// not automatically called by the Unity engine
// that's where the Supervisor comes in
public static void FixedUpdate()
{
foreach (RigidBodySpherical rgd in rigidBodies)
{
foreach (BallColliderSpherical ball in rgd.colls)
{
foreach (ColliderSpherical col in colliders)
{
// an object shouldn't collide with itself
if (col is BallColliderSpherical b && rgd.colls.Contains(b))
{
continue;
}
Vector4 closestPoint;
if (col.ClosestPoint(ball.center, out closestPoint) <= ball.radius)
{
Vector4 skinPoint;
ball.ClosestPoint(closestPoint, out skinPoint);
rgd.trans.localToWorld = Rot4.StraightFromTo((R4)skinPoint, (R4)closestPoint) * rgd.trans.localToWorld;
}
}
}
}
}