protected internal override int FindOverlappingTriangles(float dt)
{
BoundingBox boundingBox;
convex.Shape.GetLocalBoundingBox(ref convex.worldTransform, ref mesh.worldTransform, out boundingBox);
if (convex.entity != null)
{
Vector3 transformedVelocity;
Matrix3x3 inverse;
Matrix3x3.Invert(ref mesh.worldTransform.LinearTransform, out inverse);
Matrix3x3.Transform(ref convex.entity.linearVelocity, ref inverse, out transformedVelocity);
Vector3.Multiply(ref transformedVelocity, dt, out transformedVelocity);
if (transformedVelocity.X > 0)
boundingBox.Max.X += transformedVelocity.X;
else
boundingBox.Min.X += transformedVelocity.X;
if (transformedVelocity.Y > 0)
boundingBox.Max.Y += transformedVelocity.Y;
else
boundingBox.Min.Y += transformedVelocity.Y;
if (transformedVelocity.Z > 0)
boundingBox.Max.Z += transformedVelocity.Z;
else
boundingBox.Min.Z += transformedVelocity.Z;
}
mesh.Shape.TriangleMesh.Tree.GetOverlaps(boundingBox, overlappedTriangles);
return overlappedTriangles.Count;
}