//--- Non Standard Singleton Methods
std::shared_ptr<Collision> Collider::IsColliding(Collider* const a_pOther)
{
float dist = glm::distance(GetCenter(), a_pOther->GetCenter());
if (dist > (GetRadius() + a_pOther->GetRadius())) {
return nullptr;
}
if (type != a_pOther->type) {
Collider* box = type == ColliderType::OBB ? this : a_pOther;
Collider* sphere = type == ColliderType::Sphere ? this : a_pOther;
vector3 axes[] = {
box->obb.r,
box->obb.s,
box->obb.t
};
vector3 closestPt = box->obb.c;
vector3 disp = sphere->GetCenter() - box->obb.c;
for (int i = 0; i < 3; i++) {
float dist = glm::dot(disp, glm::normalize(axes[i]));
float extent = glm::length(axes[i]) / 2.0f;
if (dist > extent)
dist = extent;
if (dist < -extent)
dist = -extent;
closestPt += dist * glm::normalize(axes[i]);
}
//MeshManagerSingleton::GetInstance()->AddSphereToQueue(glm::translate(closestPt) * glm::scale(vector3(0.1f)), REYELLOW, SOLID);
vector3 toSphereCenter = closestPt - sphere->GetCenter();
bool colliding = glm::dot(toSphereCenter, toSphereCenter) <= sphere->GetRadius() * sphere->GetRadius();
if (colliding) {
std::shared_ptr<Collision> collision(new Collision());
collision->colliding = true;
vector3 penetration = vector3(0);
if(glm::length2(toSphereCenter) > 0)
penetration = (sphere->GetRadius() - glm::distance(closestPt, sphere->GetCenter())) * glm::normalize(toSphereCenter);
collision->penetrationVector = type == ColliderType::OBB ? penetration : -penetration;
vector3 toSphereEdge = vector3(0);
if (glm::length2(penetration) > 0)
toSphereEdge = glm::normalize(penetration) * sphere->GetRadius();
vector3 sphereEdgePt = sphere->GetCenter() + toSphereEdge;
vector3 obbEdgePt = closestPt;
collision->intersectPoint1 = type == ColliderType::OBB ? obbEdgePt : sphereEdgePt;
collision->intersectPoint2 = type == ColliderType::OBB ? sphereEdgePt : obbEdgePt;
return collision;
}
return nullptr;
}
//If they are both circles, we have already checked their radii
else if (type == ColliderType::Sphere) {
std::shared_ptr<Collision> collision(new Collision());
collision->colliding = true;
return collision;
}
else {
vector3 r1 = obb.r;
vector3 s1 = obb.s;
vector3 t1 = obb.t;
OBB obb2 = a_pOther->obb;
vector3 r2 = obb2.r;
vector3 s2 = obb2.s;
vector3 t2 = obb2.t;
vector3 axes[] = {
//Normals of OBB1
glm::cross(r1, s1),
glm::cross(r1, t1),
glm::cross(s1, t1),
//Normals of OBB2
glm::cross(r2, s2),
glm::cross(r2, t2),
glm::cross(s2, t2),
//Normals between OBB1 & 2
glm::cross(r1, r2),
glm::cross(r1, s2),
glm::cross(r1, t2),
glm::cross(s1, r2),
glm::cross(s1, s2),
glm::cross(s1, t2),
glm::cross(t1, r2),
glm::cross(t1, s2),
glm::cross(t1, t2),
};
for (int i = 0; i < 15; i++) {
if (glm::length(axes[i]) == 0)
continue;
Projection proj1 = Projection(obb.GetWorldVerts(), axes[i]);
Projection proj2 = Projection(a_pOther->obb.GetWorldVerts(), axes[i]);
lastCollision = (obb.c + a_pOther->obb.c) / 2.0f;
if (!proj1.Overlaps(proj2)) {
return nullptr;
}
}
std::shared_ptr<Collision> collision(new Collision());
//TODO: SAT penetration vector
collision->colliding = true;
return collision;
}
}
