public override void CheckForCollisions(List <LPhysicsObject2D> objs, float deltaTime)
{
base.CheckForCollisions(objs, deltaTime);
for (int i = objs.Count - 1; i >= 1; i--)
{
for (int j = i - 1; j >= 0; j--)
{
LPhysicsObject2D objA = objs[i];
LPhysicsObject2D objB = objs[j];
if (objA.collider != null &&
objB.collider != null &&
objA.collider.bounds.Intersects(objB.collider.bounds))
{
simplex.Clear();
direction = Vector2.one;
epa.Clear();
closestFace = null;
safety.Clear();
LContactConstraint2D constraint = CollisionDetect(objA, objB);
if (constraint != null)
{
contactConstraints.Add(constraint);
}
}
}
}
}
private LContactConstraint2D ContactConstraintGenerate(LPhysicsObject2D objA, LPhysicsObject2D objB)
{
LContactConstraint2D constraint = null;
Vector2 contactPointsA = LGeometryUtil2D.CalcBarycentric(closestFace.sp1.a, closestFace.sp2.a);
Vector2 contactPointsB = LGeometryUtil2D.CalcBarycentric(closestFace.sp1.b, closestFace.sp2.b);
if (closestFace.sqrMagnitude > LPhysicsStatic2D.DistanceSqrtThreshold)
{
float penetration = Mathf.Sqrt(closestFace.sqrMagnitude);
Vector2 normal = closestFace.direction / penetration;
if (objA.rigidBody != null ||
objB.rigidBody != null)
{
constraint = new LContactConstraint2D(objA, objB);
constraint.anchorA = contactPointsA;
constraint.anchorB = contactPointsB;
constraint.normal = normal;
constraint.penetration = penetration;
}
}
return(constraint);
}
