// SPHERE TRIANGLE
public void HandleSphereTriangle()
{
float3 spherePos = posA;
float sphereRadius = extentsA.x;
float3 triPos = posB;
float3 triSize = extentsB;
float3 triRot = rotB;
float3[] triangleVerts = GetVerticesOfTriangle(triPos, triSize, triRot); // would already be stored
FixedList128 <float3> triVertices = new FixedList128 <float3>();
triVertices.Add(triangleVerts[0]);
triVertices.Add(triangleVerts[1]);
triVertices.Add(triangleVerts[2]);
if (ColPhysics.SphereIntersectsOrientedTriangle(spherePos, sphereRadius, triVertices, out float3 closestPoint, out float distance))
{
isColliding = true;
if (drawMarkers)
{
display.DrawMarker(closestPoint);
}
if (resolveCollisions)
{
ColPhysics.ResolveSphereTriangleCollision(ref spherePos, sphereRadius, distance, closestPoint);
}
posA = spherePos;
}
display.DrawSphereTriangle(posA, posB, rotB, extentsA.x, extentsB);
}