///<summary>
/// Updates the manifold.
///</summary>
///<param name="dt">Timestep duration.</param>
public override void Update(float dt)
{
//First, refresh all existing contacts. This is an incremental manifold.
ContactRefresher.ContactRefresh(contacts, supplementData, ref collidableA.worldTransform, ref collidableB.worldTransform, contactIndicesToRemove);
RemoveQueuedContacts();
//Now, generate a contact between the two shapes.
ContactData contact;
if (pairTester.GenerateContactCandidate(out contact))
{
//Eliminate any old contacts which have normals which would fight with this new contact.
for (int i = 0; i < contacts.Count; ++i)
{
float normalDot;
Vector3.Dot(ref contacts.Elements[i].Normal, ref contact.Normal, out normalDot);
if (normalDot < 0)
{
Remove(i);
break;
}
}
//If a contact is unique, add it to the manifold separately.
//If it is redundant, it will be used to update an existing contact... within the IsContactUnique call.
//In other words: THIS FUNCTION HAS IMPORTANT SNEAKY SIDE EFFECTS.
if (IsContactUnique(ref contact))
{
//Check if adding the new contact would overflow the manifold.
if (contacts.Count == 4)
{
//Adding that contact would overflow the manifold. Reduce to the best subset.
bool addCandidate;
ContactReducer.ReduceContacts(contacts, ref contact, contactIndicesToRemove, out addCandidate);
RemoveQueuedContacts();
if (addCandidate)
{
Add(ref contact);
}
}
else
{
//Won't overflow the manifold, so just toss it in.
Add(ref contact);
}
}
}
else
{
//No collision, clean out the manifold.
for (int i = contacts.Count - 1; i >= 0; i--)
{
Remove(i);
}
}
}
///<summary>
/// Updates the manifold.
///</summary>
///<param name="dt">Timestep duration.</param>
public override void Update(float dt)
{
//First, refresh all existing contacts. This is an incremental manifold.
ContactRefresher.ContactRefresh(contacts, supplementData, ref collidableA.worldTransform, ref collidableB.worldTransform, contactIndicesToRemove);
RemoveQueuedContacts();
//Now, generate a contact between the two shapes.
ContactData contact;
if (pairTester.GenerateContactCandidate(out contact))
{
if (IsContactUnique(ref contact))
{
//Check if adding the new contact would overflow the manifold.
if (contacts.count == 4)
{
//Adding that contact would overflow the manifold. Reduce to the best subset.
bool addCandidate;
ContactReducer.ReduceContacts(contacts, ref contact, contactIndicesToRemove, out addCandidate);
RemoveQueuedContacts();
if (addCandidate)
{
Add(ref contact);
}
}
else
{
//Won't overflow the manifold, so just toss it in.
Add(ref contact);
}
}
}
else
{
//No collision, clean out the manifold.
for (int i = contacts.count - 1; i >= 0; i--)
{
Remove(i);
}
}
}