public static bool DoOverlapTest(CollisionFunctor cf, SpherePart a, PolyhedronPart b, Vector3 offset)
{
Vector3 pa, pb, normal, v, center;
float depth, r2 = a.World.Radius * a.World.Radius;
bool foundAny = false;
for (int i = 0; i < b.FaceCount; i++)
{
b.World(b.Face(i)[0], out v);
b.FaceNormal(i, out normal);
var plane = new Plane(v, normal);
Vector3.Add(ref a.World.Center, ref offset, out center);
Vector3.Subtract(ref center, ref v, out v);
Vector3.Dot(ref normal, ref v, out depth);
if (depth < 0f || depth - a.World.Radius >= Constants.Epsilon)
{
continue;
}
plane.ClosestPointTo(ref center, out pb);
if (b.IsPointOnFace(i, ref pb, true))
{
Vector3.Subtract(ref pb, ref center, out v);
if (v.LengthSquared() - r2 < Constants.Epsilon)
{
Vector3.Multiply(ref normal, -a.World.Radius, out pa);
Vector3.Add(ref a.World.Center, ref pa, out pa);
cf.WritePoint(ref pa, ref pb, ref normal);
return(true);
}
}
else
{
int[] face = b.Face(i);
for (int j = 0; j < face.Length; j++)
{
float s;
Segment edge;
b.World(face[j == 0 ? face.Length - 1 : j - 1], out edge.P1);
b.World(face[j], out edge.P2);
edge.ClosestPointTo(ref center, out s, out pb);
Vector3.Subtract(ref center, ref pb, out normal);
if (normal.LengthSquared() - r2 < Constants.Epsilon)
{
normal.Normalize();
Vector3.Multiply(ref normal, -a.World.Radius, out pa);
Vector3.Add(ref a.World.Center, ref pa, out pa);
cf.WritePoint(ref pa, ref pb, ref normal);
foundAny = true;
}
}
}
}
return(foundAny);
}
public static bool DoOverlapTest(CollisionFunctor cf, SpherePart a, PolyhedronPart b, Vector3 offset)
{
Vector3 pa, pb, normal, v, center;
float depth, r2 = a.World.Radius * a.World.Radius;
bool foundAny = false;
for (int i = 0; i < b.FaceCount; i++)
{
b.World(b.Face(i)[0], out v);
b.FaceNormal(i, out normal);
var plane = new Plane(v, normal);
Vector3.Add(ref a.World.Center, ref offset, out center);
Vector3.Subtract(ref center, ref v, out v);
Vector3.Dot(ref normal, ref v, out depth);
if (depth < 0f || depth - a.World.Radius >= Constants.Epsilon)
continue;
plane.ClosestPointTo(ref center, out pb);
if (b.IsPointOnFace(i, ref pb, true))
{
Vector3.Subtract(ref pb, ref center, out v);
if (v.LengthSquared() - r2 < Constants.Epsilon)
{
Vector3.Multiply(ref normal, -a.World.Radius, out pa);
Vector3.Add(ref a.World.Center, ref pa, out pa);
cf.WritePoint(ref pa, ref pb, ref normal);
return true;
}
}
else
{
int[] face = b.Face(i);
for (int j = 0; j < face.Length; j++)
{
float s;
Segment edge;
b.World(face[j == 0 ? face.Length - 1 : j - 1], out edge.P1);
b.World(face[j], out edge.P2);
edge.ClosestPointTo(ref center, out s, out pb);
Vector3.Subtract(ref center, ref pb, out normal);
if (normal.LengthSquared() - r2 < Constants.Epsilon)
{
normal.Normalize();
Vector3.Multiply(ref normal, -a.World.Radius, out pa);
Vector3.Add(ref a.World.Center, ref pa, out pa);
cf.WritePoint(ref pa, ref pb, ref normal);
foundAny = true;
}
}
}
}
return foundAny;
}
public void Initialize(CollisionFunctor cf, SpherePart a, MeshPart b)
{
_cf = cf;
_a = a;
_b = b;
_radius = a.World.Radius * b.TransformInverse.Scale;
_radiusSquared = _radius * _radius;
Depth = float.MaxValue;
Vector3.Transform(ref a.World.Center, ref b.TransformInverse.Combined, out _center);
BoundingBox.Minimum = BoundingBox.Maximum = _center;
var radius = new Vector3(_radius);
Vector3.Subtract(ref BoundingBox.Minimum, ref radius, out BoundingBox.Minimum);
Vector3.Add(ref BoundingBox.Maximum, ref radius, out BoundingBox.Maximum);
}
public void Initialize(CollisionFunctor cf, SpherePart a, MeshPart b)
{
_cf = cf;
_a = a;
_b = b;
_radius = a.World.Radius * b.TransformInverse.Scale;
_radiusSquared = _radius * _radius;
Depth = float.MaxValue;
Vector3.Transform(ref a.World.Center, ref b.TransformInverse.Combined, out _center);
BoundingBox.Minimum = BoundingBox.Maximum = _center;
var radius = new Vector3(_radius);
Vector3.Subtract(ref BoundingBox.Minimum, ref radius, out BoundingBox.Minimum);
Vector3.Add(ref BoundingBox.Maximum, ref radius, out BoundingBox.Maximum);
}
public void Initialize(CollisionFunctor cf, SpherePart a, MeshPart b, Vector3 delta)
{
_cf = cf;
_a = a;
_b = b;
_radius = a.World.Radius * b.TransformInverse.Scale;
_radiusSquared = _radius * _radius;
Vector3.Transform(ref a.World.Center, ref b.TransformInverse.Combined, out _path.P1);
Vector3.Transform(ref delta, ref b.TransformInverse.Orientation, out delta);
Vector3.Multiply(ref delta, b.TransformInverse.Scale, out delta);
Vector3.Add(ref _path.P1, ref delta, out _path.P2);
AlignedBox.Fit(ref _path.P1, ref _path.P2, out BoundingBox);
var radius = new Vector3(_radius);
Vector3.Subtract(ref BoundingBox.Minimum, ref radius, out BoundingBox.Minimum);
Vector3.Add(ref BoundingBox.Maximum, ref radius, out BoundingBox.Maximum);
}
public void Initialize(CollisionFunctor cf, SpherePart a, MeshPart b, Vector3 delta)
{
_cf = cf;
_a = a;
_b = b;
_radius = a.World.Radius * b.TransformInverse.Scale;
_radiusSquared = _radius * _radius;
Vector3.Transform(ref a.World.Center, ref b.TransformInverse.Combined, out _path.P1);
Vector3.Transform(ref delta, ref b.TransformInverse.Orientation, out delta);
Vector3.Multiply(ref delta, b.TransformInverse.Scale, out delta);
Vector3.Add(ref _path.P1, ref delta, out _path.P2);
AlignedBox.Fit(ref _path.P1, ref _path.P2, out BoundingBox);
var radius = new Vector3(_radius);
Vector3.Subtract(ref BoundingBox.Minimum, ref radius, out BoundingBox.Minimum);
Vector3.Add(ref BoundingBox.Maximum, ref radius, out BoundingBox.Maximum);
}
