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, ref red);
}
result.Dispose();
}
public unsafe static void SetTransformB(this DiscreteCollisionDetectorInterface.ClosestPointInput obj, ref OpenTK.Matrix4 value)
{
fixed(OpenTK.Matrix4 *valuePtr = &value)
{
obj.TransformB = *(BulletSharp.Math.Matrix *)valuePtr;
}
}
public static void SetTransformB(this DiscreteCollisionDetectorInterface.ClosestPointInput obj, OpenTK.Matrix4 value)
{
SetTransformB(obj, ref value);
}
public static OpenTK.Matrix4 GetTransformB(this DiscreteCollisionDetectorInterface.ClosestPointInput obj)
{
OpenTK.Matrix4 value;
GetTransformB(obj, out value);
return(value);
}