Class: BulldogPhysics::CollisionDetector

Inherits:

Object

• Object
• BulldogPhysics::CollisionDetector

Defined in:

lib/RigidBodies/collision_shapes.rb

Class Method Summary

• .box_and_box(one, two, data) ⇒ Object
• .box_and_half_space(box, plane, contacts) ⇒ Object
• .sphere_and_half_space(sphere, plane, contacts) ⇒ Object
• .sphere_and_sphere(one, two, contatcs) ⇒ Object

Class Method Details

.box_and_box(one, two, data) ⇒ Object

# File 'lib/RigidBodies/collision_shapes.rb', line 195

def self.box_and_box(one, two, data)

	to_center = two.get_axis(3) - one.get_axis(3)
	puts "NOT DONE YET"
	return 	overlap_on_axis(one,two,one.getAxis(0), to_center) && \
      			overlap_on_axis(one,two,one.getAxis(1), to_center) && \
      			overlap_on_axis(one,two,one.getAxis(2), to_center) && \
      			overlap_on_axis(one,two,two.getAxis(0), to_center) && \
      			overlap_on_axis(one,two,two.getAxis(1), to_center) && \
      			overlap_on_axis(one,two,two.getAxis(2), to_center) && \
      			overlap_on_axis(one,two,one.getAxis(0) % two.getAxis(0), to_center) && \
	        overlap_on_axis(one,two,one.getAxis(0) % two.getAxis(1), to_center) && \
	        overlap_on_axis(one,two,one.getAxis(0) % two.getAxis(2), to_center) && \
	        overlap_on_axis(one,two,one.getAxis(1) % two.getAxis(0), to_center) && \
	        overlap_on_axis(one,two,one.getAxis(1) % two.getAxis(1), to_center) && \
	        overlap_on_axis(one,two,one.getAxis(1) % two.getAxis(2), to_center) && \
	        overlap_on_axis(one,two,one.getAxis(2) % two.getAxis(0), to_center) && \
	        overlap_on_axis(one,two,one.getAxis(2) % two.getAxis(1), to_center) && \
	        overlap_on_axis(one,two,one.getAxis(2) % two.getAxis(2), to_center)
end

.box_and_half_space(box, plane, contacts) ⇒ Object

# File 'lib/RigidBodies/collision_shapes.rb', line 216

def self.box_and_half_space(box, plane, contacts)
	#return 0 if data.contacts_left <= 0

	#return 0 unless IntersectionTests.box_and_half_space(box,plane)

	mults = [ [1,1,1] , [-1,1,1] , [1,-1,1] , [-1,-1,1] , \
			   [1,1,-1] , [-1,1,-1], [1,-1,-1] , [-1,-1,-1]]

	contacts_used = 0

	#contact = contacts[contacts_used]

	for i in 0..7
		vertexPos = Vector3.new(mults[i][0], mults[i][1], mults[i][2]);
      		vertexPos.componentProductUpdate(box.half_size);
      		vertexPos = box.transform.transform(vertexPos);
      		vertexDistance = vertexPos * plane.direction;
	
      		if(vertexDistance <= plane.offset)
      					puts "test"
      			contact = Contact.new
      			contact.contact_point = plane.direction
      			contact.contact_point *= (vertexDistance - plane.offset)
      			contact.contact_point = vertexPos # ??????
      			contact.contact_normal = plane.direction
      			contact.penetration = plane.offset - vertexDistance

      			contacts_used+=1
      			contact.set_body_data(box.body, nil, 0.9, 0.6)
      			contacts << contact
      			#contact = data.contacts[contacts_used]
      			#return contacts_used if contacts_used == data.contacts_left
      		end
      	end

      	#data.add_contacts(contacts_used)
      	return contacts_used
end

.sphere_and_half_space(sphere, plane, contacts) ⇒ Object

# File 'lib/RigidBodies/collision_shapes.rb', line 152

def self.sphere_and_half_space(sphere, plane, contacts)
	#eturn 0 if(data.contacts_left <= 0)

	position = sphere.get_axis(3)

	ball_distance = plane.direction * position - sphere.radius - plane.offset

	puts "ball distance"
	return 0 if ball_distance >= 0

	contact = Contact.new
	contact.contact_normal = plane.direction
	contact.penetration = -ball_distance
	contact.contact_point = position - plane.direction * (ball_distance + sphere.radius)
	contact.set_body_data(sphere.body, nil, 0.9, 0.6)
	contacts << contact
	return 1
end

.sphere_and_sphere(one, two, contatcs) ⇒ Object

# File 'lib/RigidBodies/collision_shapes.rb', line 171

def self.sphere_and_sphere(one, two, contatcs)

	positionOne = one.get_axis(3)
	positionTwo = two.get_axis(3)

	midline = positionOne - positionTwo

	size = midline.magnitude 

	if size <= 0.0 || size >= one.radius + two.radius
		return 0
	end

	normal = midline * (1.0/size)

	contact = Contact.new
	contact.normal = normal
	contact.contact_point = positionOne + midline * 0.5
	contact.penetration = one.radius + two.radius - size
	contact.set_body_data( one.body, two.body, 0.9, 0.6)
	contatcs << contact
	return 1
end