/// <inheritdoc/>
public override float GetTimeOfImpact(CollisionObject objectA, Pose targetPoseA, CollisionObject objectB, Pose targetPoseB, float allowedPenetration)
{
// We can use conservative advancement because a plane is convex enough so it will work.
switch (CollisionDetection.ContinuousCollisionDetectionMode)
{
case ContinuousCollisionDetectionMode.Full:
return(CcdHelper.GetTimeOfImpactCA(objectA, targetPoseA, objectB, targetPoseB, allowedPenetration, CollisionDetection));
default:
return(CcdHelper.GetTimeOfImpactLinearCA(objectA, targetPoseA, objectB, targetPoseB, allowedPenetration, CollisionDetection));
}
}
/// <inheritdoc/>
public override float GetTimeOfImpact(CollisionObject objectA, Pose targetPoseA, CollisionObject objectB, Pose targetPoseB, float allowedPenetration)
{
// We can use conservative advancement because a plane is convex enough so it will work.
// We use a linear test because usually planes do not rotate.
return(CcdHelper.GetTimeOfImpactLinearCA(objectA, targetPoseA, objectB, targetPoseB, allowedPenetration, CollisionDetection));
}