public static JRigidbody[] OverlapMesh(Shape shape, Vector3 position, Quaternion rotation)
{
var list = new List<JRigidbody>();
JMatrix orientation = rotation.ConvertToJMatrix(), otherOrientation;
JVector pos = position.ConvertToJVector(),otherPosition, point, normal;
float penetration;
foreach (var body in Bodies)
{
if (body.Key.Shape is Multishape) continue;
otherPosition = body.Key.Position;
otherOrientation = body.Key.Orientation;
bool collide = XenoCollide.Detect(shape, body.Key.Shape, ref orientation, ref otherOrientation,
ref pos, ref otherPosition, out point, out normal,
out penetration);
if(collide) list.Add(body.Value);
}
return list.ToArray();
}
