private CollisionData ManageCollisions(CollisionDetector detect, ICollideable left, ICollideable right, float duration)
{
CollisionData data = new CollisionData();
data.restitution = this.Restitution;
data.friction = this.Friction;
detect.FindContacts(left.GeometryData.Prim, right.GeometryData.Prim, data);
return data;
}
private void PumpCollisions(float duration)
{
List<ICollideable> colliders = this.ICollideables;
IEnumerable<ICollideable> gameObjectsLeft = colliders;
IEnumerable<ICollideable> gameObjectsRight = colliders;
CollisionDetector detect = new CollisionDetector();
List<Contact> contacts = new List<Contact>();
foreach (ICollideable left in gameObjectsLeft)
{
foreach (ICollideable right in gameObjectsRight)
{
if (left != right)
{
CollisionData data = ManageCollisions(detect, left, right, duration);
contacts.AddRange(data.contacts);
}
}
}
ContactResolver.FullContactResolution(contacts, duration);
if (this.CaptureBodyContacts)
{
foreach (Contact contact in contacts)
{
if (contact.Bodies[1] != null)
{
captured.Add(contact);
}
}
}
if (contacts.Count > 0)
{
saveLastContact(contacts[0]);
}
}
public void IntersectionTests_SphereVsSphere_Overlapping()
{
Vector3 sphereOnePosition = new Vector3(0.5f, 0f, 0f);
IRigidBody sphereOneBody = new NoBody(Matrix.CreateTranslation(sphereOnePosition));
float sphereOneRadius = 1f;
Matrix sphereOneMatrix = Matrix.Identity;
Sphere sphereOne = new Sphere(sphereOneBody, sphereOneMatrix, sphereOneRadius);
Vector3 sphereTwoPosition = Vector3.UnitX;
IRigidBody sphereTwoBody = new NoBody(Matrix.CreateTranslation(sphereTwoPosition));
float sphereTwoRadius = 1f;
Matrix sphereTwoMatrix = Matrix.Identity;
Sphere sphereTwo = new Sphere(sphereTwoBody, sphereTwoMatrix, sphereTwoRadius);
CollisionDetector detect = new CollisionDetector();
CollisionData data = new CollisionData();
Assert.AreEqual(1, IntersectionTests.sphereAndSphere(sphereOne, sphereTwo, data), "How many contacts?");
Contact contact;
Assert.NotNull(data.contacts, "Contacts Container");
Assert.AreEqual(1, data.contacts.Count, "One Contact Expected");
contact = data.contacts[0];
Assert.AreEqual(0, contact.Friction, "0 friction");
Assert.AreEqual(1f, contact.Restitution, "1 restitution");
Assert.AreEqual(1.5f, contact.Penetration, "0 penetration (surface collision)");
Assert.AreEqual(new Vector3(0.75f, 0f, 0f), contact.Point, "expected contact point");
Assert.AreEqual(-Vector3.UnitX, contact.Normal, "expected contact normal");
//Assymetric
data = new CollisionData();
IntersectionTests.sphereAndSphere(sphereTwo, sphereOne, data);
Assert.NotNull(data.contacts, "Contacts Container");
Assert.AreEqual(1, data.contacts.Count, "One Contact Expected");
contact = data.contacts[0];
Assert.AreEqual(0, contact.Friction, "0 friction");
Assert.AreEqual(1f, contact.Restitution, "1 restitution");
Assert.AreEqual(1.5f, contact.Penetration, "0 penetration (surface collision)");
Assert.AreEqual(new Vector3(0.75f, 0f, 0f), contact.Point, "expected contact point");
Assert.AreEqual(Vector3.UnitX, contact.Normal, "expected contact normal");
}