public static CollisionPointStructure Find(
CollisionPointStructure[] collisionPoints,
ContactIndex contactIndex)
{
foreach (CollisionPointStructure cps in collisionPoints)
{
if (cps.ObjectA == contactIndex.IndexA &&
cps.ObjectB == contactIndex.IndexB)
{
return cps;
}
}
return null;
}
private void recursiveSearch(
ContactIndex searchPoint,
List<ContactIndex> readList,
List<ContactIndex> partition,
SimulationObject[] simulationObjects)
{
for (int i = 0; i < readList.Count; i++)
{
ContactIndex collisionValue = readList [i];
if (searchPoint.IndexA == collisionValue.IndexA &&
searchPoint.IndexB == collisionValue.IndexB &&
searchPoint.KeyIndex == collisionValue.KeyIndex)
continue;
if (simulationObjects [searchPoint.IndexA].ObjectType == ObjectType.StaticRigidBody &&
simulationObjects [searchPoint.IndexB].ObjectType == ObjectType.StaticRigidBody)
break;
if (simulationObjects [searchPoint.IndexA].ObjectType == ObjectType.StaticRigidBody &&
(searchPoint.IndexB == collisionValue.IndexA ||
searchPoint.IndexB == collisionValue.IndexB)) {
if (!partition.Contains (collisionValue))
{
partition.Add (collisionValue);
recursiveSearch (
collisionValue,
readList,
partition,
simulationObjects);
}
} else if (simulationObjects [searchPoint.IndexB].ObjectType == ObjectType.StaticRigidBody &&
(searchPoint.IndexA == collisionValue.IndexA ||
searchPoint.IndexA == collisionValue.IndexB)) {
if (!partition.Contains (collisionValue))
{
partition.Add (collisionValue);
recursiveSearch (
collisionValue,
readList,
partition,
simulationObjects);
}
} else if ((simulationObjects[searchPoint.IndexA].ObjectType == ObjectType.RigidBody &&
simulationObjects[searchPoint.IndexB].ObjectType == ObjectType.RigidBody) &&
(searchPoint.IndexA == collisionValue.IndexB ||
searchPoint.IndexB == collisionValue.IndexA ||
searchPoint.IndexA == collisionValue.IndexA ||
searchPoint.IndexB == collisionValue.IndexB ))
{
if (!partition.Contains (collisionValue))
{
partition.Add (collisionValue);
recursiveSearch (
collisionValue,
readList,
partition,
simulationObjects);
}
}
}
}