public void ToWorld()
{
Vector3F point0 = new Vector3F(10, 20, -40);
Vector3F point1 = new Vector3F(-22, 34, 45);
Line line = new Line(point0, (point1 - point0).Normalized);
Pose pose = new Pose(new Vector3F(-5, 100, -20), Matrix33F.CreateRotation(new Vector3F(1, 2, 3), 0.123f));
point0 = pose.ToWorldPosition(point0);
point1 = pose.ToWorldPosition(point1);
line.ToWorld(ref pose);
Vector3F dummy;
Assert.IsTrue(GeometryHelper.GetClosestPoint(line, point0, out dummy));
Assert.IsTrue(GeometryHelper.GetClosestPoint(line, point1, out dummy));
}
/// <summary>
/// Computes the collision between line vs. line.
/// </summary>
/// <param name="contactSet">The contact set.</param>
/// <param name="type">The type of collision query.</param>
private void ComputeLineVsLine(ContactSet contactSet, CollisionQueryType type)
{
IGeometricObject objectA = contactSet.ObjectA.GeometricObject;
IGeometricObject objectB = contactSet.ObjectB.GeometricObject;
Debug.Assert(objectA.Shape is LineShape && objectB.Shape is LineShape, "LineAlgorithm.ComputeLineVsLine should only be called for 2 line shapes.");
Debug.Assert(contactSet.Count <= 1, "Two lines should have at max 1 contact point.");
// Get transformations.
Vector3F scaleA = objectA.Scale;
Vector3F scaleB = objectB.Scale;
Pose poseA = objectA.Pose;
Pose poseB = objectB.Pose;
// Create two line objects in world space.
var lineA = new Line((LineShape)objectA.Shape);
lineA.Scale(ref scaleA);
lineA.ToWorld(ref poseA);
var lineB = new Line((LineShape)objectB.Shape);
lineB.Scale(ref scaleB);
lineB.ToWorld(ref poseB);
// Get closest points.
Vector3F pointA;
Vector3F pointB;
contactSet.HaveContact = GeometryHelper.GetClosestPoints(lineA, lineB, out pointA, out pointB);
if (type == CollisionQueryType.Boolean || (type == CollisionQueryType.Contacts && !contactSet.HaveContact))
{
// HaveContact queries can exit here.
// GetContacts queries can exit here if we don't have a contact.
return;
}
// Create contact information.
Vector3F position = (pointA + pointB) / 2;
Vector3F normal = pointB - pointA;
float length = normal.Length;
if (Numeric.IsZero(length))
{
// Create normal from cross product of both lines.
normal = Vector3F.Cross(lineA.Direction, lineB.Direction);
if (!normal.TryNormalize())
normal = Vector3F.UnitY;
}
else
{
// Normalize vector
normal = normal / length;
}
Contact contact = ContactHelper.CreateContact(contactSet, position, normal, -length, false);
ContactHelper.Merge(contactSet, contact, type, CollisionDetection.ContactPositionTolerance);
}