/// <summary>
/// Collides two shapes using GJK.
/// </summary>
/// <typeparam name="T1">The type of the first shape.</typeparam>
/// <typeparam name="T2">The type of the second shape.</typeparam>
/// <param name="shape1">The first shape.</param>
/// <param name="shape2">The second shape.</param>
/// <param name="support1">The GJK support function for first shape.</param>
/// <param name="support2">The GJK support function for the second shape.</param>
/// <returns>A result indicating if the shapes are disjoint or intersect.</returns>
/// <remarks>
/// Collide uses the following algorithm, if delgates are proving slow you can copy the below and call
/// the support functions direct.
/// <code>
/// GJK gjk = new GJK();
/// Double3 a = support1(shape1, gjk,Direction);
/// Double3 b = support2(shape2, -gjk.Direction);
/// GJKResult result;
/// while ((result = gjk.AddSupportPoint(a - b)) == GJKResult.Unsolved)
/// {
/// a = support1(shape1, gjk.Direction);
/// b = support2(shape2, -gjk.Direction);
/// }
/// return result;
/// </code>
/// </remarks>
public static GJKResult Collide <T1, T2>(T1 shape1, T2 shape2, Func <T1, Vector3d, Vector3d> support1, Func <T2, Vector3d, Vector3d> support2)
{
GJK gjk = new GJK();
var a = support1(shape1, gjk.Direction);
var b = support2(shape2, -gjk.Direction);
GJKResult result;
while ((result = gjk.AddSupportPoint(a - b)) == GJKResult.Unsolved)
{
a = support1(shape1, gjk.Direction);
b = support2(shape2, -gjk.Direction);
}
return(result);
}
/// <summary>
/// Collides two shapes using GJK taking a maximum of stepLimit steps.
/// </summary>
/// <typeparam name="T1">The type of the first shape.</typeparam>
/// <typeparam name="T2">The type of the second shape.</typeparam>
/// <param name="shape1">The first shape.</param>
/// <param name="shape2">The second shape.</param>
/// <param name="support1">The GJK support function for first shape.</param>
/// <param name="support2">The GJK support function for the second shape.</param>
/// <param name="stepLimit">The GJK support function for the second shape.</param>
/// <returns>A result indicating if the shapes are disjoint or intersect.</returns>
/// <remarks>
/// Collide uses the following algorithm, if delgates are proving slow you can copy the below and call
/// the support functions direct.
/// <code>
/// GJK gjk = new GJK();
/// Double3 a = support1(shape1, gjk,Direction);
/// Double3 b = support2(shape2, -gjk.Direction);
/// GJKResult result;
/// while (--stepLimit > 0 & (result = gjk.AddSupportPoint(a - b)) == GJKResult.Unsolved)
/// {
/// a = support1(shape1, gjk.Direction);
/// b = support2(shape2, -gjk.Direction);
/// }
/// return result;
/// </code>
/// </remarks>
public static GJKResult Collide <T1, T2>(T1 shape1, T2 shape2, Func <T1, Vector3d, Vector3d> support1, Func <T2, Vector3d, Vector3d> support2, int stepLimit)
{
GJK gjk = new GJK();
var a = support1(shape1, gjk.Direction);
var b = support2(shape2, -gjk.Direction);
GJKResult result;
//& NOT &&, both sides should always be evaluated, no shortcircuiting.
while (--stepLimit > 0 & (result = gjk.AddSupportPoint(a - b)) == GJKResult.Unsolved)
{
a = support1(shape1, gjk.Direction);
b = support2(shape2, -gjk.Direction);
}
return(result);
}
