BEPUphysics.CollisionTests.Manifolds.InstancedMeshContactManifold.ConfigureTriangle C# (CSharp) Method

        protected override bool ConfigureTriangle(int i, out TriangleIndices indices)
        {
            MeshBoundingBoxTreeData data = mesh.Shape.TriangleMesh.Data;
            int triangleIndex = overlappedTriangles.Elements[i];
            data.GetTriangle(triangleIndex, out localTriangleShape.vA, out localTriangleShape.vB, out localTriangleShape.vC);
            AffineTransform.Transform(ref localTriangleShape.vA, ref mesh.worldTransform, out localTriangleShape.vA);
            AffineTransform.Transform(ref localTriangleShape.vB, ref mesh.worldTransform, out localTriangleShape.vB);
            AffineTransform.Transform(ref localTriangleShape.vC, ref mesh.worldTransform, out localTriangleShape.vC);
            //In instanced meshes, the bounding box we found in local space could collect more triangles than strictly necessary.
            //By doing a second pass, we should be able to prune out quite a few of them.
            BoundingBox triangleAABB;
            Toolbox.GetTriangleBoundingBox(ref localTriangleShape.vA, ref localTriangleShape.vB, ref localTriangleShape.vC, out triangleAABB);
            bool toReturn;
            triangleAABB.Intersects(ref convex.boundingBox, out toReturn);
            if (!toReturn)
            {
                indices = new TriangleIndices();
                return false;
            }

            localTriangleShape.sidedness = mesh.sidedness;
            localTriangleShape.collisionMargin = 0;
            indices = new TriangleIndices()
            {
                A = data.indices[triangleIndex],
                B = data.indices[triangleIndex + 1],
                C = data.indices[triangleIndex + 2]
            };

            return true;
        }