//public void SetDirectionX(string s) {
// float x;
// float.TryParse(s, out x);
// direction = new Vector3(x, direction.y, direction.z);
//}
//public void SetDirectionY(string s) {
// float y;
// float.TryParse(s, out y);
// direction = new Vector3(direction.x, y, direction.z);
//}
//public void SetDirectionZ(string s) {
// float z;
// float.TryParse(s, out z);
// direction = new Vector3(direction.x, direction.y, z);
//}
public static bool Intersects(IConvexRegion regionOne, Transform oneTrans, IConvexRegion regionTwo, Transform twoTrans, GJKState state) {
// Get an initial point on the Minkowski difference.
Vector3 s = Support(regionOne, regionTwo, twoTrans.position - oneTrans.position, state, out sa);
// Create our initial simplex.
Simplex simplex = new Simplex();
simplex.Add(s);
// TODO: Choose an initial direction.
direction = -s;
state.simplices.Add(simplex.Clone());
// Choose a maximim number of iterations to avoid an
// infinite loop during a non-convergent search.
int maxIterations = 32;
for (int i = 0; i < maxIterations; i++) {
// Get our next simplex point toward the origin.
Vector3 a = Support(regionOne, regionTwo, direction, state, out sa, out sb);
// If we move toward the origin and didn't pass it
// then we never will and there's no intersection.
if (a.IsInOppositeDirection(direction)) {
return false;
}
// otherwise we add the new point to the simplex and process it.
simplex.Add(a);
state.simplices.Add(simplex.Clone());
// Here we either find a collision or we find the closest feature of
// the simplex to the origin, make that the new simplex and update the direction
// to move toward the origin from that feature.
if (ProcessSimplex(simplex, ref direction)) {
float tolerance = 0.000001f; // Or another such small number
while (true) {
Edge e = simplex.FindClosestEdge();
Vector3 p = Support(regionOne, regionTwo, e.normal, state, out sa, out sb);
float proj = Vector3.Dot(p, e.normal);
if (proj - e.distance < tolerance) {
}
}
else {
}
}
return true;
}
