private bool IsContactUnique(ref ContactData contactCandidate)
{
float distanceSquared;
for (int i = 0; i < contacts.Count; i++)
{
Vector3.DistanceSquared(ref contacts.Elements[i].Position, ref contactCandidate.Position, out distanceSquared);
if (distanceSquared < CollisionDetectionSettings.ContactMinimumSeparationDistanceSquared)
{
//Update the existing 'redundant' contact with the new information.
//This works out because the new contact is the deepest contact according to the previous collision detection iteration.
contacts.Elements[i].Normal = contactCandidate.Normal;
contacts.Elements[i].Position = contactCandidate.Position;
contacts.Elements[i].PenetrationDepth = contactCandidate.PenetrationDepth;
supplementData.Elements[i].BasePenetrationDepth = contactCandidate.PenetrationDepth;
RigidTransform.TransformByInverse(ref contactCandidate.Position, ref convex.worldTransform, out supplementData.Elements[i].LocalOffsetA);
RigidTransform.TransformByInverse(ref contactCandidate.Position, ref triangle.worldTransform, out supplementData.Elements[i].LocalOffsetB);
return false;
}
}
return true;
}
