public void Initialize(ConvexShape objectA, ConvexShape objectB, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver) { m_minkowskiA = objectA; m_minkowskiB = objectB; m_shapeTypeA = objectA.GetShapeType(); m_shapeTypeB = objectB.GetShapeType(); m_marginA = objectA.GetMargin(); m_marginB = objectB.GetMargin(); m_cachedSeparatingAxis = new IndexedVector3(0, 1, 0); m_simplexSolver = simplexSolver; m_penetrationDepthSolver = penetrationDepthSolver; m_ignoreMargin = false; m_lastUsedMethod = -1; m_catchDegeneracies = true; if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGJKDetector) { BulletGlobals.g_streamWriter.WriteLine(String.Format("GjkPairDetector [{0}] [{1}]", objectA.GetName(), objectB.GetName())); } }
public void Initialize(ConvexShape objectA, ConvexShape objectB, BroadphaseNativeTypes shapeTypeA, BroadphaseNativeTypes shapeTypeB, float marginA, float marginB, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver) { m_minkowskiA = objectA; m_minkowskiB = objectB; m_shapeTypeA = shapeTypeA; m_shapeTypeB = shapeTypeB; m_marginA = marginA; m_marginB = marginB; m_cachedSeparatingAxis = new IndexedVector3(0, 1, 0); m_simplexSolver = simplexSolver; m_penetrationDepthSolver = penetrationDepthSolver; m_ignoreMargin = false; m_lastUsedMethod = -1; m_catchDegeneracies = true; if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGJKDetector) { BulletGlobals.g_streamWriter.WriteLine(String.Format("GjkPairDetector-alt [{0}] [{1}]", objectA.GetName(), objectB.GetName())); } }