public override void BatchedUnitVectorGetSupportingVertexWithoutMargin(IList<Vector3> vectors, IList<Vector4> supportVerticesOut, int numVectors)
{
for (int j=0;j<numVectors;j++)
{
Vector3 vec = vectors[j];
LocalSupportVertexCallback supportCallback = new LocalSupportVertexCallback(ref vec);
Vector3 aabbMax = MathUtil.MAX_VECTOR;
Vector3 aabbMin = MathUtil.MIN_VECTOR;
m_stridingMesh.InternalProcessAllTriangles(supportCallback,ref aabbMin,ref aabbMax);
supportVerticesOut[j] = new Vector4(supportCallback.GetSupportVertexLocal(),0);
}
}
public override Vector3 LocalGetSupportingVertexWithoutMargin(ref Vector3 vec0)
{
Vector3 supVec = Vector3.Zero;
Vector3 vec = vec0;
float lenSqr = vec.LengthSquared();
if (lenSqr < 0.0001f)
{
vec = Vector3.Right;
}
else
{
float rlen = (1.0f) / (float)System.Math.Sqrt(lenSqr);
vec *= rlen;
//vec.Normalize();
}
LocalSupportVertexCallback supportCallback = new LocalSupportVertexCallback(ref vec);
Vector3 aabbMax = new Vector3(float.MaxValue,float.MaxValue,float.MaxValue);
Vector3 aabbMin = -aabbMax;
m_stridingMesh.InternalProcessAllTriangles(supportCallback,ref aabbMin,ref aabbMax);
supVec = supportCallback.GetSupportVertexLocal();
return supVec;
}
