public void MergePoints(ref IndexedVector4 plane, float margin, IndexedVector3[] points, int point_count)
{
m_point_count = 0;
m_penetration_depth = -1000.0f;
int _k;
for (_k = 0; _k < point_count; _k++)
{
float _dist = -ClipPolygon.DistancePointPlane(ref plane, ref points[_k]) + margin;
if (_dist >= 0.0f)
{
if (_dist > m_penetration_depth)
{
m_penetration_depth = _dist;
point_indices[0] = _k;
m_point_count = 1;
}
else if ((_dist + MathUtil.SIMD_EPSILON) >= m_penetration_depth)
{
point_indices[m_point_count] = _k;
m_point_count++;
}
}
}
for (_k = 0; _k < m_point_count; _k++)
{
m_points[_k] = points[point_indices[_k]];
}
}
//! Test if triangles could collide
public bool OverlapTestConservative(PrimitiveTriangle other)
{
float total_margin = m_margin + other.m_margin;
// classify points on other triangle
float dis0 = ClipPolygon.DistancePointPlane(ref m_plane, ref other.m_vertices[0]) - total_margin;
float dis1 = ClipPolygon.DistancePointPlane(ref m_plane, ref other.m_vertices[1]) - total_margin;
float dis2 = ClipPolygon.DistancePointPlane(ref m_plane, ref other.m_vertices[2]) - total_margin;
if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f)
{
return(false);
}
// classify points on this triangle
dis0 = ClipPolygon.DistancePointPlane(ref other.m_plane, ref m_vertices[0]) - total_margin;
dis1 = ClipPolygon.DistancePointPlane(ref other.m_plane, ref m_vertices[1]) - total_margin;
dis2 = ClipPolygon.DistancePointPlane(ref other.m_plane, ref m_vertices[2]) - total_margin;
if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f)
{
return(false);
}
return(true);
}
public bool OverlapTestConservative(TriangleShapeEx other)
{
float total_margin = GetMargin() + other.GetMargin();
IndexedVector4 plane0;
BuildTriPlane(out plane0);
IndexedVector4 plane1;
other.BuildTriPlane(out plane1);
// classify points on other triangle
float dis0 = ClipPolygon.DistancePointPlane(ref plane0, ref other.m_vertices1[0]) - total_margin;
float dis1 = ClipPolygon.DistancePointPlane(ref plane0, ref other.m_vertices1[1]) - total_margin;
float dis2 = ClipPolygon.DistancePointPlane(ref plane0, ref other.m_vertices1[2]) - total_margin;
if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f)
{
return(false);
}
// classify points on this triangle
dis0 = ClipPolygon.DistancePointPlane(ref plane1, ref m_vertices1[0]) - total_margin;
dis1 = ClipPolygon.DistancePointPlane(ref plane1, ref m_vertices1[1]) - total_margin;
dis2 = ClipPolygon.DistancePointPlane(ref plane1, ref m_vertices1[2]) - total_margin;
if (dis0 > 0.0f && dis1 > 0.0f && dis2 > 0.0f)
{
return(false);
}
return(true);
}