///<summary>
/// Updates the manifold.
///</summary>
///<param name="dt">Timestep duration.</param>
public override void Update(float dt)
{
//Now, generate a contact between the two shapes.
float distance;
Vector3 axis;
BoxContactDataCache manifold;
if (BoxBoxCollider.AreBoxesColliding(boxA.Shape, boxB.Shape, ref boxA.worldTransform, ref boxB.worldTransform, out distance, out axis, out manifold))
{
unsafe
{
BoxContactData *manifoldPointer = &manifold.D1;
Vector3.Negate(ref axis, out axis);
var toRemove = new TinyList <int>();
for (int i = 0; i < contacts.Count; i++)
{
bool found = false;
for (int j = manifold.Count - 1; j >= 0; j--)
{
if (contacts.Elements[i].Id == manifoldPointer[j].Id)
{
found = true;
contacts.Elements[i].Validate();
//Update contact...
contacts.Elements[i].Position = manifoldPointer[j].Position;
contacts.Elements[i].PenetrationDepth = -manifoldPointer[j].Depth;
contacts.Elements[i].Normal = axis;
//Remove manifold entry
contacts.Elements[i].Validate();
manifold.RemoveAt(j);
break;
}
}
if (!found)
{//No match found
toRemove.Add(i);
}
}
//toRemove is sorted by increasing index. Go backwards along it so that the indices are valid all the way through.
for (int i = toRemove.Count - 1; i >= 0; i--)
{
Remove(toRemove[i]);
}
//Add new contacts.
for (int i = 0; i < manifold.Count; i++)
{
var newContact = new ContactData
{
Position = manifoldPointer[i].Position,
PenetrationDepth = -manifoldPointer[i].Depth,
Normal = axis,
Id = manifoldPointer[i].Id
};
Add(ref newContact);
}
}
}
else
{
//Not colliding, so get rid of it.
for (int i = contacts.Count - 1; i >= 0; i--)
{
Remove(i);
}
}
}
public override void Update(float dt)
{
//Now, generate a contact between the two shapes.
float distance;
Vector3 axis;
var manifold = new TinyStructList <BoxContactData>();
if (BoxBoxCollider.AreBoxesColliding(boxA.Shape, boxB.Shape, ref boxA.worldTransform, ref boxB.worldTransform, out distance, out axis, out manifold))
{
Vector3.Negate(ref axis, out axis);
TinyList <int> toRemove = new TinyList <int>();
BoxContactData data;
for (int i = 0; i < contacts.Count; i++)
{
bool found = false;
for (int j = manifold.Count - 1; j >= 0; j--)
{
manifold.Get(j, out data);
if (contacts.Elements[i].Id == data.Id)
{
found = true;
//Update contact...
contacts.Elements[i].Position = data.Position;
contacts.Elements[i].PenetrationDepth = -data.Depth;
contacts.Elements[i].Normal = axis;
contacts.Elements[i].Validate();
//Remove manifold entry
manifold.RemoveAt(j);
break;
}
}
if (!found)
{//No match found
toRemove.Add(i);
}
}
////Go through the indices to remove.
////For each one, replace the removal index with a contact in the new manifold.
//int removalIndex;
//for (removalIndex = toRemove.count - 1; removalIndex >= 0 && manifold.count > 0; removalIndex--)
//{
// int indexToReplace = toRemove[removalIndex];
// toRemove.RemoveAt(removalIndex);
// manifold.Get(manifold.count - 1, out data);
// //Update contact...
// contacts.Elements[indexToReplace].Position = data.Position;
// contacts.Elements[indexToReplace].PenetrationDepth = -data.Depth;
// contacts.Elements[indexToReplace].Normal = axis;
// contacts.Elements[indexToReplace].Id = data.Id;
// //Remove manifold entry
// manifold.RemoveAt(manifold.count - 1);
//}
//Alright, we ran out of contacts to replace (if, in fact, toRemove isn't empty now). Just remove the remainder.
//toRemove is sorted by increasing index. Go backwards along it so that the indices are valid all the way through.
for (int i = toRemove.Count - 1; i >= 0; i--)
{
Remove(toRemove[i]);
}
//Add new contacts.
for (int i = 0; i < manifold.Count; i++)
{
manifold.Get(i, out data);
ContactData newContact = new ContactData();
newContact.Position = data.Position;
newContact.PenetrationDepth = -data.Depth;
newContact.Normal = axis;
newContact.Id = data.Id;
Add(ref newContact);
}
}
else
{
//Not colliding, so get rid of it.
for (int i = contacts.Count - 1; i >= 0; i--)
{
Remove(i);
}
}
}
