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