Esempio n. 1
0
		//
		static void Initialize( btConvexShape shape0, ref btTransform wtrs0,
			btConvexShape shape1, ref btTransform wtrs1,
			out btGjkEpaSolver2.sResults results,
			tShape shape,
			bool withmargins )
		{
			/* Results		*/
			results.normal = btVector3.xAxis;
			results.witness0 =
				results.witness1 = btVector3.Zero;
			results.status = btGjkEpaSolver2.sResults.eStatus.Separated;
			results.distance = 0;
			/* Shape		*/
			shape.m_shape0 = shape0;
			shape.m_shape1 = shape1;
			wtrs1.m_basis.transposeTimes( ref wtrs0.m_basis, out shape.m_toshape1 );
			wtrs0.inverseTimes( ref wtrs1, out shape.m_toshape0 );
			shape.EnableMargin( withmargins );
		}