public void Initialise()
{
m_ray = Vector3.Zero;
m_nfree = 0;
m_status = GJKStatus.Failed;
m_current = 0;
m_distance = 0f;
for (int i = 0; i < m_simplices.Length; ++i)
{
m_simplices[i] = new sSimplex();
}
for (int i = 0; i < m_store.Length; ++i)
{
m_store[i] = new sSV();
}
// Free is a list of pointers/references so doesn't need objects.
//for (int i = 0; i < m_free.Length; ++i)
//{
// m_free[i] = new sSV();
//}
}
public void Initialize()
{
m_status = eStatus.Failed;
m_normal = Vector3.Zero;
m_depth = 0;
m_nextsv = 0;
m_result = new sSimplex();
for (int i = 0; i < m_sv_store.Length; ++i)
{
m_sv_store[i] = new sSV();
}
for (int i = 0; i < m_fc_store.Length; ++i)
{
m_fc_store[i] = new sFace();
}
for (int i = 0; i < GjkEpaSolver2.EPA_MAX_FACES; ++i)
{
Append(m_stock, m_fc_store[GjkEpaSolver2.EPA_MAX_FACES - i - 1]);
}
}
public void AppendVertice(sSimplex simplex,ref Vector3 v)
{
simplex.p[simplex.rank]=0;
simplex.c[simplex.rank]=m_free[--m_nfree];
GetSupport(ref v,ref simplex.c[simplex.rank++]);
}
public void RemoveVertice(sSimplex simplex)
{
m_free[m_nfree++]=simplex.c[--simplex.rank];
}
