private CollisionPointStructure SoftBodyNarrowPhase(
ShapeDecompositionOutput A,
ShapeDecompositionOutput B,
int ID_A,
int ID_B)
{
List <CollisionPointStructure> collisionPointStructure = ConvexCollisionStep(A, B, ID_A, ID_B, parameters.CollisionDistance);
if (collisionPointStructure.Count > 1)
{
List <CollisionPointBaseStructure> baseStructure = new List <CollisionPointBaseStructure>();
foreach (CollisionPointStructure cps in collisionPointStructure)
{
if (cps != null)
{
baseStructure.AddRange(cps.CollisionPointBase);
}
}
collisionPointStructure[0].SetBaseCollisionPoint(baseStructure.ToArray());
}
if (collisionPointStructure.Count > 0)
{
return(collisionPointStructure[0]);
}
return(null);
}
private List <CollisionPointStructure> ConvexCollisionStep(
ShapeDecompositionOutput A,
ShapeDecompositionOutput B,
int ID_A,
int ID_B,
double collisionDistance)
{
VertexProperties[] vertexObjA = Array.ConvertAll(A.Vertex3Idx.ToArray(), x => new VertexProperties(x.Vector3, x.ID));
VertexProperties[] vertexObjB = Array.ConvertAll(B.Vertex3Idx.ToArray(), x => new VertexProperties(x.Vector3, x.ID));
List <CollisionPointStructure> collisionPointStructure = new List <CollisionPointStructure>();
var cps = convexBodyNarrowPhase.Execute(vertexObjA, vertexObjB, ID_A, ID_B, collisionDistance);
if (cps != null)
{
collisionPointStructure.Add(cps);
}
return(collisionPointStructure);
}