public static void processCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, PersistentManifold resultOut)
{
bool needSwap = body0.getCollisionShape() is CapsuleShape;
CollisionObject boxObject = needSwap ? body1 : body0;
CollisionObject capsuleObject = needSwap ? body0 : body1;
BoxShape boxShape = (BoxShape)boxObject.getCollisionShape();
CapsuleShape capsuleShape = (CapsuleShape)capsuleObject.getCollisionShape();
VIntTransform boxTransform = boxObject.getWorldTransform();
VIntTransform capsuleTransform = capsuleObject.getWorldTransform();
VInt3 p0 = capsuleTransform.TransformPoint(capsuleShape.getUpAxis() * capsuleShape.getHalfHeight()), p1 = capsuleTransform.TransformPoint(capsuleShape.getUpAxis() * -capsuleShape.getHalfHeight());
VFixedPoint lParam = VFixedPoint.Zero; VInt3 closestPointBoxLS = VInt3.zero;
VFixedPoint distSq = SegmentBoxDistance.distanceSegmentBoxSquared(p0, p1, boxShape.getHalfExtent(), boxTransform, ref lParam, ref closestPointBoxLS);
VInt3 closestPointBoxWS = boxTransform.TransformPoint(closestPointBoxLS);
VInt3 closestPointLineWS = p0 * (VFixedPoint.One - lParam) + p1 * lParam;
VFixedPoint dist = FMath.Sqrt(distSq) - capsuleShape.getRadius();
if (dist > VFixedPoint.Zero)
{
return;
}
if ((closestPointBoxWS - closestPointLineWS).sqrMagnitude > Globals.EPS2)
{
VInt3 normalOnBoxWS = (closestPointLineWS - closestPointBoxWS).Normalize();
ManifoldPoint contactPoint = new ManifoldPoint(needSwap ? closestPointLineWS - normalOnBoxWS * capsuleShape.getRadius() : closestPointBoxWS,
!needSwap ? closestPointLineWS - normalOnBoxWS * capsuleShape.getRadius() : closestPointBoxWS,
normalOnBoxWS * (needSwap ? 1 : -1), dist);
resultOut.addManifoldPoint(contactPoint);
}
else //box and line are intersected
{
//EPA
LineShape coreShape = new LineShape(capsuleShape);
VInt3 pa = VInt3.zero, pb = VInt3.zero, normal = VInt3.zero;
VFixedPoint depth = VFixedPoint.Zero;
PxGJKStatus result = EpaSolver.calcPenDepth(coreShape, boxShape, capsuleTransform, boxTransform, ref pa, ref pb, ref normal, ref depth);
if (result == PxGJKStatus.EPA_CONTACT)
{
ManifoldPoint contactPoint = new ManifoldPoint(needSwap ? pa - normal * capsuleShape.getRadius() : pb, !needSwap ? pa - normal * capsuleShape.getRadius() : pb, needSwap ? normal : -normal, depth - capsuleShape.getRadius());
resultOut.addManifoldPoint(contactPoint);
}
}
}
public static void processCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, PersistentManifold resultOut)
{
BoxShape box0 = (BoxShape)body0.getCollisionShape();
BoxShape box1 = (BoxShape)body1.getCollisionShape();
VIntTransform transform0 = body0.getWorldTransform();
VIntTransform transform1 = body1.getWorldTransform();
VInt3 box0Extent = box0.getHalfExtent();
VInt3 box1Extent = box1.getHalfExtent();
doBoxBoxGenerateContacts(box0Extent, box1Extent, transform0, transform1, resultOut);
if (resultOut.getContactPointsNum() == 0)
{
VInt3 pa = VInt3.zero, pb = VInt3.zero, normal = VInt3.zero;
VFixedPoint depth = VFixedPoint.Zero;
PxGJKStatus result = EpaSolver.calcPenDepth(box0, box1, transform0, transform1, ref pa, ref pb, ref normal, ref depth);
if (result == PxGJKStatus.EPA_CONTACT)
{
ManifoldPoint contactPoint = new ManifoldPoint(pa, pb, normal, depth);
resultOut.addManifoldPoint(contactPoint);
}
}
}
