private CollisionPointStructure ExecuteEPAEngine(
GJKOutput gjkOutput,
VertexProperties[] vertexObjA,
VertexProperties[] vertexObjB,
int ID_A,
int ID_B)
{
EPAOutput epaOutput = compenetrationEngine.Execute(
vertexObjA,
vertexObjB,
gjkOutput.SupportTriangles,
gjkOutput.Centroid);
if (epaOutput.CollisionPoint.CollisionNormal.Length() < normalTolerance)
{
return(null);
}
List <CollisionPoint> collisionPointsList = null;
collisionPointsList = manifoldEPAPointsGenerator.GetManifoldPoints(
Array.ConvertAll(vertexObjA, x => x.Vertex),
Array.ConvertAll(vertexObjB, x => x.Vertex),
epaOutput.CollisionPoint);
var collisionPointBaseStr = new CollisionPointBaseStructure(
epaOutput.CollisionPoint,
collisionPointsList?.ToArray());
return(new CollisionPointStructure(
ID_A,
ID_B,
collisionPointBaseStr));
}
public CollisionPointStructure Execute(
VertexProperties[] objA,
VertexProperties[] objB,
int ID_A,
int ID_B,
double collisionDistance)
{
GJKOutput gjkOutput = collisionEngine.Execute(objA, objB);
return(NarrowPhaseCollisionDetection(
gjkOutput,
objA,
objB,
ID_A,
ID_B,
collisionDistance));
}
private CollisionPointStructure NarrowPhaseCollisionDetection(
GJKOutput gjkOutput,
VertexProperties[] vertexObjA,
VertexProperties[] vertexObjB,
int ID_A,
int ID_B,
double collisionDistance)
{
if (gjkOutput.Intersection)
{
return(ExecuteEPAEngine(
gjkOutput,
vertexObjA,
vertexObjB,
ID_A,
ID_B));
}
else if (gjkOutput.CollisionDistance <= collisionDistance &&
gjkOutput.CollisionDistance >= 0.0)
{
if (gjkOutput.CollisionNormal.Length() < normalTolerance)
{
return(null);
}
List <CollisionPoint> collisionPointsList = null;
collisionPointsList = manifoldGJKPointsGenerator.GetManifoldPoints(
Array.ConvertAll(vertexObjA, x => x.Vertex),
Array.ConvertAll(vertexObjB, x => x.Vertex),
gjkOutput.CollisionPoint);
gjkOutput.CollisionPoint.SetDistance(gjkOutput.CollisionDistance);
var collisionPointBaseStr = new CollisionPointBaseStructure(
gjkOutput.CollisionPoint,
collisionPointsList?.ToArray());
return(new CollisionPointStructure(
ID_A,
ID_B,
collisionPointBaseStr));
}
return(null);
}
