//static Vector3 red = new Vector3(1.0f, 0.0f, 0.0f);
public override void OnUpdate()
{
base.OnUpdate();
rotation += FrameDelta;
rotBody.CenterOfMassTransform = Matrix.RotationX(rotation) * rotBodyPosition;
GjkPairDetector detector = new GjkPairDetector(colShape0, colShape1, sGjkSimplexSolver, null);
detector.CachedSeparatingAxis = new Vector3(0.00000000f, 0.059727669f, 0.29259586f);
DiscreteCollisionDetectorInterface.ClosestPointInput input = new DiscreteCollisionDetectorInterface.ClosestPointInput();
input.TransformA = rotBody.CenterOfMassTransform;
input.TransformB = body2Position;
PointCollector result = new PointCollector();
detector.GetClosestPoints(input, result, null);
/*
* if (result.HasResult && IsDebugDrawEnabled)
* {
* distanceFrom = result.PointInWorld;
* distanceTo = result.PointInWorld + result.NormalOnBInWorld * result.Distance;
* distance = result.Distance;
* //World.DebugDrawer.DrawLine(ref distanceFrom, ref distanceTo, ref red);
* }
*/
}
public override int Update(float elapsedTime)
{
int subSteps = base.Update(elapsedTime);
rotation += elapsedTime;
rotBody.CenterOfMassTransform = Matrix.RotationX(rotation) * rotBodyPosition;
GjkPairDetector detector = new GjkPairDetector(colShape0, colShape1, sGjkSimplexSolver, null);
detector.CachedSeparatingAxis = new Vector3(0.00000000f, 0.059727669f, 0.29259586f);
GjkPairDetector.ClosestPointInput input = new GjkPairDetector.ClosestPointInput();
input.TransformA = rotBody.CenterOfMassTransform;
input.TransformB = body2Position;
PointCollector result = new PointCollector();
detector.GetClosestPoints(input, result, null);
if (result.HasResult)
{
HasDistanceResult = true;
distanceFrom = result.PointInWorld;
distanceTo = result.PointInWorld + result.NormalOnBInWorld * result.Distance;
distance = result.Distance;
}
else
{
HasDistanceResult = false;
}
return(subSteps);
}
public override void OnUpdate()
{
base.OnUpdate();
rotation += FrameDelta;
rotBody.CenterOfMassTransform = Matrix.RotationX(rotation) * rotBodyPosition;
var input = new DiscreteCollisionDetectorInterface.ClosestPointInput
{
TransformA = rotBody.CenterOfMassTransform,
TransformB = body2Position
};
var result = new PointCollector();
using (var detector = new GjkPairDetector(colShape0, colShape1, sGjkSimplexSolver, null))
{
detector.CachedSeparatingAxis = new Vector3(0.00000000f, 0.059727669f, 0.29259586f);
detector.GetClosestPoints(input, result, null);
}
if (result.HasResult)
{
distanceFrom = result.PointInWorld;
distanceTo = result.PointInWorld + result.NormalOnBInWorld * result.Distance;
distance = result.Distance;
World.DebugDrawer.DrawLine(ref distanceFrom, ref distanceTo, Color.White);
}
result.Dispose();
}
public void DrawDistance()
{
var input = new DiscreteCollisionDetectorInterface.ClosestPointInput
{
TransformA = _rotatingBody.CenterOfMassTransform,
TransformB = _staticBody.CenterOfMassTransform
};
using (var result = new PointCollector())
{
using (var detector = new GjkPairDetector(_rotatingShape, _staticShape, _gjkSimplexSolver, null))
{
detector.CachedSeparatingAxis = new Vector3(0.00000000f, 0.059727669f, 0.29259586f);
detector.GetClosestPoints(input, result, null);
}
if (result.HasResult)
{
Vector3 distanceFrom = result.PointInWorld;
Vector3 distanceTo = result.PointInWorld + result.NormalOnBInWorld * result.Distance;
World.DebugDrawer.DrawLine(ref distanceFrom, ref distanceTo, ref _red);
}
}
input.Dispose();
}
