public ContactPoint[] IsColliding(Transform at, Transform bt, IShape other)
{
List <ContactPoint> cps = new List <ContactPoint>();
foreach (var sh in shapes)
{
Transform a = at;
a.position += Vector3.Transform(sh.Localposition, at.rotation);
BoundSphere sb = sh.ToBoundSphere();
Transform thisT = at;
thisT.position += Vector3.Transform(sb.CompoundOffset, at.rotation);
if (sb.IsColliding(thisT, bt, other.ToBoundSphere()).Length > 0)
{
cps.AddRange(sh.IsColliding(a, bt, other));
}
}
for (int i = 0; i < cps.Count; i++)
{
ContactPoint cp = cps[i];
if (cp.bodyA == this)
{
cp.bodyA = root;
}
if (cp.bodyB == this)
{
cp.bodyB = root;
}
cps[i] = cp;
}
return(cps.ToArray());
}
