public void AddChildShape(Matrix localTransform, CollisionShape shape)
{
_childTransforms.Add(localTransform);
_childShapes.Add(shape);
//extend the local aabbMin/aabbMax
Vector3 localAabbMin, localAabbMax;
shape.GetAabb(localTransform, out localAabbMin, out localAabbMax);
if (_localAabbMin.X > localAabbMin.X)
{
_localAabbMin.X = localAabbMin.X;
}
if (_localAabbMax.X < localAabbMax.X)
{
_localAabbMax.X = localAabbMax.X;
}
if (_localAabbMin.Y > localAabbMin.Y)
{
_localAabbMin.Y = localAabbMin.Y;
}
if (_localAabbMax.Y < localAabbMax.Y)
{
_localAabbMax.Y = localAabbMax.Y;
}
if (_localAabbMin.Z > localAabbMin.Z)
{
_localAabbMin.Z = localAabbMin.Z;
}
if (_localAabbMax.Z < localAabbMax.Z)
{
_localAabbMax.Z = localAabbMax.Z;
}
}
public void SetTimeStepAndCounters(float collisionMarginTriangle, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
_dispatchInfo = dispatchInfo;
_collisionMarginTriangle = collisionMarginTriangle;
_resultOut = resultOut;
//recalc aabbs
Matrix convexInTriangleSpace = MathHelper.InvertMatrix(_triBody.WorldTransform) * _convexBody.WorldTransform;
CollisionShape convexShape = _convexBody.CollisionShape;
//CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
convexShape.GetAabb(convexInTriangleSpace, out _aabbMin, out _aabbMax);
float extraMargin = collisionMarginTriangle;
Vector3 extra = new Vector3(extraMargin, extraMargin, extraMargin);
_aabbMax += extra;
_aabbMin -= extra;
}
public void AddChildShape(Matrix localTransform, CollisionShape shape)
{
_childTransforms.Add(localTransform);
_childShapes.Add(shape);
//extend the local aabbMin/aabbMax
Vector3 localAabbMin, localAabbMax;
shape.GetAabb(localTransform, out localAabbMin, out localAabbMax);
if (_localAabbMin.X > localAabbMin.X)
{
_localAabbMin.X = localAabbMin.X;
}
if (_localAabbMax.X < localAabbMax.X)
{
_localAabbMax.X = localAabbMax.X;
}
if (_localAabbMin.Y > localAabbMin.Y)
{
_localAabbMin.Y = localAabbMin.Y;
}
if (_localAabbMax.Y < localAabbMax.Y)
{
_localAabbMax.Y = localAabbMax.Y;
}
if (_localAabbMin.Z > localAabbMin.Z)
{
_localAabbMin.Z = localAabbMin.Z;
}
if (_localAabbMax.Z < localAabbMax.Z)
{
_localAabbMax.Z = localAabbMax.Z;
}
}
