private void ReIntitializeTag4Circle(Vector3 positionCenter, float distanceX, SphereRigid circleIn) { (circleIn).ReInitializeData ( MathHelperModule.GetPositionXNA(positionCenter, distanceX / 2, circleIn.Radius), circleIn.GetMaterial(), (distanceX / 2) ); }
public static bool boxAndSphere( BoxRigid box, SphereRigid sphere, ref CollisionData data ) { // Transform the centre of the sphere into box coordinates Vector3 centre = sphere.PositionCenterEngine; Vector3 relCentre = centre - box.PositionCenterEngine; //box.transform.transformInverse(centre); relCentre = Matrix2.M_V(relCentre, -box.GetOrientation()); // Early out check to see if we can exclude the contact if (Math.Abs(relCentre.X) - sphere.Radius > box.HalfSize.X || Math.Abs(relCentre.Y) - sphere.Radius > box.HalfSize.Y ) { return(false); } Vector3 closestPt = new Vector3(0, 0, 0); float dist; // Clamp each coordinate to the box. dist = relCentre.X; if (dist > box.HalfSize.X) { dist = box.HalfSize.X; } if (dist < -box.HalfSize.X) { dist = -box.HalfSize.X; } closestPt.X = dist; dist = relCentre.Y; if (dist > box.HalfSize.Y) { dist = box.HalfSize.Y; } if (dist < -box.HalfSize.Y) { dist = -box.HalfSize.Y; } closestPt.Y = dist; // Check we're in contact Vector3 temp1 = closestPt - relCentre; if (temp1 == Vector3.Zero) { return(true); } float temp2 = temp1.Length(); double temp3 = temp2; dist = (float)Math.Pow(temp3, 2); if (dist > sphere.Radius * sphere.Radius) { return(false); } // Compile the contact Vector3 closestPtWorld = closestPt;//box.transform.transform(closestPt); closestPtWorld = Matrix2.M_V(closestPtWorld, box.GetOrientation()); closestPtWorld += box.PositionCenterEngine; //Contact* contact = data->contacts; // Create the contact data Vector3 temp = closestPtWorld - centre; temp.Normalize(); Contact c = new Contact(); c.ContactNormal = temp; c.Penetration = (float)(sphere.Radius - Math.Sqrt(dist)); c.ContactPoint = closestPtWorld; c.SetBodyData(box, sphere, data.friction, data.restitution); c.Friction = StaticData.FrictionTable[(int)sphere.GetMaterial()][(int)box.GetMaterial()]; // between bump and cookie c.Restitution = 1f; // StaticData.RestitutionTable[(int)sphere.GetMaterial()][(int)box.GetMaterial()]; c.ContactToWorld.M11 = c.ContactNormal.X; c.ContactToWorld.M12 = -c.ContactNormal.Y; c.ContactToWorld.M21 = c.ContactNormal.Y; c.ContactToWorld.M22 = c.ContactNormal.X; data.addContacts(1); data.contacts.Add(c); return(true); }