox()
{
FixedList128<float3> verticesA = ColPhysics.GetAABBVerticesOBB( posA , extentsA );
FixedList128<float3> verticesB = ColPhysics.GetAABBVerticesOBB( posB , extentsB );
verticesA = ColPhysics.GetRotatedVerticesOBB( verticesA , posA , rotA );
verticesB = ColPhysics.GetRotatedVerticesOBB( verticesB , posB , rotB );
FixedList512<float3> projectionAxes = ColPhysics.GetProjectionAxesOBBSAT( verticesA , verticesB );
if ( ColPhysics.BoxIntersectsBox( projectionAxes , verticesA , verticesB , out float minOverlap , out float3 mtvAxis ) )
{
isColliding = true;
if ( resolveCollisions )
{
ColPhysics.ResolveBoxCollision( ref posA , ref posB , minOverlap , mtvAxis );
}
}
}
}