public bool FindTriangleCollisionClipMethod(PrimitiveTriangle other, GIM_TRIANGLE_CONTACT contacts)
{
float margin = m_margin + other.m_margin;
int clipped_count;
//create planes
// plane v vs U points
m_contacts1.m_separating_normal = m_plane;
clipped_count = ClipTriangle(other, clipped_points);
if (clipped_count == 0)
{
return(false);//Reject
}
//find most deep interval face1
m_contacts1.MergePoints(ref m_contacts1.m_separating_normal, margin, clipped_points, clipped_count);
if (m_contacts1.m_point_count == 0)
{
return(false); // too far
}
//Normal pointing to this triangle
m_contacts1.m_separating_normal *= -1.0f;
//Clip tri1 by tri2 edges
GIM_TRIANGLE_CONTACT contacts2 = new GIM_TRIANGLE_CONTACT();
contacts2.m_separating_normal = other.m_plane;
clipped_count = other.ClipTriangle(this, clipped_points);
if (clipped_count == 0)
{
return(false);//Reject
}
//find most deep interval face1
contacts2.MergePoints(ref contacts2.m_separating_normal, margin, clipped_points, clipped_count);
if (contacts2.m_point_count == 0)
{
return(false); // too far
}
////check most dir for contacts
if (contacts2.m_penetration_depth < m_contacts1.m_penetration_depth)
{
contacts.CopyFrom(contacts2);
}
else
{
contacts.CopyFrom(m_contacts1);
}
return(true);
}
public void PushTriangleContacts(GIM_TRIANGLE_CONTACT tricontact,
int feature1, int feature2)
{
for (int i = 0; i < tricontact.m_point_count; i++)
{
PushContact(
ref tricontact.m_points[i],
ref tricontact.m_separating_normal,
tricontact.m_penetration_depth, feature1, feature2);
}
}
public void CopyFrom(GIM_TRIANGLE_CONTACT other)
{
m_penetration_depth = other.m_penetration_depth;
m_separating_normal = other.m_separating_normal;
m_point_count = other.m_point_count;
int i = m_point_count;
while (i-- != 0)
{
m_points[i] = other.m_points[i];
}
}
public GIM_TRIANGLE_CONTACT(GIM_TRIANGLE_CONTACT other)
{
CopyFrom(other);
}