public void Execute(int index)
{
var position = this.positions[index];
var predictPosition = this.positions[index];
var spheres = collidersGroup.spheres;
var boxes = collidersGroup.boxes;
var capsules = collidersGroup.capsules;
for (var i = 0; i < spheres.Length; i++)
{
var s = spheres[i];
ConcatInfo concatInfo;
if (IntersectUtil.GetClosestSurfacePoint(position, s.collider, out concatInfo))
{
EnableCollisionConstraint(index, ref concatInfo, ref s.rigidbody, s.entityId);
return;
}
}
for (var i = 0; i < boxes.Length; i++)
{
var s = boxes[i];
ConcatInfo concatInfo;
if (IntersectUtil.GetClosestSurfacePoint(position, s.collider, out concatInfo))
{
EnableCollisionConstraint(index, ref concatInfo, ref s.rigidbody, s.entityId);
return;
}
}
for (var i = 0; i < capsules.Length; i++)
{
var s = capsules[i];
ConcatInfo concatInfo;
if (IntersectUtil.GetClosestSurfacePoint(position, s.collider, out concatInfo))
{
EnableCollisionConstraint(index, ref concatInfo, ref s.rigidbody, s.entityId);
return;
}
}
DisableCollisionConstraint(index);
}
public override bool GetClosestSurfacePoint(float3 p, out ConcatInfo concatInfo)
{
return(IntersectUtil.GetClosestSurfacePoint(p, desc, out concatInfo));
}
