public static void processCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, PersistentManifold resultOut)
{
bool needSwap = body0.getCollisionShape() is CapsuleShape;
CollisionObject boxObject = needSwap ? body1 : body0;
CollisionObject capsuleObject = needSwap ? body0 : body1;
BoxShape boxShape = (BoxShape)boxObject.getCollisionShape();
CapsuleShape capsuleShape = (CapsuleShape)capsuleObject.getCollisionShape();
VIntTransform boxTransform = boxObject.getWorldTransform();
VIntTransform capsuleTransform = capsuleObject.getWorldTransform();
VInt3 p0 = capsuleTransform.TransformPoint(capsuleShape.getUpAxis() * capsuleShape.getHalfHeight()), p1 = capsuleTransform.TransformPoint(capsuleShape.getUpAxis() * -capsuleShape.getHalfHeight());
VFixedPoint lParam = VFixedPoint.Zero; VInt3 closestPointBoxLS = VInt3.zero;
VFixedPoint distSq = SegmentBoxDistance.distanceSegmentBoxSquared(p0, p1, boxShape.getHalfExtent(), boxTransform, ref lParam, ref closestPointBoxLS);
VInt3 closestPointBoxWS = boxTransform.TransformPoint(closestPointBoxLS);
VInt3 closestPointLineWS = p0 * (VFixedPoint.One - lParam) + p1 * lParam;
VFixedPoint dist = FMath.Sqrt(distSq) - capsuleShape.getRadius();
if (dist > VFixedPoint.Zero)
{
return;
}
if ((closestPointBoxWS - closestPointLineWS).sqrMagnitude > Globals.EPS2)
{
VInt3 normalOnBoxWS = (closestPointLineWS - closestPointBoxWS).Normalize();
ManifoldPoint contactPoint = new ManifoldPoint(needSwap ? closestPointLineWS - normalOnBoxWS * capsuleShape.getRadius() : closestPointBoxWS,
!needSwap ? closestPointLineWS - normalOnBoxWS * capsuleShape.getRadius() : closestPointBoxWS,
normalOnBoxWS * (needSwap ? 1 : -1), dist);
resultOut.addManifoldPoint(contactPoint);
}
else //box and line are intersected
{
//EPA
LineShape coreShape = new LineShape(capsuleShape);
VInt3 pa = VInt3.zero, pb = VInt3.zero, normal = VInt3.zero;
VFixedPoint depth = VFixedPoint.Zero;
PxGJKStatus result = EpaSolver.calcPenDepth(coreShape, boxShape, capsuleTransform, boxTransform, ref pa, ref pb, ref normal, ref depth);
if (result == PxGJKStatus.EPA_CONTACT)
{
ManifoldPoint contactPoint = new ManifoldPoint(needSwap ? pa - normal * capsuleShape.getRadius() : pb, !needSwap ? pa - normal * capsuleShape.getRadius() : pb, needSwap ? normal : -normal, depth - capsuleShape.getRadius());
resultOut.addManifoldPoint(contactPoint);
}
}
}
public static bool sweepCapsuleBox(VInt3 p0, VInt3 p1, VFixedPoint radius, VInt3 boxHalfExtension, VIntTransform boxTransform, VInt3 dir, VFixedPoint length, ref VFixedPoint fraction, ref VInt3 hitNormal)
{
VFixedPoint tmp1 = VFixedPoint.Zero; VInt3 tmp2 = VInt3.zero;
if (SegmentBoxDistance.distanceSegmentBoxSquared(p0, p1, boxHalfExtension, boxTransform, ref tmp1, ref tmp2) < radius * radius)
{
fraction = VFixedPoint.Zero;
hitNormal = -dir;
return(true);
}
VInt3 extrusionDir = (p1 - p0) * VFixedPoint.Half;
{
int nbTris = extrudeBox(boxHalfExtension, boxTransform, extrusionDir, triangles, dir);
if (SphereTriangleSweepAlgorithm.sweepSphereTriangles(triangles, nbTris, (p1 + p0) * VFixedPoint.Half, radius, dir, length, ref fraction, ref hitNormal, true))
{
return(true);
}
}
return(false);
}