//
public float SignedDistance(ref IndexedVector3 position, float margin, ConvexShape shape0, ref IndexedMatrix wtrs0, ref GjkEpaSolver2Results results)
{
using (GjkEpaSolver2MinkowskiDiff shape = BulletGlobals.GjkEpaSolver2MinkowskiDiffPool.Get())
using (GJK gjk = BulletGlobals.GJKPool.Get())
{
SphereShape shape1 = BulletGlobals.SphereShapePool.Get();
shape1.Initialize(margin);
IndexedMatrix wtrs1 = IndexedMatrix.CreateFromQuaternion(IndexedQuaternion.Identity);
wtrs0._origin = position;
Initialize(shape0, ref wtrs0, shape1, ref wtrs1, ref results, shape, false);
gjk.Initialise();
IndexedVector3 guess = new IndexedVector3(1);
GJKStatus gjk_status = gjk.Evaluate(shape, ref guess);
if (gjk_status == GJKStatus.Valid)
{
IndexedVector3 w0 = IndexedVector3.Zero;
IndexedVector3 w1 = IndexedVector3.Zero;
for (int i = 0; i < gjk.m_simplex.rank; ++i)
{
float p = gjk.m_simplex.p[i];
w0 += shape.Support(ref gjk.m_simplex.c[i].d, 0) * p;
IndexedVector3 temp = -gjk.m_simplex.c[i].d;
w1 += shape.Support(ref temp, 1) * p;
}
results.witnesses0 = wtrs0 * w0;
results.witnesses1 = wtrs0 * w1;
IndexedVector3 delta = results.witnesses1 - results.witnesses0;
float margin2 = shape0.GetMarginNonVirtual() + shape1.GetMarginNonVirtual();
float length = delta.Length();
results.normal = delta / length;
results.witnesses0 += results.normal * margin2;
return(length - margin2);
}
else
{
if (gjk_status == GJKStatus.Inside)
{
if (Penetration(shape0, ref wtrs0, shape1, ref wtrs1, ref gjk.m_ray, ref results))
{
IndexedVector3 delta = results.witnesses0 - results.witnesses1;
float length = delta.Length();
if (length >= MathUtil.SIMD_EPSILON)
{
results.normal = delta / length;
}
return(-length);
}
}
}
BulletGlobals.SphereShapePool.Free(shape1);
}
return(MathUtil.SIMD_INFINITY);
}
public virtual void GetAabbNonVirtual(ref IndexedMatrix t, ref IndexedVector3 aabbMin, ref IndexedVector3 aabbMax)
{
switch (m_shapeType)
{
case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
{
SphereShape sphereShape = this as SphereShape;
float radius = sphereShape.GetImplicitShapeDimensions().X;// * convexShape->getLocalScaling().getX();
float margin = radius + sphereShape.GetMarginNonVirtual();
IndexedVector3 center = t._origin;
IndexedVector3 extent = new IndexedVector3(margin);
aabbMin = center - extent;
aabbMax = center + extent;
}
break;
case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
/* fall through */
case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
{
BoxShape convexShape = this as BoxShape;
float margin = convexShape.GetMarginNonVirtual();
IndexedVector3 halfExtents = convexShape.GetImplicitShapeDimensions();
halfExtents += new IndexedVector3(margin);
IndexedBasisMatrix abs_b = t._basis.Absolute();
IndexedVector3 center = t._origin;
IndexedVector3 extent = new IndexedVector3(abs_b._el0.Dot(ref halfExtents), abs_b._el1.Dot(ref halfExtents), abs_b._el2.Dot(ref halfExtents));
aabbMin = center - extent;
aabbMax = center + extent;
break;
}
case BroadphaseNativeTypes.TRIANGLE_SHAPE_PROXYTYPE:
{
TriangleShape triangleShape = (TriangleShape)this;
float margin = triangleShape.GetMarginNonVirtual();
for (int i = 0; i < 3; i++)
{
IndexedVector3 vec = new IndexedVector3();
vec[i] = 1f;
IndexedVector3 sv = LocalGetSupportVertexWithoutMarginNonVirtual(vec * t._basis);
IndexedVector3 tmp = t * sv;
aabbMax[i] = tmp[i] + margin;
vec[i] = -1.0f;
tmp = t * (LocalGetSupportVertexWithoutMarginNonVirtual(vec * t._basis));
aabbMin[i] = tmp[i] - margin;
}
}
break;
case BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE:
{
CapsuleShape capsuleShape = this as CapsuleShape;
float r = capsuleShape.GetRadius();
IndexedVector3 halfExtents = new IndexedVector3(r);
int m_upAxis = capsuleShape.GetUpAxis();
halfExtents[m_upAxis] = r + capsuleShape.GetHalfHeight();
float nvMargin = capsuleShape.GetMarginNonVirtual();
halfExtents += new IndexedVector3(nvMargin);
IndexedBasisMatrix abs_b = t._basis.Absolute();
IndexedVector3 center = t._origin;
IndexedVector3 extent = new IndexedVector3(abs_b._el0.Dot(ref halfExtents), abs_b._el1.Dot(ref halfExtents), abs_b._el2.Dot(ref halfExtents));
aabbMin = center - extent;
aabbMax = center + extent;
}
break;
case BroadphaseNativeTypes.CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE:
{
PolyhedralConvexAabbCachingShape convexHullShape = (PolyhedralConvexAabbCachingShape)this;
float margin = convexHullShape.GetMarginNonVirtual();
convexHullShape.GetNonvirtualAabb(ref t, out aabbMin, out aabbMax, margin);
}
break;
default:
GetAabb(ref t, out aabbMin, out aabbMax);
break;
}
// should never reach here
Debug.Assert(false);
}