public static Vector3D CollideAndSlide(BoundingEllipsoid ellipsoid, Vector3D velocity, Triangle[] triangles)
{
BoundingSphereD sphere = new BoundingSphereD(ellipsoid.Center / ellipsoid.Radius, 1d);
Vector3D eVelocity = velocity / ellipsoid.Radius;
//TODO: make triangles (and edges) a struct... not so simple!
Triangle[] eTriangles = new Triangle[triangles.Length];
for (int i = 0; i < triangles.Length; i++)
{
eTriangles[i] = triangles[i] / ellipsoid.Radius;
}
velocity = CollideWithTriangles(sphere, eVelocity, eTriangles, 0);
//Add gravity pool
if (gravityOn)
{
sphere.Center += velocity;
ellipsoid.Center = sphere.Center * ellipsoid.Radius;
eVelocity = gravity / ellipsoid.Radius;
velocity += CollideWithTriangles(sphere, eVelocity, eTriangles, 0);
}
return(velocity * ellipsoid.Radius);
}
public static CollisionResult CollidesWith(this BoundingEllipsoid ellipsoid, Triangle triangle, Vector3D velocity)
{
BoundingSphereD sphere = new BoundingSphereD(ellipsoid.Center / ellipsoid.Radius, 1d);
Vector3D eVelocity = velocity / ellipsoid.Radius;
Triangle eTriangle = triangle / ellipsoid.Radius;
CollisionResult collisionResult = sphere.CollidesWith(eTriangle, eVelocity);
collisionResult.IntersectionPoint *= ellipsoid.Radius;
return(collisionResult);
}
