#6 OBB vs OBB collisions

tomaspietravallo · Jul 21, 2022 · 799c9f7 · 799c9f7
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diff --git a/coverage/coverage-summary.json b/coverage/coverage-summary.json
@@ -1,3 +1,3 @@
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-,"/Users/tomaspietravallo/Documents/GitHub/sparkar-volts/volts.ts": {"lines":{"total":1056,"covered":974,"skipped":0,"pct":92.23},"functions":{"total":244,"covered":228,"skipped":0,"pct":93.44},"statements":{"total":1144,"covered":1055,"skipped":0,"pct":92.22},"branches":{"total":629,"covered":519,"skipped":0,"pct":82.51}}
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+,"/Users/tomaspietravallo/Documents/GitHub/sparkar-volts/volts.ts": {"lines":{"total":1070,"covered":988,"skipped":0,"pct":92.33},"functions":{"total":245,"covered":229,"skipped":0,"pct":93.46},"statements":{"total":1160,"covered":1071,"skipped":0,"pct":92.32},"branches":{"total":633,"covered":525,"skipped":0,"pct":82.93}}
 }
diff --git a/tests/colliders.test.ts b/tests/colliders.test.ts
@@ -1,4 +1,4 @@
-import { Matrix, OBB, Vector } from "../volts";
+import { Matrix, OBB, Quaternion, Vector } from "../volts";
 
 describe('OBB - Oriented Bounding Box', () => {
     test('constructor', () => {
@@ -22,4 +22,34 @@ describe('OBB - Oriented Bounding Box', () => {
         expect(interval.max).toBeCloseTo(+1);
         expect(interval.min).toBeCloseTo(-1);
     })
+    test('againstOBB', () => {
+        const OBB1 = new OBB({ position: new Vector(0,0,0), size: new Vector(0.5) });
+        const OBB2 = new OBB({ position: new Vector(0,0,1), size: new Vector(0.5) });
+        // These two are barely touching
+        expect(OBB1.againstOBB(OBB2)).toEqual(true);
+        expect(OBB2.againstOBB(OBB1)).toEqual(true);
+
+        const OBB3 = new OBB({ position: new Vector(0,0,0), size: new Vector(0.499) });
+        const OBB4 = new OBB({ position: new Vector(0,0,1), size: new Vector(0.5) });
+        // These two not touching
+        expect(OBB3.againstOBB(OBB4)).toEqual(false);
+        expect(OBB4.againstOBB(OBB3)).toEqual(false);
+
+        const OBB5 = new OBB({ position: new Vector(0,0,0), size: new Vector(0.499) });
+        const OBB6 = new OBB({ position: new Vector(0,0,1), size: new Vector(0.5), orientation: Quaternion.fromEuler(0.3,0.3,0).toMatrix() });
+        // Because of the rotation these should be touching
+        expect(OBB5.againstOBB(OBB6)).toEqual(true);
+        expect(OBB6.againstOBB(OBB5)).toEqual(true);
+
+        // Test 10 Z axis rotations, all should have no effect
+        for (let index = 0; index < 10; index++) {
+            const orientation = Quaternion.fromEuler(0,0, (Math.PI * 2) * (index / 10) ).toMatrix();
+
+            const OBB1 = new OBB({ position: new Vector(0,0,0), size: new Vector(0.499) });
+            const OBB2 = new OBB({ position: new Vector(0,0,1), size: new Vector(0.5), orientation });
+            // Because of the rotation these should be touching
+            expect(OBB1.againstOBB(OBB2)).toEqual(false);
+            expect(OBB2.againstOBB(OBB1)).toEqual(false);
+        }
+    })
 })
diff --git a/volts.ts b/volts.ts
@@ -2061,6 +2061,39 @@ export class OBB {
 
     return result;
   }
+
+  /**
+   * @todo **Optimize**
+   */
+  againstOBB(other: OBB) {
+    const to = this.orientation.values.flat();
+    const oo = other.orientation.values.flat();
+
+    const testAxis = [
+      new Vector(to[0], to[1], to[2]),
+      new Vector(to[3], to[4], to[5]),
+      new Vector(to[6], to[7], to[8]),
+      new Vector(oo[0], oo[1], oo[2]),
+      new Vector(oo[3], oo[4], oo[5]),
+      new Vector(oo[6], oo[7], oo[8])
+    ];
+
+    for (let i = 0; i < 3; i++) { // Fill out rest of axis
+      testAxis[6 + i * 3 + 0] = testAxis[i].cross(testAxis[0]);
+      testAxis[6 + i * 3 + 1] = testAxis[i].cross(testAxis[1]);
+      testAxis[6 + i * 3 + 2] = testAxis[i].cross(testAxis[2]);
+    }
+
+    for (let i = 0; i < 15; i++) {
+      const a = this.getInterval(testAxis[i]);
+      const b = other.getInterval(testAxis[i]);
+      const overlaps = ((b.min <= a.max) && (a.min <= b.max));
+      if (!overlaps) {
+        return false;
+      }
+    }
+    return true
+  }
 }
 //#endregion