private Vector3 GetMinDistance(
ref List<SupportTriangle> triangles,
Vector3 point,
ref int minTriangleIndex)
{
var result = new Vector3();
var distanceBuf = new Vector3();
double s = 0; double t = 0;
var buffer = new SupportTriangle();
double minDistance = double.MaxValue;
for (int i = 0; i < triangles.Count; i++)
{
buffer = triangles[i];
if (!GeometryUtilities.TestCollinearity(
buffer.a.s,
buffer.b.s,
buffer.c.s))
{
distanceBuf = GeometryUtilities.GetPointTriangleIntersection(
buffer.a.s,
buffer.b.s,
buffer.c.s,
point,
ref s,
ref t).Value;
buffer.SetValueS(s);
buffer.SetValueT(t);
}
else
{
continue;
}
triangles[i] = buffer;
double distance = Vector3.Length(distanceBuf);
if (distance < minDistance)
{
minDistance = distance;
minTriangleIndex = i;
result = distanceBuf;
}
}
return result;
}
private void GetEpaVertexFromMinkowsky(
SupportTriangle triangle,
SimulationObject shape1,
SimulationObject shape2,
ref EngineCollisionPoint epaCollisionPoint)
{
Vector3 a1 = Helper.GetVertexPosition(shape1, triangle.a.a);
Vector3 ba1 = Helper.GetVertexPosition(shape1, triangle.b.a) - a1;
Vector3 ca1 = Helper.GetVertexPosition(shape1, triangle.c.a) - a1;
Vector3 a2 = Helper.GetVertexPosition(shape2, triangle.a.b);
Vector3 ba2 = Helper.GetVertexPosition(shape2, triangle.b.b) - a2;
Vector3 ca2 = Helper.GetVertexPosition(shape2, triangle.c.b) - a2;
epaCollisionPoint.SetA (a1 + (ba1 * triangle.s) + (ca1 * triangle.t));
epaCollisionPoint.SetB (a2 + (ba2 * triangle.s) + (ca2 * triangle.t));
}