private void DetectRigidRigid(RigidBody body1, RigidBody body2)
{
bool b1IsMulti = (body1.Shape is Multishape);
bool b2IsMulti = (body2.Shape is Multishape);
bool speculative = speculativeContacts ||
(body1.EnableSpeculativeContacts || body2.EnableSpeculativeContacts);
Vector3 point, normal;
float penetration;
if (!b1IsMulti && !b2IsMulti)
{
if (XenoCollide.Detect(body1.Shape, body2.Shape, ref body1.orientation,
ref body2.orientation, ref body1.position, ref body2.position,
out point, out normal, out penetration))
{
Vector3 point1, point2;
FindSupportPoints(body1, body2, body1.Shape, body2.Shape, ref point, ref normal, out point1, out point2);
RaiseCollisionDetected(body1, body2, ref point1, ref point2, ref normal, penetration);
}
else if (speculative)
{
Vector3 hit1, hit2;
if (GJKCollide.ClosestPoints(body1.Shape, body2.Shape, ref body1.orientation, ref body2.orientation,
ref body1.position, ref body2.position, out hit1, out hit2, out normal))
{
Vector3 delta = hit2 - hit1;
if (delta.LengthSquared < (body1.sweptDirection - body2.sweptDirection).LengthSquared)
{
penetration = Vector3.Dot(delta, normal);
if (penetration < 0.0f)
{
RaiseCollisionDetected(body1, body2, ref hit1, ref hit2, ref normal, penetration);
}
}
}
}
}
else if (b1IsMulti && b2IsMulti)
{
Multishape ms1 = (body1.Shape as Multishape);
Multishape ms2 = (body2.Shape as Multishape);
ms1 = ms1.RequestWorkingClone();
ms2 = ms2.RequestWorkingClone();
JBBox transformedBoundingBox = body2.boundingBox;
transformedBoundingBox.InverseTransform(ref body1.position, ref body1.orientation);
int ms1Length = ms1.Prepare(ref transformedBoundingBox);
transformedBoundingBox = body1.boundingBox;
transformedBoundingBox.InverseTransform(ref body2.position, ref body2.orientation);
int ms2Length = ms2.Prepare(ref transformedBoundingBox);
if (ms1Length == 0 || ms2Length == 0)
{
ms1.ReturnWorkingClone();
ms2.ReturnWorkingClone();
return;
}
for (int i = 0; i < ms1Length; i++)
{
ms1.SetCurrentShape(i);
for (int e = 0; e < ms2Length; e++)
{
ms2.SetCurrentShape(e);
if (XenoCollide.Detect(ms1, ms2, ref body1.orientation,
ref body2.orientation, ref body1.position, ref body2.position,
out point, out normal, out penetration))
{
Vector3 point1, point2;
FindSupportPoints(body1, body2, ms1, ms2, ref point, ref normal, out point1, out point2);
RaiseCollisionDetected(body1, body2, ref point1, ref point2, ref normal, penetration);
}
else if (speculative)
{
Vector3 hit1, hit2;
if (GJKCollide.ClosestPoints(ms1, ms2, ref body1.orientation, ref body2.orientation,
ref body1.position, ref body2.position, out hit1, out hit2, out normal))
{
Vector3 delta = hit2 - hit1;
if (delta.LengthSquared < (body1.sweptDirection - body2.sweptDirection).LengthSquared)
{
penetration = Vector3.Dot(delta, normal);
if (penetration < 0.0f)
{
RaiseCollisionDetected(body1, body2, ref hit1, ref hit2, ref normal, penetration);
}
}
}
}
}
}
ms1.ReturnWorkingClone();
ms2.ReturnWorkingClone();
}
else
{
RigidBody b1, b2;
if (body2.Shape is Multishape)
{
b1 = body2; b2 = body1;
}
else
{
b2 = body2; b1 = body1;
}
Multishape ms = (b1.Shape as Multishape);
ms = ms.RequestWorkingClone();
JBBox transformedBoundingBox = b2.boundingBox;
transformedBoundingBox.InverseTransform(ref b1.position, ref b1.orientation);
int msLength = ms.Prepare(ref transformedBoundingBox);
if (msLength == 0)
{
ms.ReturnWorkingClone();
return;
}
for (int i = 0; i < msLength; i++)
{
ms.SetCurrentShape(i);
if (XenoCollide.Detect(ms, b2.Shape, ref b1.orientation,
ref b2.orientation, ref b1.position, ref b2.position,
out point, out normal, out penetration))
{
Vector3 point1, point2;
FindSupportPoints(b1, b2, ms, b2.Shape, ref point, ref normal, out point1, out point2);
if (useTerrainNormal && ms is TerrainShape)
{
(ms as TerrainShape).CollisionNormal(out normal);
Vector3.Transform(ref normal, ref b1.orientation, out normal);
}
else if (useTriangleMeshNormal && ms is TriangleMeshShape)
{
(ms as TriangleMeshShape).CollisionNormal(out normal);
Vector3.Transform(ref normal, ref b1.orientation, out normal);
}
RaiseCollisionDetected(b1, b2, ref point1, ref point2, ref normal, penetration);
}
else if (speculative)
{
Vector3 hit1, hit2;
if (GJKCollide.ClosestPoints(ms, b2.Shape, ref b1.orientation, ref b2.orientation,
ref b1.position, ref b2.position, out hit1, out hit2, out normal))
{
Vector3 delta = hit2 - hit1;
if (delta.LengthSquared < (body1.sweptDirection - body2.sweptDirection).LengthSquared)
{
penetration = Vector3.Dot(delta, normal);
if (penetration < 0.0f)
{
RaiseCollisionDetected(b1, b2, ref hit1, ref hit2, ref normal, penetration);
}
}
}
}
}
ms.ReturnWorkingClone();
}
}
