/// <summary>
/// Gets the time of impact between two moving objects.
/// </summary>
/// <param name="objectA">The object A.</param>
/// <param name="targetPoseA">The target pose of A.</param>
/// <param name="objectB">The object B.</param>
/// <param name="targetPoseB">The target pose of B.</param>
/// <param name="allowedPenetration">
/// The allowed penetration. A positive allowed penetration value makes sure that the objects
/// have a measurable contact at the time of impact.
/// </param>
/// <returns>The time of impact in the range [0, 1].</returns>
/// <remarks>
/// <para>
/// Both objects are moved from their current pose (time = 0) to the given target pose (time =
/// 1). If they collide during this movement the first time of impact is returned. A time of
/// impact of 1 can mean that the objects do not collide or they collide at their target
/// positions.
/// </para>
/// <para>
/// The result is undefined if the objects are already in contact at their start poses.
/// </para>
/// <para>
/// <strong>Notes to Inheritors:</strong> The base implementation already computes the time of
/// impact for convex shapes. For other shapes it returns 1. Optimized versions should be
/// implemented in derived classes.
/// </para>
/// </remarks>
/// <exception cref="ArgumentNullException">
/// <paramref name="objectA"/> or <paramref name="objectB"/> is <see langword="null"/>.
/// </exception>
public virtual float GetTimeOfImpact(CollisionObject objectA, Pose targetPoseA, CollisionObject objectB, Pose targetPoseB, float allowedPenetration)
{
if (objectA == null)
{
throw new ArgumentNullException("objectA");
}
if (objectB == null)
{
throw new ArgumentNullException("objectB");
}
// Handle convex shapes here, because this is so common.
if (objectA.GeometricObject.Shape is ConvexShape && objectB.GeometricObject.Shape is ConvexShape)
{
switch (CollisionDetection.ContinuousCollisionDetectionMode)
{
case ContinuousCollisionDetectionMode.Full:
return(CcdHelper.GetTimeOfImpactCA(objectA, targetPoseA, objectB, targetPoseB, allowedPenetration, CollisionDetection));
default:
return(CcdHelper.GetTimeOfImpactLinearSweep(objectA, targetPoseA, objectB, targetPoseB, allowedPenetration));
}
}
return(1);
}
/// <inheritdoc/>
public override float GetTimeOfImpact(CollisionObject objectA, Pose targetPoseA, CollisionObject objectB, Pose targetPoseB, float allowedPenetration)
{
// We can use conservative advancement because a plane is convex enough so it will work.
switch (CollisionDetection.ContinuousCollisionDetectionMode)
{
case ContinuousCollisionDetectionMode.Full:
return(CcdHelper.GetTimeOfImpactCA(objectA, targetPoseA, objectB, targetPoseB, allowedPenetration, CollisionDetection));
default:
return(CcdHelper.GetTimeOfImpactLinearCA(objectA, targetPoseA, objectB, targetPoseB, allowedPenetration, CollisionDetection));
}
}
/// <inheritdoc/>
public override float GetTimeOfImpact(CollisionObject objectA, Pose targetPoseA, CollisionObject objectB, Pose targetPoseB, float allowedPenetration)
{
// We can use conservative advancement because a plane is convex enough so it will work.
// We use a linear test because usually planes do not rotate.
return(CcdHelper.GetTimeOfImpactLinearCA(objectA, targetPoseA, objectB, targetPoseB, allowedPenetration, CollisionDetection));
}