internal void Insert(int index, SupportData supportData)
{
dirty = true;
ShapeA.Insert(index, supportData.SupportA);
ShapeB.Insert(index, supportData.SupportB);
Simplex.Insert(index, supportData.Difference);
}
internal void Add(SupportData support)
{
dirty = true;
Simplex.Add(support.Difference);
Debug.Assert(Simplex.Count <= 3);
AddSupportPoints(support.SupportA, support.SupportB);
}
internal static SupportData Support(Func <Microsoft.Xna.Framework.Vector2, Microsoft.Xna.Framework.Vector2> supportA, Func <Microsoft.Xna.Framework.Vector2, Microsoft.Xna.Framework.Vector2> supportB, Microsoft.Xna.Framework.Vector2 v)
{
var sa = supportA(v);
var sb = supportB(-v);
var result = new SupportData
{
SupportA = sa,
SupportB = sb,
};
return(result);
}
/// <summary>
/// Used by the GJK algorithm to gradually walk a triangle into the final position.
/// </summary>
/// <param name="index"></param>
/// <param name="supportData"></param>
internal void StaggerInsert(int index, SupportData supportData)
{
dirty = true;
if (index > 0 && Simplex.Count > 0)
{
ShapeA[0] = ShapeA[index];
ShapeB[0] = ShapeB[index];
Simplex[0] = Simplex[index];
}
ShapeA[index] = supportData.SupportA;
ShapeB[index] = supportData.SupportB;
Simplex[index] = supportData.Difference;
}
