/// <summary>
/// Refreshes the contact manifold, removing any out of date contacts
/// and updating others.
/// </summary>
public static void ContactRefresh(RawList <Contact> contacts, RawValueList <ContactSupplementData> supplementData, ref RigidTransform transformA, ref RigidTransform transformB, RawList <int> toRemove)
{
//TODO: Could also refresh normals with some trickery.
//Would also need to refresh depth using new normals, and would require some extra information.
for (int k = 0; k < contacts.Count; k++)
{
contacts.Elements[k].Validate();
ContactSupplementData data = supplementData.Elements[k];
Vector3 newPosA, newPosB;
RigidTransform.Transform(ref data.LocalOffsetA, ref transformA, out newPosA);
RigidTransform.Transform(ref data.LocalOffsetB, ref transformB, out newPosB);
//ab - (ab*n)*n
//Compute the horizontal offset.
Vector3 ab;
Vector3.Subtract(ref newPosB, ref newPosA, out ab);
float dot;
Vector3.Dot(ref ab, ref contacts.Elements[k].Normal, out dot);
Vector3 temp;
Vector3.Multiply(ref contacts.Elements[k].Normal, dot, out temp);
Vector3.Subtract(ref ab, ref temp, out temp);
dot = temp.LengthSquared();
if (dot > CollisionDetectionSettings.ContactInvalidationLengthSquared)
{
toRemove.Add(k);
}
else
{
//Depth refresh:
//Find deviation ((Ra-Rb)*N) and add to base depth.
Vector3.Dot(ref ab, ref contacts.Elements[k].Normal, out dot);
contacts.Elements[k].PenetrationDepth = data.BasePenetrationDepth - dot;
if (contacts.Elements[k].PenetrationDepth < -CollisionDetectionSettings.maximumContactDistance)
{
toRemove.Add(k);
}
else
{
//Refresh position and ra/rb.
Vector3 newPos;
Vector3.Add(ref newPosB, ref newPosA, out newPos);
Vector3.Multiply(ref newPos, .5f, out newPos);
contacts.Elements[k].Position = newPos;
//This is an interesting idea, but has very little effect one way or the other.
//data.BasePenetrationDepth = contacts.Elements[k].PenetrationDepth;
//RigidTransform.TransformByInverse(ref newPos, ref transformA, out data.LocalOffsetA);
//RigidTransform.TransformByInverse(ref newPos, ref transformB, out data.LocalOffsetB);
}
contacts.Elements[k].Validate();
}
}
}
