private void Collide(Geom geometry1, Geom geometry2, ContactList contactList)
{
int vertexIndex = -1;
for (int i = 0; i < geometry2.worldVertices.Count; i++)
{
if (contactList.Count == _physicsSimulator.maxContactsToDetect)
{
break;
}
if (geometry1.grid == null)
{
break;
} //grid can be null for "one-way" collision (points)
vertexIndex += 1;
_vertRef = geometry2.WorldVertices[i];
geometry1.TransformToLocalCoordinates(ref _vertRef, out _localVertex);
if (!geometry1.Intersect(ref _localVertex, out _feature))
{
continue;
}
if (_feature.Distance < 0f)
{
geometry1.TransformNormalToWorld(ref _feature.Normal, out _feature.Normal);
Contact contact = new Contact(geometry2.WorldVertices[i], _feature.Normal, _feature.Distance,
new ContactId(2, vertexIndex, 1));
contactList.Add(contact);
}
}
for (int i = 0; i < geometry1.WorldVertices.Count; i++)
{
if (contactList.Count == _physicsSimulator.maxContactsToDetect)
{
break;
}
if (geometry2.grid == null)
{
break;
} //grid can be null for "one-way" collision (points)
vertexIndex += 1;
_vertRef = geometry1.WorldVertices[i];
geometry2.TransformToLocalCoordinates(ref _vertRef, out _localVertex);
if (!geometry2.Intersect(ref _localVertex, out _feature))
{
continue;
}
if (_feature.Distance < 0f)
{
geometry2.TransformNormalToWorld(ref _feature.Normal, out _feature.Normal);
_feature.Normal = -_feature.Normal;
Contact contact = new Contact(geometry1.WorldVertices[i], _feature.Normal, _feature.Distance,
new ContactId(2, vertexIndex, 1));
contactList.Add(contact);
}
}
//sort _contact list by seperation (amount of penetration)
contactList.Sort(_contactComparer);
//resolve deepest contacts first
int contactCount = contactList.Count;
if (contactList.Count > _physicsSimulator.maxContactsToResolve)
{
contactList.RemoveRange(_physicsSimulator.maxContactsToResolve,
contactCount - _physicsSimulator.maxContactsToResolve);
}
//allow user to cancel collision if desired
if (geometry1.Collision != null)
{
if (contactList.Count > 0)
{
if (!geometry1.Collision(geometry1, geometry2, contactList))
{
contactList.Clear();
}
}
}
//allow user to cancel collision if desired
if (geometry2.Collision != null)
{
if (contactList.Count > 0)
{
if (!geometry2.Collision(geometry2, geometry1, contactList))
{
contactList.Clear();
}
}
}
}
