///<summary>
/// Constructs a new convex-convex manifold.
///</summary>
public GeneralConvexContactManifold()
{
contacts = new RawList <Contact>(4);
unusedContacts = new UnsafeResourcePool <Contact>(4);
contactIndicesToRemove = new RawList <int>(4);
pairTester = new GeneralConvexPairTester();
}
public override void UpdateTimeOfImpact(Collidable requester, double dt)
{
//Notice that we don't test for convex entity null explicitly. The convex.IsActive property does that for us.
if (convex.IsActive && convex.Entity.PositionUpdateMode == PositionUpdateMode.Continuous)
{
//Only perform the test if the minimum radii are small enough relative to the size of the velocity.
Vector3 velocity = convex.Entity.LinearVelocity * dt;
double velocitySquared = velocity.LengthSquared();
double minimumRadius = convex.Shape.MinimumRadius * MotionSettings.CoreShapeScaling;
timeOfImpact = 1;
if (minimumRadius * minimumRadius < velocitySquared)
{
for (int i = 0; i < contactManifold.ActivePairs.Count; i++)
{
GeneralConvexPairTester pair = contactManifold.ActivePairs.Values[i];
ReusableGenericCollidable <ConvexShape> boxCollidable = (ReusableGenericCollidable <ConvexShape>)pair.CollidableB;
RayHit rayHit;
RigidTransform worldTransform = boxCollidable.WorldTransform;
if (GJKToolbox.CCDSphereCast(new Ray(convex.WorldTransform.Position, velocity), minimumRadius, boxCollidable.Shape, ref worldTransform, timeOfImpact, out rayHit) &&
rayHit.T > Toolbox.BigEpsilon)
{
timeOfImpact = rayHit.T;
}
}
}
}
}
private GeneralConvexPairTester GetPair(ref Vector3i position)
{
// TODO: Efficiency!
GeneralConvexPairTester pair = testerPool.Take();
ReusableGenericCollidable <ConvexShape> boxCollidable = new ReusableGenericCollidable <ConvexShape>(mesh.ChunkShape.ShapeAt(position.X, position.Y, position.Z, out Vector3 offs));
pair.Initialize(convex, boxCollidable);
boxCollidable.WorldTransform = new RigidTransform(new Vector3(
mesh.Position.X + position.X + offs.X,
mesh.Position.Y + position.Y + offs.Y,
mesh.Position.Z + position.Z + offs.Z));
return(pair);
}
private void ReturnPair(GeneralConvexPairTester pair)
{
pair.CleanUp();
testerPool.GiveBack(pair);
}
private void ReturnPair(GeneralConvexPairTester pair)
{
boxCollidablePool.GiveBack((ReusableBoxCollidable)pair.CollidableB);
pair.CleanUp();
testerPool.GiveBack(pair);
}
