public void Initialize(ConvexShape objectA, ConvexShape objectB, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver)
{
m_minkowskiA = objectA;
m_minkowskiB = objectB;
m_shapeTypeA = objectA.GetShapeType();
m_shapeTypeB = objectB.GetShapeType();
m_marginA = objectA.GetMargin();
m_marginB = objectB.GetMargin();
m_cachedSeparatingAxis = new IndexedVector3(0, 1, 0);
m_simplexSolver = simplexSolver;
m_penetrationDepthSolver = penetrationDepthSolver;
m_ignoreMargin = false;
m_lastUsedMethod = -1;
m_catchDegeneracies = true;
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGJKDetector)
{
BulletGlobals.g_streamWriter.WriteLine(String.Format("GjkPairDetector [{0}] [{1}]", objectA.GetName(), objectB.GetName()));
}
}
public void Initialize(ConvexShape objectA, ConvexShape objectB, BroadphaseNativeTypes shapeTypeA, BroadphaseNativeTypes shapeTypeB, float marginA, float marginB, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver)
{
m_minkowskiA = objectA;
m_minkowskiB = objectB;
m_shapeTypeA = shapeTypeA;
m_shapeTypeB = shapeTypeB;
m_marginA = marginA;
m_marginB = marginB;
m_cachedSeparatingAxis = new IndexedVector3(0, 1, 0);
m_simplexSolver = simplexSolver;
m_penetrationDepthSolver = penetrationDepthSolver;
m_ignoreMargin = false;
m_lastUsedMethod = -1;
m_catchDegeneracies = true;
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGJKDetector)
{
BulletGlobals.g_streamWriter.WriteLine(String.Format("GjkPairDetector-alt [{0}] [{1}]", objectA.GetName(), objectB.GetName()));
}
}
