internal override void getClosestPoints( ClosestPointInput input, Result output, btIDebugDraw debugDraw, bool swapResults = false )
{
//(void)debugDraw;
//btTransform transformA = input.m_transformA;
//btTransform transformB = input.m_transformB;
btVector3 point, normal;
double timeOfImpact = btScalar.BT_ONE;
double depth = btScalar.BT_ZERO;
// output.m_distance = (double)(BT_LARGE_FLOAT);
//move sphere into triangle space
btTransform sphereInTr; input.m_transformB.inverseTimes( ref input.m_transformA, out sphereInTr );
if( collide( ref sphereInTr.m_origin, out point, out normal, out depth, timeOfImpact, m_contactBreakingThreshold ) )
{
if( swapResults )
{
btVector3 normalOnB; input.m_transformB.m_basis.Apply( ref normal, out normalOnB );
btVector3 normalOnA; normalOnB.Invert( out normalOnA );
btVector3 tmp;
input.m_transformB.Apply( ref point, out tmp );
btVector3 pointOnA; tmp.AddScale( ref normalOnB, depth, out pointOnA );
output.addContactPoint( ref normalOnA, ref pointOnA, depth );
}
else
{
btVector3 tmp, tmp2;
input.m_transformB.m_basis.Apply( ref normal, out tmp );
input.m_transformB.Apply( ref point, out tmp2 );
output.addContactPoint( ref tmp, ref tmp2, depth );
}
}
}
public void GetClosestPointsNonVirtual(ClosestPointInput input, Result output,
IDebugDraw debugDraw)
{
btGjkPairDetector_getClosestPointsNonVirtual(_native, input._native,
output._native, DebugDraw.GetUnmanaged(debugDraw));
}
public void GetClosestPoints(ClosestPointInput input, Result output, IDebugDraw debugDraw, bool swapResults)
{
btDiscreteCollisionDetectorInterface_getClosestPoints2(_native, input._native, output._native, DebugDraw.GetUnmanaged(debugDraw), swapResults);
}
public void GetClosestPointsNonVirtual(ClosestPointInput input, Result output, IDebugDraw debugDraw)
{
btGjkPairDetector_getClosestPointsNonVirtual(_native, input._native, output._native, DebugDraw.GetUnmanaged(debugDraw));
}
public void GetClosestPoints(ClosestPointInput input, Result output, IDebugDraw debugDraw, bool swapResults)
{
btDiscreteCollisionDetectorInterface_getClosestPoints2(_native, input._native, output._native, DebugDraw.GetUnmanaged(debugDraw), swapResults);
}
public void GetClosestPointsNonVirtual(ClosestPointInput input, Result output,
DebugDraw debugDraw)
{
btGjkPairDetector_getClosestPointsNonVirtual(Native, input.Native,
output.Native, debugDraw != null ? debugDraw._native : IntPtr.Zero);
}
public abstract void GetClosestPoints(ClosestPointInput input, Result output, IDebugDraw debugDraw);
public abstract void GetClosestPoints(ClosestPointInput input, Result output, IDebugDraw debugDraw);
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(ClosestPointInput obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
// // give either closest points (distance > 0) or penetration (distance) // the normal always points from B towards A // internal abstract void getClosestPoints( ClosestPointInput input, Result output, btIDebugDraw debugDraw , bool swapResults = false );