/// <summary>
///
/// </summary>
/// <param name="rayOrigin"></param>
/// <param name="rayEnd"></param>
/// <returns></returns>
public override int Prepare(ref TSVector rayOrigin, ref TSVector rayEnd)
{
TSBBox box = TSBBox.SmallBox;
box.AddPoint(ref rayOrigin);
box.AddPoint(ref rayEnd);
return(this.Prepare(ref box));
}
public void UpdateBoundingBox()
{
boundingBox = TSBBox.SmallBox;
boundingBox.AddPoint(owner.points[indices.I0].position);
boundingBox.AddPoint(owner.points[indices.I1].position);
boundingBox.AddPoint(owner.points[indices.I2].position);
boundingBox.min -= new TSVector(owner.triangleExpansion);
boundingBox.max += new TSVector(owner.triangleExpansion);
}
/// <summary>
///
/// </summary>
/// <param name="rayOrigin"></param>
/// <param name="rayDelta"></param>
/// <returns></returns>
public override int Prepare(ref TSVector rayOrigin, ref TSVector rayDelta)
{
TSBBox box = TSBBox.SmallBox;
#region RayEnd + Expand Spherical
TSVector rayEnd;
TSVector.Normalize(rayDelta, out rayEnd);
rayEnd = rayOrigin + rayDelta + rayEnd * sphericalExpansion;
#endregion
box.AddPoint(rayOrigin);
box.AddPoint(rayEnd);
return(this.Prepare(ref box));
}
public virtual void Update(FP timestep)
{
active = false;
foreach (MassPoint point in points)
{
if (point.isActive && !point.isStatic)
{
active = true; break;
}
}
if (!active)
{
return;
}
box = TSBBox.SmallBox;
volume = FP.Zero;
mass = FP.Zero;
foreach (MassPoint point in points)
{
mass += point.Mass;
box.AddPoint(point.position);
}
box.min -= new TSVector(TriangleExpansion);
box.max += new TSVector(TriangleExpansion);
foreach (Triangle t in triangles)
{
// Update bounding box and move proxy in dynamic tree.
t.UpdateBoundingBox();
TSVector linVel = t.VertexBody1.linearVelocity +
t.VertexBody2.linearVelocity +
t.VertexBody3.linearVelocity;
linVel *= FP.One / (3 * FP.One);
dynamicTree.MoveProxy(t.dynamicTreeID, ref t.boundingBox, linVel * timestep);
TSVector v1 = points[t.indices.I0].position;
TSVector v2 = points[t.indices.I1].position;
TSVector v3 = points[t.indices.I2].position;
volume -= ((v2.y - v1.y) * (v3.z - v1.z) -
(v2.z - v1.z) * (v3.y - v1.y)) * (v1.x + v2.x + v3.x);
}
volume /= (FP)6;
AddPressureForces(timestep);
}
