public void drawSphere(float radius,ref btTransform transform,ref btVector3 color)
{
btVector3 start = transform.Origin;
btVector3 xoffs;// = btMatrix3x3.Multiply(transform.Basis, new btVector3(radius, 0, 0));
btVector3 yoffs;// = btMatrix3x3.Multiply(transform.Basis, new btVector3(0, radius, 0));
btVector3 zoffs;// = btMatrix3x3.Multiply(transform.Basis, new btVector3(0, 0, radius));
{
btVector3 temp;
temp = new btVector3(radius, 0, 0);
btMatrix3x3.Multiply(ref transform.Basis, ref temp, out xoffs);
temp = new btVector3(0, radius, 0);
btMatrix3x3.Multiply(ref transform.Basis, ref temp, out yoffs);
temp = new btVector3(0, 0, radius);
btMatrix3x3.Multiply(ref transform.Basis, ref temp, out zoffs);
}
// XY
/*drawLine(start - xoffs, start + yoffs, color);
drawLine(start + yoffs, start + xoffs, color);
drawLine(start + xoffs, start - yoffs, color);
drawLine(start - yoffs, start - xoffs, color);
// XZ
drawLine(start - xoffs, start + zoffs, color);
drawLine(start + zoffs, start + xoffs, color);
drawLine(start + xoffs, start - zoffs, color);
drawLine(start - zoffs, start - xoffs, color);
// YZ
drawLine(start - yoffs, start + zoffs, color);
drawLine(start + zoffs, start + yoffs, color);
drawLine(start + yoffs, start - zoffs, color);
drawLine(start - zoffs, start - yoffs, color);*/
btVector3 sax, say, saz, smx, smy, smz;
btVector3.Add(ref start, ref xoffs, out sax);
btVector3.Add(ref start, ref yoffs, out say);
btVector3.Add(ref start, ref zoffs, out saz);
btVector3.Subtract(ref start, ref xoffs, out smx);
btVector3.Subtract(ref start, ref yoffs, out smy);
btVector3.Subtract(ref start, ref zoffs, out smz);
// XY
drawLine(ref smx, ref say, ref color);
drawLine(ref say, ref sax, ref color);
drawLine(ref sax, ref smy, ref color);
drawLine(ref smy, ref smx, ref color);
// XZ
drawLine(ref smx, ref saz, ref color);
drawLine(ref saz, ref sax, ref color);
drawLine(ref sax, ref smz, ref color);
drawLine(ref smz, ref smx, ref color);
// YZ
drawLine(ref smy, ref saz, ref color);
drawLine(ref saz, ref say, ref color);
drawLine(ref say, ref smz, ref color);
drawLine(ref smz, ref smy, ref color);
}
public bool calcPenDepth(ISimplexSolver simplexSolver, ConvexShape pConvexA, ConvexShape pConvexB, btTransform transformA, btTransform transformB, ref btVector3 v, out btVector3 wWitnessOnA, out btVector3 wWitnessOnB, IDebugDraw debugDraw)
{
btVector3 guessVector;// = transformA.Origin - transformB.Origin;
btVector3.Subtract(ref transformA.Origin,ref transformB.Origin, out guessVector);
GjkEpaSolver2.sResults results = new GjkEpaSolver2.sResults();
if (GjkEpaSolver2.Penetration(pConvexA, transformA,
pConvexB, transformB,
guessVector, ref results))
{
// debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
//resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
wWitnessOnA = results.witnesses0;
wWitnessOnB = results.witnesses1;
v = results.normal;
return true;
}
else
{
if (GjkEpaSolver2.Distance(pConvexA, transformA, pConvexB, transformB, guessVector, ref results))
{
wWitnessOnA = results.witnesses0;
wWitnessOnB = results.witnesses1;
v = results.normal;
return false;
}
}
wWitnessOnA = new btVector3();
wWitnessOnB = new btVector3();
return false;
}
public BroadphaseProxy createProxy(ref btVector3 aabbMin,ref btVector3 aabbMax,
BroadphaseNativeTypes shapeType, object userPtr,
short collisionFilterGroup, short collisionFilterMask, IDispatcher dispatcher,
object multiSapProxy)
{
DbvtProxy proxy = new DbvtProxy(aabbMin, aabbMax, userPtr,
collisionFilterGroup,
collisionFilterMask);
DbvtAabbMm aabb;// = DbvtAabbMm.FromMM(aabbMin, aabbMax);
DbvtAabbMm.FromMM(ref aabbMin, ref aabbMax, out aabb);
//bproxy->aabb = btDbvtVolume::FromMM(aabbMin,aabbMax);
proxy.stage = m_stageCurrent;
proxy.m_uniqueId = ++m_gid;
proxy.leaf = m_sets[0].insert(ref aabb, proxy);
listappend(ref proxy, ref m_stageRoots[m_stageCurrent]);
if (!m_deferedcollide)
{
DbvtTreeCollider collider = new DbvtTreeCollider(this);
collider.proxy = proxy;
m_sets[0].collideTV(m_sets[0].m_root, ref aabb, collider);
m_sets[1].collideTV(m_sets[1].m_root,ref aabb, collider);
}
return (proxy);
}
public void Support(ref btVector3 d, uint index,out btVector3 result)
{
if (index != 0)
Support1(ref d,out result);
else
Support0(ref d,out result);
}
//brute force implementations
public override void localGetSupportingVertex(ref btVector3 vec0, out btVector3 supVec)
{
supVec = btVector3.Zero;
int i;
float maxDot = -BulletGlobal.BT_LARGE_FLOAT;
btVector3 vec = vec0;
float lenSqr = vec.Length2;
if (lenSqr < 0.0001f)
{
vec.setValue(1, 0, 0);
}
else
{
float rlen = 1f / (float)Math.Sqrt(lenSqr);
vec *= rlen;
}
btVector3 vtx;
float newDot;
for (i = 0; i < NumVertices; i++)
{
getVertex(i, out vtx);
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supVec = vtx;
}
}
//return supVec;
}
public static void Add(ref btVector3 v1, ref btVector3 v2, out btVector3 result)
{
result.X = v1.X + v2.X;
result.Y = v1.Y + v2.Y;
result.Z = v1.Z + v2.Z;
result.W = 0;
}
public void updateSingleAabb(CollisionObject colObj)
{
btVector3 minAabb, maxAabb;
colObj.CollisionShape.getAabb(colObj.WorldTransform, out minAabb, out maxAabb);
//need to increase the aabb for contact thresholds
btVector3 contactThreshold = new btVector3(PersistentManifold.gContactBreakingThreshold, PersistentManifold.gContactBreakingThreshold, PersistentManifold.gContactBreakingThreshold);
//minAabb -= contactThreshold;
//maxAabb += contactThreshold;
minAabb.Subtract(ref contactThreshold);
maxAabb.Add(ref contactThreshold);
//IBroadphaseInterface bp = m_broadphasePairCache;
//moving objects should be moderately sized, probably something wrong if not
if (colObj.isStaticObject || ((maxAabb - minAabb).Length2 < 1e12f))
{
m_broadphasePairCache.setAabb(colObj.BroadphaseHandle,ref minAabb,ref maxAabb, m_dispatcher1);
}
else
{
//something went wrong, investigate
//this assert is unwanted in 3D modelers (danger of loosing work)
colObj.ActivationState = ActivationStateFlags.DISABLE_SIMULATION;
if (reportMe && m_debugDrawer != null)
{
reportMe = false;
m_debugDrawer.reportErrorWarning("Overflow in AABB, object removed from simulation");
m_debugDrawer.reportErrorWarning("If you can reproduce this, please email [email protected]\n");
m_debugDrawer.reportErrorWarning("Please include above information, your Platform, version of OS.\n");
m_debugDrawer.reportErrorWarning("Thanks.\n");
}
}
}
public override void batchedUnitVectorGetSupportingVertexWithoutMargin(btVector3[] vectors, btVector3[] supportVerticesOut, int numVectors)
{
int i;
btVector3 vtx;
float newDot;
for (i = 0; i < numVectors; i++)
{
supportVerticesOut[i].W = -BulletGlobal.BT_LARGE_FLOAT;
}
for (int j = 0; j < numVectors; j++)
{
btVector3 vec = vectors[j];
for (i = 0; i < NumVertices; i++)
{
getVertex(i, out vtx);
newDot = vec.dot(vtx);
if (newDot > supportVerticesOut[j].W)
{
//WARNING: don't swap next lines, the w component would get overwritten!
supportVerticesOut[j] = vtx;
supportVerticesOut[j].W = newDot;
}
}
}
}
public static void Multiply(ref btVector3 v, ref btMatrix3x3 m, out btVector3 result)
{
result.X = m.tdotx(ref v);
result.Y = m.tdoty(ref v);
result.Z = m.tdotz(ref v);
result.W = 0;
}
public static void calculateVelocity(btTransform transform0,btTransform transform1,float timeStep,out btVector3 linVel, out btVector3 angVel)
{
linVel = (transform1.Origin - transform0.Origin) / timeStep;
btVector3 axis;
float angle;
calculateDiffAxisAngle(transform0,transform1,out axis,out angle);
angVel = axis * angle / timeStep;
}
public void reset()
{
m_cachedValidClosest = false;
m_numVertices = 0;
m_needsUpdate = true;
m_lastW = new btVector3(BulletGlobal.BT_LARGE_FLOAT, BulletGlobal.BT_LARGE_FLOAT, BulletGlobal.BT_LARGE_FLOAT);
m_cachedBC.reset();
}
public override void localGetSupportingVertexWithoutMargin(ref btVector3 vec,out btVector3 result)
{
btVector3 halfExtents = HalfExtentsWithoutMargin;
result= new btVector3((vec.X >= 0 ? halfExtents.X : -halfExtents.X),
(vec.Y >= 0 ? halfExtents.Y : -halfExtents.Y),
(vec.Z >= 0 ? halfExtents.Z : -halfExtents.Z));
}
/// <summary>
/// 線の描画
/// </summary>
/// <param name="from">開始点</param>
/// <param name="to">終了点</param>
/// <param name="color">色</param>
/// <remarks>スーパークラスから呼び出される</remarks>
public override void drawLine(ref btVector3 from, ref btVector3 to, ref btVector3 color)
{
lines[primitiveCount * 2].pos = new Vector3(from.X, from.Y, from.Z);
lines[primitiveCount * 2].color = ((int)(color.X*256)) * (2 ^ 16) + ((int)(color.Y*256)) * (2 ^ 8) + ((int)(color.Z*256));
lines[primitiveCount * 2 + 1].pos = new Vector3(to.X, to.Y, to.Z);
lines[primitiveCount * 2 + 1].color = ((int)(color.X * 256)) * (2 ^ 16) + ((int)(color.Y * 256)) * (2 ^ 8) + ((int)(color.Z * 256));
++primitiveCount;
}
public static void Multiply(ref btMatrix3x3 m, ref btVector3 v, out btVector3 result)
{
//result = new btVector3();
result.X = m.el0.dot(v);
result.Y = m.el1.dot(v);
result.Z = m.el2.dot(v);
result.W = 0;
}
public btMatrix3x3(float xx, float xy, float xz,
float yx, float yy, float yz,
float zx, float zy, float zz)
{
el0=new btVector3(xx, xy, xz);
el1 = new btVector3(yx, yy, yz);
el2 = new btVector3(zx, zy, zz);
}
public BroadphaseProxy(btVector3 aabbMin, btVector3 aabbMax, object userPtr, short collisionFilterGroup, short collisionFilterMask)
{
m_clientObject = userPtr;
m_collisionFilterGroup = collisionFilterGroup;
m_collisionFilterMask = collisionFilterMask;
m_aabbMin = aabbMin;
m_aabbMax = aabbMax;
m_multiSapParentProxy = null;
}
public void Support(ref btVector3 d, out btVector3 result)
{
//return (Support0(d) - Support1(-d));
btVector3 temp1, temp2, temp3;
temp1 = -d;
Support0(ref d, out temp2);
Support1(ref temp1, out temp3);
btVector3.Subtract(ref temp2, ref temp3, out result);
}
public override void processCollision(CollisionObject col0, CollisionObject col1, DispatcherInfo dispatchInfo, ref ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
return;
resultOut.PersistentManifold = m_manifoldPtr;
SphereShape sphere0 = (SphereShape)col0.CollisionShape;
SphereShape sphere1 = (SphereShape)col1.CollisionShape;
btVector3 diff = col0.WorldTransform.Origin - col1.WorldTransform.Origin;
float len = diff.Length;
float radius0 = sphere0.Radius;
float radius1 = sphere1.Radius;
#if CLEAR_MANIFOLD
m_manifoldPtr->clearManifold(); //don't do this, it disables warmstarting
#endif
///iff distance positive, don't generate a new contact
if (len > (radius0 + radius1))
{
#if! CLEAR_MANIFOLD
resultOut.refreshContactPoints();
#endif //CLEAR_MANIFOLD
return;
}
///distance (negative means penetration)
float dist = len - (radius0 + radius1);
btVector3 normalOnSurfaceB = new btVector3(1, 0, 0);
if (len > BulletGlobal.SIMD_EPSILON)
{
//normalOnSurfaceB = diff / len;
btVector3.Divide(ref diff, len, out normalOnSurfaceB);
}
///point on A (worldspace)
///btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
///point on B (worldspace)
btVector3 pos1;// = col1.WorldTransform.Origin + radius1 * normalOnSurfaceB;
{
btVector3 temp;
btVector3.Multiply(ref normalOnSurfaceB, radius1, out temp);
btVector3.Add(ref col1.WorldTransform.Origin, ref temp, out pos1);
}
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut.addContactPoint(ref normalOnSurfaceB, ref pos1, dist);
#if! CLEAR_MANIFOLD
resultOut.refreshContactPoints();
#endif //CLEAR_MANIFOLD
}
public btQuaternion(btVector3 axis, float angle)
{
float d = axis.Length;
Debug.Assert(d != 0.0f);
float s = (float)Math.Sin(angle * 0.5f) / d;
X = axis.X * s;
Y = axis.Y * s;
Z = axis.Z * s;
W = (float)Math.Cos(angle * 0.5f);
}
void Support1(ref btVector3 d,out btVector3 result)
{
#region return (m_toshape0 * (m_shapes1).Ls(m_toshape1 * d));
btVector3 temp,temp2;
btMatrix3x3.Multiply(ref m_toshape1, ref d, out temp);
//return (m_toshape0 * (m_shapes1).Ls(temp));
(m_shapes1).Ls(ref temp, out temp2);
btTransform.Multiply(ref m_toshape0, ref temp2, out result);
#endregion
}
public StaticPlaneShape(btVector3 planeNormal, float planeConstant)
: base()
{
//m_planeNormal = planeNormal.normalized();
planeNormal.normalized(out m_planeNormal);
m_planeConstant = planeConstant;
m_localScaling = btVector3.Zero;
// btAssert( btFuzzyZero(m_planeNormal.length() - btScalar(1.)) );
}
public void addVertex(btVector3 w, btVector3 p, btVector3 q)
{
m_lastW = w;
m_needsUpdate = true;
m_simplexVectorW[m_numVertices] = w;
m_simplexPointsP[m_numVertices] = p;
m_simplexPointsQ[m_numVertices] = q;
m_numVertices++;
}
public override void localGetSupportingVertex(ref btVector3 vec,out btVector3 result)
{
btVector3 halfExtents = HalfExtentsWithoutMargin;
btVector3 margin = new btVector3(Margin, Margin, Margin);
//halfExtents += margin;
halfExtents.Add(ref margin);
result= new btVector3((vec.X >= 0 ? halfExtents.X : -halfExtents.X),
(vec.Y >= 0 ? halfExtents.Y : -halfExtents.Y),
(vec.Z >= 0 ? halfExtents.Z : -halfExtents.Z));
}
public override void batchedUnitVectorGetSupportingVertexWithoutMargin(btVector3[] vectors, btVector3[] supportVerticesOut, int numVectors)
{
btVector3 halfExtents = HalfExtentsWithoutMargin;
for (int i = 0; i < numVectors; i++)
{
btVector3 vec = vectors[i];
supportVerticesOut[i].setValue((vec.X >= 0 ? halfExtents.X : -halfExtents.X),
(vec.Y >= 0 ? halfExtents.Y : -halfExtents.Y),
(vec.Z >= 0 ? halfExtents.Z : -halfExtents.Z));
}
}
private void Constructor()
{
m_ray = new btVector3(0, 0, 0);
m_nfree = 0;
m_status = eStatus.Failed;
m_current = 0;
m_distance = 0;
for (int i = 0; i < m_simplices.Length; i++)
m_simplices[i].Constructor();
for (int i = 0; i < m_store.Length; i++)
m_store[i].Constructor();
}
public void addContactPoint(btVector3 normalOnBInWorld,btVector3 pointInWorld,float orgDepth,ref ManifoldResult originalManifoldResult)
{
btVector3 endPt,startPt;
float newDepth;
//btVector3 newNormal;
if (m_perturbA)
{
btVector3 endPtOrg;// = pointInWorld + normalOnBInWorld*orgDepth;
{
btVector3 temp;
btVector3.Multiply(ref normalOnBInWorld, orgDepth, out temp);
btVector3.Add(ref pointInWorld, ref temp, out endPtOrg);
}
endPt = btVector3.Transform(endPtOrg, m_unPerturbedTransform * m_transformA.inverse());
#region newDepth = (endPt - pointInWorld).dot(normalOnBInWorld);
{
btVector3 temp;
btVector3.Subtract(ref endPt, ref pointInWorld, out temp);
newDepth = temp.dot(ref normalOnBInWorld);
}
#endregion
#region startPt = endPt + normalOnBInWorld * newDepth;
{
btVector3 temp;
btVector3.Multiply(ref normalOnBInWorld, newDepth, out temp);
btVector3.Multiply(ref endPt, ref temp, out startPt);
}
#endregion
}
else
{
#region endPt = pointInWorld + normalOnBInWorld*orgDepth;
{
btVector3 temp;
btVector3.Multiply(ref normalOnBInWorld, orgDepth, out temp);
btVector3.Add(ref pointInWorld, ref temp, out endPt);
}
#endregion
startPt = btVector3.Transform(pointInWorld, m_unPerturbedTransform * m_transformB.inverse());
#region newDepth = (endPt - startPt).dot(normalOnBInWorld);
{
btVector3 temp;
btVector3.Subtract(ref endPt, ref startPt, out temp);
newDepth = temp.dot(ref normalOnBInWorld);
}
#endregion
}
originalManifoldResult.addContactPoint(ref normalOnBInWorld,ref startPt,newDepth);
}
public btMatrix3x3(btQuaternion q)
{
float d = q.Length2;
Debug.Assert(d != 0.0f);
float s = 2.0f / d;
float xs = q.X * s, ys = q.Y * s, zs = q.Z * s;
float wx = q.W * xs, wy = q.W * ys, wz = q.W * zs;
float xx = q.X * xs, xy = q.X * ys, xz = q.X * zs;
float yy = q.Y * ys, yz = q.Y * zs, zz = q.Z * zs;
el0 = new btVector3(1.0f - (yy + zz), xy - wz, xz + wy);
el1 = new btVector3(xy + wz, 1.0f - (xx + zz), yz - wx);
el2 = new btVector3(xz - wy, yz + wx, 1.0f - (xx + yy));
}
public static bool Penetration(ConvexShape shape0, btTransform wtrs0, ConvexShape shape1, btTransform wtrs1, btVector3 guess, ref sResults results, bool usemargins)
{
tShape shape=new MinkowskiDiff();
Initialize(shape0,wtrs0,shape1,wtrs1,ref results,ref shape,usemargins);
using (GJK gjk = GJK.CreateFromPool())
{
GJK.eStatus gjk_status = gjk.Evaluate(shape, -guess);
switch (gjk_status)
{
case GJK.eStatus.Inside:
{
using(EPA epa = EPA.CreateFromPool())
{
EPA.eStatus epa_status = epa.Evaluate(gjk, -guess);
if (epa_status != EPA.eStatus.Failed)
{
btVector3 w0 = new btVector3(0, 0, 0);
for (U i = 0; i < epa.m_result.rank; ++i)
{
#region w0 += shape.Support(epa.m_result.c[i].d, 0) * epa.m_result.p[i];
{
btVector3 temp1, temp2;
shape.Support(ref epa.m_result.c[i].d, 0, out temp1);
btVector3.Multiply(ref temp1, epa.m_result.p[i], out temp2);
w0.Add(ref temp2);
}
#endregion
}
results.status = sResults.eStatus.Penetrating;
results.witnesses0 = wtrs0 * w0;
results.witnesses1 = wtrs0 * (w0 - epa.m_normal * epa.m_depth);
results.normal = -epa.m_normal;
results.distance = -epa.m_depth;
return (true);
}
else results.status = sResults.eStatus.EPA_Failed;
}
}
break;
case GJK.eStatus.Failed:
results.status = sResults.eStatus.GJK_Failed;
break;
default:
{
break;
}
}
return (false);
}
}
public static void integrateTransform(btTransform curTrans,btVector3 linvel, btVector3 angvel, float timeStep,out btTransform predictedTransform)
{
predictedTransform = btTransform.Identity;
#region predictedTransform.Origin=curTrans.Origin + linvel * timeStep;
{
btVector3 temp;
btVector3.Multiply(ref linvel, timeStep, out temp);
btVector3.Add(ref curTrans.Origin, ref temp, out predictedTransform.Origin);
}
#endregion
//Exponential map
//google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
btVector3 axis;
float fAngle = angvel.Length;
//limit the angular motion
if (fAngle * timeStep > ANGULAR_MOTION_THRESHOLD)
{
fAngle = ANGULAR_MOTION_THRESHOLD / timeStep;
}
if (fAngle < 0.001f)
{
// use Taylor's expansions of sync function
#region axis = angvel * (0.5f * timeStep - (timeStep * timeStep * timeStep) * (0.020833333333f) * fAngle * fAngle);
{
btVector3.Multiply(ref angvel, (0.5f * timeStep - (timeStep * timeStep * timeStep) * (0.020833333333f) * fAngle * fAngle), out axis);
}
#endregion
}
else
{
// sync(fAngle) = sin(c*fAngle)/t
#region axis = angvel * ((float)Math.Sin(0.5f * fAngle * timeStep) / fAngle);
btVector3.Multiply(ref angvel, ((float)Math.Sin(0.5f * fAngle * timeStep) / fAngle), out axis);
#endregion
}
btQuaternion dorn = new btQuaternion(axis.X, axis.Y, axis.Z, (float)Math.Cos(fAngle * timeStep * 0.5f));
btQuaternion orn0 = curTrans.Rotation;
btQuaternion predictedOrn;
btQuaternion.Multiply(ref dorn, ref orn0, out predictedOrn);
predictedOrn.normalize();
predictedTransform.Rotation = predictedOrn;
}
public static bool Distance(ConvexShape shape0, btTransform wtrs0, ConvexShape shape1, btTransform wtrs1, btVector3 guess, ref sResults results)
{
tShape shape = new MinkowskiDiff();
Initialize(shape0, wtrs0, shape1, wtrs1, ref results, ref shape, false);
using(GJK gjk = GJK.CreateFromPool())
{
GJK.eStatus gjk_status = gjk.Evaluate(shape, guess);
if (gjk_status == GJK.eStatus.Valid)
{
btVector3 w0 = new btVector3(0, 0, 0);
btVector3 w1 = new btVector3(0, 0, 0);
for (U i = 0; i < gjk.m_simplex.rank; ++i)
{
float p = gjk.m_simplex.p[i];
btVector3 temp,temp2,temp3;
#region w0 += shape.Support(gjk.m_simplex.c[i].d, 0) * p;
shape.Support(ref gjk.m_simplex.c[i].d, 0, out temp);
btVector3.Multiply(ref temp, p, out temp2);
w0.Add(ref temp2);
#endregion
#region w1 += shape.Support(-gjk.m_simplex.c[i].d, 1) * p;
btVector3.Minus(ref gjk.m_simplex.c[i].d, out temp3);
shape.Support(ref temp3, 1, out temp);
btVector3.Multiply(ref temp, p, out temp2);
w1.Add(ref temp2);
#endregion
}
results.witnesses0 = wtrs0 * w0;
results.witnesses1 = wtrs0 * w1;
results.normal = w0 - w1;
results.distance = results.normal.Length;
results.normal /= results.distance > GJK_MIN_DISTANCE ? results.distance : 1;
return (true);
}
else
{
results.status = gjk_status == GJK.eStatus.Inside ?
sResults.eStatus.Penetrating :
sResults.eStatus.GJK_Failed;
return (false);
}
}
}
