void OnCollision(object source, CollisionEvents.CollisionEventArgs args)
{
// Prepare contacts for processing
PrepareContacts(args.Contacts, args.Rb);
// Resolve interpenetration
ResolveInterpenetration(args.Contacts, args.Rb);
// Apply impulses
ApplyImpulses(args.Contacts, args.Rb);
}
/// <summary>
/// Iterates throught the list of <c>HeightMap</c> and <c>CSACollider</c>
/// to find the intersected points.
/// </summary>
/// <remarks>
/// This function performs the Sphere-Triangle, Plane-Triangle, Curve-Triangle
/// intersection tests. After found any contact points it sends toward the
/// <c>PhysicsManager</c>.
/// </remarks>
void FixedUpdate()
{
debugSegments.Clear();
debugPoints.Clear();
debugVectors.Clear();
segmentColor.Clear();
foreach (HeightMapCollider hMapCollider in heightMapColliders)
{
if (!hMapCollider.enabled)
{
continue;
}
colors = new Color[hMapCollider.TriMesh.vertexCount];
Color origCol = new Color(200f / 255f, 200f / 255f, 200f / 255f);
for (int i = 0; i < colors.Length; i++)
{
colors[i] = origCol;
}
foreach (DynamicCollider dynCollider in dynamicColliderList)
{
if (!dynCollider.enabled)
{
continue;
}
// creating a list of contacts for the physics manager
List <Contact> contacts = new List <Contact>();
List <Segment> coarseContacts = new List <Segment>();
// position of bounding sphere in world coordinates
Vector3 spherePos = dynCollider.BoundingSphere.CenterW;
float radius = dynCollider.BoundingSphere.Radius;
// filtering the triangle grid with the sphere projection
hMapCollider.TriGrid.FilterBySphereProjection(spherePos, radius);
if (dynCollider is CSACollider)
{
HandleCSAVsHeightMapCollision(
dynCollider as CSACollider,
hMapCollider,
contacts,
coarseContacts);
}
else if (dynCollider is BruteForceCollider)
{
HandleBruteForceVsHeightMapCollision(
dynCollider as BruteForceCollider,
hMapCollider,
contacts,
coarseContacts);
}
else if (dynCollider is VertexCollider)
{
HandleVertexVsHeightMapCollision(
dynCollider as VertexCollider,
hMapCollider,
contacts,
coarseContacts);
}
else if (dynCollider is SAGJKCollider)
{
HandleSAGJKVsHeightMapCollision(
dynCollider as SAGJKCollider,
hMapCollider,
contacts,
coarseContacts);
}
else if (dynCollider is GJKCollider)
{
HandleGJKVsHeightMapCollision(
dynCollider as GJKCollider,
hMapCollider,
contacts,
coarseContacts);
}
else if (dynCollider is XenoCollider)
{
HandleXenoVsHeighMapCollision(
dynCollider as XenoCollider,
hMapCollider,
contacts,
coarseContacts);
}
else if (dynCollider is ConvDecompCollider)
{
HandleConvDecompVsHeighMapCollision(
dynCollider as ConvDecompCollider,
hMapCollider,
contacts,
coarseContacts);
}
// reset the filtering of the triangle grid
hMapCollider.TriGrid.Reset();
if (coarseContacts.Count > 0 && dynCollider.GetComponent <Rigidbody>() != null)
{
var args = new CollisionEvents.CoarseCollisionEventArgs(
dynCollider.GetComponent <RigidBody>(),
coarseContacts
);
CollisionEvents.FireEvent(CollisionEvents.EventType.CoarseCollision, this, args);
}
// if any contacts got caught, we send them to the physics manager by the collision event
if (contacts.Count > 0 && dynCollider.GetComponent <RigidBody>() != null)
{
var args = new CollisionEvents.CollisionEventArgs(
dynCollider.GetComponent <RigidBody>(),
contacts
);
CollisionEvents.FireEvent(CollisionEvents.EventType.Collision, this, args);
}
}
if (debugColors)
{
hMapCollider.TriMesh.colors = colors;
}
}
}
