bool CollisionDetector::SpherePlaneCollision(PhysicsNode& p0, PhysicsNode& p1, CollisionData* data) {
//get collision data
CollisionSphere& sphere = *(CollisionSphere*)p0.GetCollisionVolume();
CollisionPlane& plane = *(CollisionPlane*)p1.GetCollisionVolume();
//get separation
float separation = Vector3::Dot(p0.GetPosition(), plane.GetNormal()) - plane.GetDistance();
// if the separation is greater than the radius it cant of collided
if (separation > sphere.GetRadius()) {
return false;
}
//if there is collision data storage
if (data) {
//set the penetration depth
data->m_penetration = sphere.GetRadius() - separation;
//get the normal of the collision
data->m_normal = plane.GetNormal();
//get the point of collision
data->m_point = p0.GetPosition() - plane.GetNormal()*separation;
}
return true;
}
bool CollisionDetector::SphereSphereCollision(PhysicsNode& p0, PhysicsNode& p1, CollisionData* data) {
return false;
//get the collision data
CollisionSphere& s0 = *(CollisionSphere*)p0.GetCollisionVolume();
CollisionSphere& s1 = *(CollisionSphere*)p1.GetCollisionVolume();
//get the normal
Vector3 normal = p0.GetPosition() - p1.GetPosition();
//get the distance (squared)
const float distSq = LengthSq(normal);
//get the max distance before collision
const float sumRadius = s0.GetRadius() + s1.GetRadius();
//if the distance is less than the max distance
if (distSq < sumRadius*sumRadius) {
//if there is collision data storage
if (data) {
//set the penetration depth
data->m_penetration = sumRadius - sqrtf(distSq);
//get the normal of the collision
normal.Normalise();
data->m_normal = normal;
//get the point of collision
data->m_point = p0.GetPosition() - normal*(s0.GetRadius() - data->m_penetration*0.5f);
}
return true;
}
return false;
}
bool CollisionDetector::CylinderSphereCollision(PhysicsNode& p0, PhysicsNode& p1, CollisionData* data) {
CollisionCylinder& cylinder = *(CollisionCylinder*)p0.GetCollisionVolume();
CollisionSphere& sphere = *(CollisionSphere*)p1.GetCollisionVolume();
Vector3 cylCenterVector = cylinder.GetEnd() - cylinder.GetStart();
Vector3 pos1 = p1.GetPosition() - cylinder.GetStart();
float distanceFactorFromEP1 = Vector3::Dot(p1.GetPosition() - cylinder.GetStart(), cylCenterVector) / Vector3::Dot(cylCenterVector, cylCenterVector);
if(distanceFactorFromEP1 < 0) distanceFactorFromEP1 = 0;// clamp to endpoints if neccesary
if(distanceFactorFromEP1 > 1) distanceFactorFromEP1 = 1;
Vector3 closestPoint = cylinder.GetStart() + (cylCenterVector * distanceFactorFromEP1);
Vector3 collisionVector = p1.GetPosition() - closestPoint;
float distance = collisionVector.Length();
Vector3 collisionNormal = collisionVector / distance;
if(distance < sphere.GetRadius() + cylinder.GetRadius())
{
//collision occurred. use collisionNormal to reflect sphere off cyl
float factor = Vector3::Dot(p1.GetLinearVelocity(), collisionNormal);
p1.SetLinearVelocity(p1.GetLinearVelocity() - (collisionNormal * factor * 0.8f));
const float distSq = LengthSq(collisionNormal);
//get the max distance before collision
const float sumRadius = sphere.GetRadius() + cylinder.GetRadius();
p1.SetPosition(p1.GetPosition() + Vector3(collisionNormal * (sumRadius - sqrtf(distSq))));
return true;
}
return false;
}
bool CollisionDetector::AABBCollision(PhysicsNode& p0, PhysicsNode& p1, CollisionData* data) {
CollisionAABB& aabb0 = *(CollisionAABB*)p0.GetCollisionVolume();
CollisionAABB& aabb1 = *(CollisionAABB*)p1.GetCollisionVolume();
float dist = abs(p0.GetPosition().x - p1.GetPosition().x);
float sum = aabb0.getHalfDimensions().x + aabb1.getHalfDimensions().x;
if(dist <= sum) {
dist = abs(p0.GetPosition().y - p1.GetPosition().y);
sum = aabb0.getHalfDimensions().y + aabb1.getHalfDimensions().y;
if(dist <= sum) {
dist = abs(p0.GetPosition().z - p1.GetPosition().z);
sum = aabb0.getHalfDimensions().z + aabb1.getHalfDimensions().z;
if(dist <= sum) {
return true;
}
}
}
return false;
}
bool CollisionDetector::AABBSphereCollision(PhysicsNode& p0, PhysicsNode& p1, CollisionData* data) {
CollisionAABB& aabb0 = *(CollisionAABB*)p0.GetCollisionVolume();
CollisionSphere& sphere = *(CollisionSphere*)p1.GetCollisionVolume();
float dist = abs(p0.GetPosition().x - p1.GetPosition().x);
float sum = aabb0.getHalfDimensions().x + sphere.GetRadius();
if(dist <= sum) {
dist = abs(p0.GetPosition().y - p1.GetPosition().y);
sum = aabb0.getHalfDimensions().y + sphere.GetRadius();
if(dist <= sum) {
dist = abs(p0.GetPosition().z - p1.GetPosition().z);
sum = aabb0.getHalfDimensions().z + sphere.GetRadius();
if(dist <= sum) {
//if there is collision data storage
return true;
}
}
}
return false;
}
