// Create contact points for a capsule and triangle in world space.
public static unsafe void CapsuleTriangle(
CapsuleCollider *capsuleA, PolygonCollider *triangleB,
MTransform worldFromA, MTransform aFromB, float maxDistance,
out Manifold manifold)
{
Assert.IsTrue(triangleB->Vertices.Length == 3);
DistanceQueries.Result convexDistance = DistanceQueries.CapsuleTriangle(capsuleA, triangleB, aFromB);
if (convexDistance.Distance < maxDistance)
{
// Build manifold
manifold = new Manifold
{
Normal = math.mul(worldFromA.Rotation, -convexDistance.NormalInA) // negate the normal because we are temporarily flipping to triangle A capsule B
};
MTransform worldFromB = Mul(worldFromA, aFromB);
MTransform bFromA = Inverse(aFromB);
float3 normalInB = math.mul(bFromA.Rotation, convexDistance.NormalInA);
int faceIndexB = triangleB->ConvexHull.GetSupportingFace(normalInB);
if (FaceEdge(ref triangleB->ConvexHull, ref capsuleA->ConvexHull, faceIndexB, worldFromB, bFromA, -normalInB, convexDistance.Distance + capsuleA->Radius, ref manifold))
{
manifold.Flip();
}
else
{
manifold = new Manifold(convexDistance, worldFromA);
}
}
else
{
manifold = new Manifold();
}
}
public unsafe bool CalculateDistance <T>(ColliderDistanceInput input, ref T collector) where T : struct, ICollector <DistanceHit>
{
fixed(TerrainCollider *target = &this)
{
return(DistanceQueries.ColliderCollider(input, (Collider *)target, ref collector));
}
}
// Create a contact point for a pair of spheres in world space.
public static unsafe void SphereSphere(
SphereCollider *sphereA, SphereCollider *sphereB,
MTransform worldFromA, MTransform aFromB, float maxDistance,
out Manifold manifold)
{
DistanceQueries.Result convexDistance = DistanceQueries.SphereSphere(sphereA, sphereB, aFromB);
if (convexDistance.Distance < maxDistance)
{
manifold = new Manifold(convexDistance, worldFromA);
}
else
{
manifold = new Manifold();
}
}
// Create a contact point for a pair of capsules in world space.
public static unsafe void CapsuleCapsule(
CapsuleCollider *capsuleA, CapsuleCollider *capsuleB,
MTransform worldFromA, MTransform aFromB, float maxDistance,
out Manifold manifold)
{
// TODO: Should produce a multi-point manifold
DistanceQueries.Result convexDistance = DistanceQueries.CapsuleCapsule(capsuleA, capsuleB, aFromB);
if (convexDistance.Distance < maxDistance)
{
manifold = new Manifold(convexDistance, worldFromA);
}
else
{
manifold = new Manifold();
}
}
// Create a single point manifold between a capsule and a sphere in world space.
public static unsafe void CapsuleSphere(
CapsuleCollider *capsuleA, SphereCollider *sphereB,
MTransform worldFromA, MTransform aFromB, float maxDistance,
out Manifold manifold)
{
DistanceQueries.Result convexDistance = DistanceQueries.CapsuleSphere(
capsuleA->Vertex0, capsuleA->Vertex1, capsuleA->Radius, sphereB->Center, sphereB->Radius, aFromB);
if (convexDistance.Distance < maxDistance)
{
manifold = new Manifold(convexDistance, worldFromA);
}
else
{
manifold = new Manifold();
}
}
// Create a single point manifold between a triangle and sphere in world space.
public static unsafe void TriangleSphere(
PolygonCollider *triangleA, SphereCollider *sphereB,
MTransform worldFromA, MTransform aFromB, float maxDistance,
out Manifold manifold)
{
Assert.IsTrue(triangleA->Vertices.Length == 3);
DistanceQueries.Result convexDistance = DistanceQueries.TriangleSphere(
triangleA->Vertices[0], triangleA->Vertices[1], triangleA->Vertices[2], triangleA->Planes[0].Normal,
sphereB->Center, sphereB->Radius, aFromB);
if (convexDistance.Distance < maxDistance)
{
manifold = new Manifold(convexDistance, worldFromA);
}
else
{
manifold = new Manifold();
}
}
