public List <Partition> GetPartitions(
CollisionPointStructure[] collisionPoints,
List <IConstraint> joints,
IShape[] shapes,
ISoftShape[] softShapes)
{
List <SpatialPartition> spatialPartitions = CalculateSpatialPartitioning(collisionPoints, joints, shapes);
List <Partition> partitions = new List <Partition>();
if (spatialPartitions != null)
{
HashSet <int> totObjectIndex = new HashSet <int>();
for (int i = 0; i < spatialPartitions.Count; i++)
{
Partition partitionItem = new Partition();
HashSet <int> objectIndex = new HashSet <int>();
for (int j = 0; j < spatialPartitions[i].ObjectList.Count; j++)
{
if (spatialPartitions[i].ObjectList[j].Type == ContactGroupType.Collision)
{
CollisionPointStructure cpStruct = ConstraintHelper.Find(
collisionPoints,
spatialPartitions[i].ObjectList[j]);
if (cpStruct != null)
{
partitionItem.PartitionedCollisionPoints.Add(cpStruct);
}
objectIndex.Add(cpStruct.ObjectIndexA);
objectIndex.Add(cpStruct.ObjectIndexB);
totObjectIndex.Add(cpStruct.ObjectIndexA);
totObjectIndex.Add(cpStruct.ObjectIndexB);
}
else
{
IConstraint smJoint = joints.Find(item =>
item.GetObjectIndexA() == spatialPartitions[i].ObjectList[j].IndexA &&
item.GetObjectIndexB() == spatialPartitions[i].ObjectList[j].IndexB &&
item.GetKeyIndex() == spatialPartitions[i].ObjectList[j].KeyIndex);
partitionItem.PartitionedJoints.Add(smJoint);
objectIndex.Add(smJoint.GetObjectIndexA());
objectIndex.Add(smJoint.GetObjectIndexB());
totObjectIndex.Add(smJoint.GetObjectIndexA());
totObjectIndex.Add(smJoint.GetObjectIndexB());
}
}
////Add Soft Body Constraints if is involved in collision
foreach (var item in objectIndex)
{
if (shapes[item] is ISoftShape softShape)
{
partitionItem.PartitionedJoints.AddRange(softShape.SoftConstraint);
}
}
partitions.Add(partitionItem);
}
////Add Soft Body Constraints if is not involved in collision
foreach (var item in softShapes)
{
if (!totObjectIndex.Contains(((IShape)item).ID))
{
Partition partitionItem = new Partition();
partitionItem.PartitionedJoints.AddRange(item.SoftConstraint);
partitions.Add(partitionItem);
}
}
}
else if (softShapes.Length > 0)
{
foreach (var softShape in softShapes)
{
Partition partitionItem = new Partition();
partitionItem.PartitionedJoints.AddRange(softShape.SoftConstraint);
partitions.Add(partitionItem);
}
}
return(partitions);
}