public static unsafe void QueryFaceDistance(out FaceQueryResult result, RigidTransform transform1, NativeHull hull1, RigidTransform transform2, NativeHull hull2)
{
// Perform computations in the local space of the second hull.
RigidTransform transform = math.mul(math.inverse(transform2), transform1);
result.Distance = -float.MaxValue;
result.Index = -1;
for (int i = 0; i < hull1.FaceCount; ++i)
{
NativePlane plane = transform * hull1.GetPlane(i);
float3 support = hull2.GetSupport(-plane.Normal);
float distance = plane.Distance(support);
if (distance > result.Distance)
{
result.Distance = distance;
result.Index = i;
}
}
}
public unsafe static void CreateFaceContact(ref NativeManifold output, FaceQueryResult input, RigidTransform transform1, NativeHull hull1, RigidTransform transform2, NativeHull hull2, bool flipNormal)
{
var refPlane = hull1.GetPlane(input.Index);
NativePlane referencePlane = transform1 * refPlane;
var clippingPlanesStackPtr = stackalloc ClipPlane[hull1.FaceCount];
var clippingPlanes = new NativeBuffer <ClipPlane>(clippingPlanesStackPtr, hull1.FaceCount);
//NativeList<ClipPlane> clippingPlanes = new NativeList<ClipPlane>((int)hull1.FaceCount, Allocator.Temp);
// Find only the side planes of the reference face
GetFaceSidePlanes(ref clippingPlanes, referencePlane, input.Index, transform1, hull1);
var incidentPolygonStackPtr = stackalloc ClipVertex[hull1.FaceCount];
var incidentPolygon = new NativeBuffer <ClipVertex>(incidentPolygonStackPtr, hull1.VertexCount);
var incidentFaceIndex = ComputeIncidentFaceIndex(referencePlane, transform2, hull2);
ComputeFaceClippingPolygon(ref incidentPolygon, incidentFaceIndex, transform2, hull2);
//HullDrawingUtility.DrawFaceWithOutline(incidentFaceIndex, transform2, hull2, Color.yellow.ToOpacity(0.3f));
var outputPolygonStackPtr = stackalloc ClipVertex[hull1.FaceCount];
// Clip face polygon against the clipping planes.
for (int i = 0; i < clippingPlanes.Length; ++i)
{
var outputPolygon = new NativeBuffer <ClipVertex>(outputPolygonStackPtr, hull1.FaceCount);
Clip(clippingPlanes[i], ref incidentPolygon, ref outputPolygon);
if (outputPolygon.Length == 0)
{
return;
}
incidentPolygon = outputPolygon;
}
// Get all contact points below reference face.
for (int i = 0; i < incidentPolygon.Length; ++i)
{
ClipVertex vertex = incidentPolygon[i];
float distance = referencePlane.Distance(vertex.position);
if (distance <= 0)
{
// Below reference plane -> position constraint violated.
ContactID id = default;
id.FeaturePair = vertex.featurePair;
if (flipNormal)
{
output.Normal = -referencePlane.Normal;
Swap(id.FeaturePair.InEdge1, id.FeaturePair.InEdge2);
Swap(id.FeaturePair.OutEdge1, id.FeaturePair.OutEdge2);
}
else
{
output.Normal = referencePlane.Normal;
}
// Project clipped point onto reference plane.
float3 position = referencePlane.ClosestPoint(vertex.position);
// Add point and distance to the plane to the manifold.
output.Add(position, distance, id);
}
}
//clippingPlanes.Dispose();
//incidentPolygon.Dispose();
}