public override void UpdateCollision(float dt)
{
WasContaining = Containing;
WasTouching = Touching;
var transform = new RigidTransform { Orientation = Quaternion.Identity };
DetectorVolume.TriangleMesh.Tree.GetOverlaps(convex.boundingBox, overlaps);
for (int i = 0; i < overlaps.Count; i++)
{
DetectorVolume.TriangleMesh.Data.GetTriangle(overlaps.Elements[i], out triangle.vA, out triangle.vB, out triangle.vC);
Vector3.Add(ref triangle.vA, ref triangle.vB, out transform.Position);
Vector3.Add(ref triangle.vC, ref transform.Position, out transform.Position);
Vector3.Multiply(ref transform.Position, 1 / 3f, out transform.Position);
Vector3.Subtract(ref triangle.vA, ref transform.Position, out triangle.vA);
Vector3.Subtract(ref triangle.vB, ref transform.Position, out triangle.vB);
Vector3.Subtract(ref triangle.vC, ref transform.Position, out triangle.vC);
//If this triangle collides with the convex, we can stop immediately since we know we're touching and not containing.)))
//[MPR is used here in lieu of GJK because the MPR implementation tends to finish quicker when objects are overlapping than GJK. The GJK implementation does better on separated objects.]
if (MPRToolbox.AreShapesOverlapping(convex.Shape, triangle, ref convex.worldTransform, ref transform))
{
Touching = true;
//The convex can't be fully contained if it's still touching the surface.
Containing = false;
overlaps.Clear();
goto events;
}
}
overlaps.Clear();
//If we get here, then there was no shell intersection.
//If the convex's center point is contained by the mesh, then the convex is fully contained.
//If this is a child pair, the CheckContainment flag may be set to false. This is because the parent has
//already determined that it is not contained (another child performed the check and found that it was not contained)
//and that it is already touching somehow (either by intersection or by containment).
//so further containment tests are unnecessary.
if (CheckContainment && DetectorVolume.IsPointContained(ref convex.worldTransform.Position, overlaps))
{
Touching = true;
Containing = true;
goto events;
}
//If we get here, then there was no surface intersection and the convex's center is not contained- the volume and convex are separate!
Touching = false;
Containing = false;
events:
NotifyDetectorVolumeOfChanges();
}
