public void Scatter(ref Vector3Wide offsetB, ref ContactManifold target)
{
var count = Count[0];
target.SetConvexityAndCount(count, true);
target.OffsetB.X = offsetB.X[0];
target.OffsetB.Y = offsetB.Y[0];
target.OffsetB.Z = offsetB.Z[0];
target.Offset0.X = OffsetA0.X[0];
target.Offset0.Y = OffsetA0.Y[0];
target.Offset0.Z = OffsetA0.Z[0];
target.Depth0 = Depth0[0];
target.FeatureId0 = FeatureId0[0];
if (count > 1)
{
target.Offset1.X = OffsetA1.X[0];
target.Offset1.Y = OffsetA1.Y[0];
target.Offset1.Z = OffsetA1.Z[0];
target.Depth1 = Depth1[0];
target.FeatureId1 = FeatureId1[0];
}
target.ConvexNormal.X = Normal.X[0];
target.ConvexNormal.Y = Normal.Y[0];
target.ConvexNormal.Z = Normal.Z[0];
}
private unsafe void FillLinearManifoldSlotB(ref ContactManifold linearManifold, ContactManifold *manifold)
{
Debug.Assert(manifold->ContactCount == 1);
linearManifold.Offset1 = manifold->Offset0;
linearManifold.Depth1 = manifold->Depth0;
linearManifold.FeatureId1 = CCDFeatureIdOffsets.LinearB;
linearManifold.Normal1 = manifold->Normal0;
}
public void Scatter(ref Vector3Wide offsetB, ref ContactManifold target)
{
target.OffsetB.X = offsetB.X[0];
target.OffsetB.Y = offsetB.Y[0];
target.OffsetB.Z = offsetB.Z[0];
target.Offset0.X = OffsetA0.X[0];
target.Offset0.Y = OffsetA0.Y[0];
target.Offset0.Z = OffsetA0.Z[0];
target.Depth0 = Depth[0];
target.ConvexNormal.X = Normal.X[0];
target.ConvexNormal.Y = Normal.Y[0];
target.ConvexNormal.Z = Normal.Z[0];
}
private unsafe void FillLinearManifoldSlotA(ref ContactManifold linearManifold, ContactManifold *manifold)
{
//Note that linear A is always in slot 0, and linear B is always in slot 1.
//This is allowed because a linear pair is guaranteed to have two contacts generated from CCD.
//There is no separation limit on inner sphere pairs, and you never just create one sphere-collidable pair- it's always bilateral.
//Also note that offsetB is only used from linear A, not linear B. They should be identical.
Debug.Assert(manifold->ContactCount == 1);
linearManifold.OffsetB = manifold->OffsetB;
linearManifold.Offset0 = manifold->Offset0;
linearManifold.Depth0 = manifold->Depth0;
linearManifold.FeatureId0 = CCDFeatureIdOffsets.LinearA;
linearManifold.Normal0 = manifold->Normal0;
}
public void PrepareManifoldForScatter(out ContactManifold manifold)
{
manifold = default;
}
public void PrepareManifoldForScatter(out ContactManifold manifold)
{
manifold = default;
manifold.SetConvexityAndCount(1, true);
}