void updateQTs()
{
QTbodies = GenerateQT(ActiveBodies, MAXBUCKET);
QTmap = GenerateQT(MapBodies, 1);
}
public static void ResolveAll(List <IRigidBody> bodies, List <IRigidBody> mapbodies, QuadTree <IRigidBody> QTbodies, QuadTree <IRigidBody> QTmap)
{
var collisionData = new ConcurrentBag <CollisionData>();
//foreach (var b in bodies)
bodies.AsParallel().ForAll(b =>
{
var potHits = QTbodies.Query(b.BoundingBox); //broad-phase
potHits.Remove(b); //the body itself will be included in query results.
potHits.AddRange(QTmap.Query(b.BoundingBox));
if (potHits.Count > 0)
{
var allCollData = TestAndGetAllCollisionData(b, potHits); //narrow-phase
if (allCollData.Count > 0)
{
CollisionData aggrColData = AggrCollisionData(allCollData);
collisionData.Add(aggrColData);
}
}
});
foreach (var cd in collisionData)
{
ApplyCollisionData(cd); //apply all aggregated collision responses.
}
}
