private Vector3 EPA(Simplex s, Prism A, Prism B)
{
while (true)
{
var e = s.ClosestEdge();
var point = GetSupport(A, B, e.direction);
var d = Vector3.Dot(point, e.direction);
if (d - e.distance < Mathf.Pow(10, 6))
{
Debug.Log(s.numPoints);
var normal = e.direction;
var depth = d;
print("in epa");
return(normal * depth);
}
else
{
// Insert point between points in closestEdge.
Debug.Log("in epa adding point" + point + " " + e.index);
s.Add(point, e.index);
}
}
}
private Vector3 EPA(Simplex s, Prism A, Prism B)
{
while (true)
{
Edge e = s.ClosestEdge();
var point = GetSupport(A, B, e.normal);
float d = Vector3.Dot(point, e.normal);
if (d - e.distance < Mathf.Pow(10, 5))
{
var normal = e.normal;
var depth = d;
return(normal * depth);
}
else
{
// we haven't reached the edge of the Minkowski Difference
// so continue expanding by adding the new point to the simplex
// in between the points that made the closest edge
s.Add(point, e.index);
}
}
}
