private bool testAABBAABB(
AABB a,
AABB b,
int axisIndex,
double distanceTolerance)
{
return a.Min [axisIndex] - b.Max[axisIndex] <= distanceTolerance &&
a.Max [axisIndex] - b.Min[axisIndex] >= -distanceTolerance ;
}
public List<CollisionPair> Execute(
AABB[][] boxs,
double distanceTolerance)
{
var collisionPairs = new List<CollisionPair> ();
var lockMe = new object();
Parallel.For (0,
boxs.Length,
new ParallelOptions { MaxDegreeOfParallelism = collisionEngineParameters.MaxThreadNumber },
i => {
for (int k = 0; k < boxs[i].Length; k++)
{
AABB box1 = boxs[i][k];
for (int j = i + 1; j < boxs.Length; j++)
{
for (int w = 0; w < boxs[j].Length; w++)
{
AABB box2 = boxs[j][w];
if (boxs[i] != null && boxs[j] != null &&
testAABBAABB(box1, box2, 0, distanceTolerance) &&
testAABBAABB(box1, box2, 1, distanceTolerance) &&
testAABBAABB(box1, box2, 2, distanceTolerance))
{
lock (lockMe)
{
collisionPairs.Add(new CollisionPair(i, j));
}
}
}
}
}
});
return collisionPairs;
}
public void SetAABB(AABB box)
{
AABBox = box;
}