//added by jed zhu
private int CheckCollision(BulletXActor actA, int ia, int ib, int ic, Vector3 vNormal, Vector3[] vertBase)
{
Vector3 perPlaneNormal;
float fPerPlaneDist;
OpenMetaverse.Vector3 v = actA.Position;
Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v);
//check AB
Vector3 v1;
v1 = vertBase[ib] - vertBase[ia];
Vector3.Cross(ref vNormal, ref v1, out perPlaneNormal);
Vector3.Normalize(ref perPlaneNormal, out perPlaneNormal);
if (Vector3.Dot((vertBase[ic] - vertBase[ia]), perPlaneNormal) < 0)
perPlaneNormal = -perPlaneNormal;
fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ia]) - 0.50f;
if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) < 0)
return 0;
fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ic]) + 0.50f;
if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) > 0)
return 0;
//check BC
v1 = vertBase[ic] - vertBase[ib];
Vector3.Cross(ref vNormal, ref v1, out perPlaneNormal);
Vector3.Normalize(ref perPlaneNormal, out perPlaneNormal);
if (Vector3.Dot((vertBase[ia] - vertBase[ib]), perPlaneNormal) < 0)
perPlaneNormal = -perPlaneNormal;
fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ib]) - 0.50f;
if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) < 0)
return 0;
fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ia]) + 0.50f;
if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) > 0)
return 0;
//check CA
v1 = vertBase[ia] - vertBase[ic];
Vector3.Cross(ref vNormal, ref v1, out perPlaneNormal);
Vector3.Normalize(ref perPlaneNormal, out perPlaneNormal);
if (Vector3.Dot((vertBase[ib] - vertBase[ic]), perPlaneNormal) < 0)
perPlaneNormal = -perPlaneNormal;
fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ic]) - 0.50f;
if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) < 0)
return 0;
fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ib]) + 0.50f;
if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) > 0)
return 0;
return 1;
}
//added by jed zhu
//return value 1: need second check
//return value 0: no need check
private int preCheckCollision(BulletXActor actA, Vector3 vNormal, float fDist)
{
float fstartSide;
OpenMetaverse.Vector3 v = actA.Position;
Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v);
fstartSide = Vector3.Dot(vNormal, v3) - fDist;
if (fstartSide > 0) return 0;
else return 1;
}