public int CreatePhysicsBody(PhysicBody body)
{
int id = new Random().Next();
bodies.Add(id, body);
return(id);
}
private void CsoSupport(Collider a, Collider b, Vec3f dir, out Vec3f support, out Vec3f supportA, out Vec3f supportB)
{
PhysicBody bodyA = a.body;
PhysicBody bodyB = b.body;
Vec3f localDirA = bodyA.GlobalToLocalDir(dir);
Vec3f localDirB = bodyB.GlobalToLocalDir(-dir);
supportA = a.FurthestPointInDirection(localDirA);
supportB = b.FurthestPointInDirection(localDirB);
supportA = bodyA.LocalToGlobalPos(supportA);
supportB = bodyB.LocalToGlobalPos(supportB);
support = supportA - supportB;
}
public void UpdatePhysicsBody(int id, PhysicBody body)
{
bodies[id] = body;
}