///<summary>
/// Updates the manifold.
///</summary>
///<param name="dt">Timestep duration.</param>
public override void Update(float dt)
{
ContactData contactData;
bool colliding = false;
if (SphereTester.AreSpheresColliding(sphereA.Shape, sphereB.Shape, ref sphereA.worldTransform.Position,
ref sphereB.worldTransform.Position, out contactData))
{
if (!previouslyColliding && contactData.PenetrationDepth >= 0
) //Don't use the contact if it's an initial contact and the depth is negative. Why not? Bounciness and InitialCollisionDetected.
{
Add(ref contactData);
colliding = true;
}
else if (previouslyColliding)
{
contactData.Validate();
contact.Normal = contactData.Normal;
contact.PenetrationDepth = contactData.PenetrationDepth;
contact.Position = contactData.Position;
colliding = true;
}
}
else
{
if (previouslyColliding)
{
Remove(0);
}
}
previouslyColliding = colliding;
}
public List <int> CollectSphere(BoundingSphere sphere)
{
ReturnTriangles.Clear();
if (Bounds.Overlaps(ref sphere, 0))
{
SphereTester rt = new SphereTester();
rt.sphere = sphere;
TraverseNode(0, ref Bounds, rt);
}
return(ReturnTriangles);
}
public List<int> CollectSphere(BoundingSphere sphere)
{
ReturnTriangles.Clear();
if (Bounds.Overlaps(ref sphere, 0))
{
SphereTester rt = new SphereTester();
rt.sphere = sphere;
TraverseNode(0, ref Bounds, rt);
}
return ReturnTriangles;
}
