void doCollisionTest()
{
if (gjk.queryCollision(shapes[0], shapes[1]))
{
if (stage == CollisionStage.None)
{
stage = CollisionStage.Enter;
getContacts(contacts);
}
else
{
List <ContactInfo> newContacts = new List <ContactInfo>();
getContacts(newContacts);
foreach (var info in newContacts)
{
ContactInfo old = contacts.Find((v) => v.hash == info.hash);
if (old != null)
{
info.forceNormal = old.forceNormal;
info.forceTangent = old.forceTangent;
}
}
contacts = newContacts;
}
}
else
{
if (stage == CollisionStage.Stay)
{
stage = CollisionStage.Exit;
}
}
}
public void update(float dt)
{
foreach (var body in rigidbodies)
{
body.preUpdate(dt);
}
doCollisionTest();
// 可以在这里派发事件
switch (stage)
{
case CollisionStage.Enter:
stage = CollisionStage.Stay;
Debug.Log("collisionEnter");
break;
case CollisionStage.Exit:
stage = CollisionStage.None;
Debug.Log("collisionExit");
break;
case CollisionStage.Stay:
break;
default:
break;
}
if (stage == CollisionStage.Stay)
{
doPreSeperation(dt);
for (int i = 0; i < maxIteration; ++i)
{
doPostSeperation(dt);
}
}
foreach (var body in rigidbodies)
{
body.postUpdate(dt);
}
}
/// <summary>
/// Changing collision algorithms options.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void checkBox1_CheckedChanged(object sender, EventArgs e)
{
if (sender == this.checkBoxTest)
{
if (this.checkBoxTest.Checked)
{
CollisionLevel |= CollisionStage.Box;
}
else
{
CollisionLevel -= CollisionStage.Box;
}
}
if (sender == this.checkGJKTest)
{
if (this.checkGJKTest.Checked)
{
CollisionLevel |= CollisionStage.GJK;
}
else
{
CollisionLevel -= CollisionStage.GJK;
}
}
if (sender == this.checkBSPTest)
{
if (this.checkBSPTest.Checked)
{
CollisionLevel |= CollisionStage.BSP;
//this.autopartitioningBtn.Checked = true;
}
else
{
CollisionLevel -= CollisionStage.BSP;
}
}
if (SpaceApplication.Instance.ActiveObject != null)
{
SpaceApplication.Instance.ActiveObject.IsChanged = true;
}
SpaceApplication.Instance.Focus();
}
