BEPUphysics.CollisionTests.CollisionAlgorithms.MPRToolbox.RefinePenetration C# (CSharp) 메소드

        public static void RefinePenetration(ConvexShape shapeA, ConvexShape shapeB, ref RigidTransform localTransformB, float initialDepth, ref Vector3 initialNormal, out float penetrationDepth, out Vector3 refinedNormal, out Vector3 position)
        {
            //The local casting can optionally continue.  Eventually, it will converge to the local minimum.
            int optimizingCount = 0;
            refinedNormal = initialNormal;
            penetrationDepth = initialDepth;
            float candidateDepth;
            Vector3 candidateNormal;

            while (true)
            {

                MPRToolbox.LocalSurfaceCast(shapeA, shapeB, ref localTransformB, ref refinedNormal, out candidateDepth, out candidateNormal, out position);
                if (penetrationDepth - candidateDepth <= depthRefinementEpsilon ||
                    ++optimizingCount >= maximumDepthRefinementIterations)
                {
                    //If we've reached the end due to convergence, the normal will be extremely close to correct (if not 100% correct).
                    //The candidateDepth computed is the previous contact normal's depth.
                    //The reason why the previous normal is kept is that the last raycast computed the depth for that normal, not the new normal.
                    penetrationDepth = candidateDepth;
                    break;
                }

                penetrationDepth = candidateDepth;
                refinedNormal = candidateNormal;

            }
        }