public CollisionDetector()
{
collisions = new List <Collision>();
collisionsWrapper = new ReadOnlyCollection <Collision>(collisions);
geometry = new List <Geometry>();
tester = new SatTester();
}
public CollisionDetector()
{
collisions = new List<Collision>();
collisionsWrapper = new ReadOnlyCollection<Collision>(collisions);
geometry = new List<Geometry>();
tester = new SatTester();
}
public void FindContacts(SatTester tester, int maxContacts = 8)
{
if (!IsActive)
{
return;
}
// perform SAT collision detection
SatResult?r = tester.FindIntersection(a, b);
if (r == null)
{
contacts.Clear();
return;
}
SatResult result = r.Value;
normal = result.NormalAxis;
penetrationDepth = result.Penetration;
// find all vertices in a which are inside b, add them as contacts
var aVertices = a.GetVertices(result.NormalAxis);
for (int i = 0; i < aVertices.Length; i++)
{
if (newContacts.Count == maxContacts)
{
break;
}
if (b.Contains(aVertices[i]))
{
newContacts.Add(new Contact(aVertices[i], a, i));
}
}
// find all vertices in b which are inside a, add them as contacts
var bVertices = b.GetVertices(-result.NormalAxis);
for (int i = 0; i < bVertices.Length; i++)
{
if (contacts.Count == maxContacts)
{
break;
}
if (a.Contains(bVertices[i]))
{
newContacts.Add(new Contact(bVertices[i], b, i));
}
}
// add the deepest point if we found no others
if (newContacts.Count == 0)
{
newContacts.Add(new Contact(result.DeepestPoint, a, 0));
}
// merge new contacts with the old ones
MergeContacts();
if (!initialised)
{
A.collidingWith.Add(B);
B.collidingWith.Add(A);
initialised = true;
}
}
public void FindContacts(SatTester tester, int maxContacts = 8)
{
if (!IsActive)
return;
// perform SAT collision detection
SatResult? r = tester.FindIntersection(a, b);
if (r == null)
{
contacts.Clear();
return;
}
SatResult result = r.Value;
normal = result.NormalAxis;
penetrationDepth = result.Penetration;
// find all vertices in a which are inside b, add them as contacts
var aVertices = a.GetVertices(result.NormalAxis);
for (int i = 0; i < aVertices.Length; i++)
{
if (newContacts.Count == maxContacts)
break;
if (b.Contains(aVertices[i]))
newContacts.Add(new Contact(aVertices[i], a, i));
}
// find all vertices in b which are inside a, add them as contacts
var bVertices = b.GetVertices(-result.NormalAxis);
for (int i = 0; i < bVertices.Length; i++)
{
if (contacts.Count == maxContacts)
break;
if (a.Contains(bVertices[i]))
newContacts.Add(new Contact(bVertices[i], b, i));
}
// add the deepest point if we found no others
if (newContacts.Count == 0)
newContacts.Add(new Contact(result.DeepestPoint, a, 0));
// merge new contacts with the old ones
MergeContacts();
if (!initialised)
{
A.collidingWith.Add(B);
B.collidingWith.Add(A);
initialised = true;
}
}
