/// <summary>
/// Test for collisions between two hulls.
/// </summary>
/// <param name="left">The first hull to test for collisions.</param>
/// <param name="leftTransform">The transform taking objects from entity to world space for the left hull.</param>
/// <param name="right">The second hull to test for collisions.</param>
/// <param name="rightTransform">The transform taking objects from entity to world space for the right hull.</param>
/// <returns>The result of the collision or null if no collision is found.</returns>
public static CollisionResult <ConvexHull> Collided(Hull left, Matrix leftTransform, Hull right, Matrix rightTransform)
{
foreach (ConvexHull leftHull in left.convexHulls)
{
foreach (ConvexHull rightHull in right.convexHulls)
{
CollisionResult <ConvexHull> result = ConvexHull.Collided(leftHull, leftTransform, rightHull, rightTransform);
if (result == null)
{
result = ConvexHull.Collided(rightHull, rightTransform, leftHull, leftTransform);
if (result != null)
{
result.Normal = -result.Normal;
}
}
return(result);
}
}
return(null);
}
