particleTrimesh1 method

bool particleTrimesh1(Particle si, Trimesh sj, Vec3 xi, Vec3 xj, Quaternion qi, Quaternion qj, Body bi, Body bj, [ Shape? rsi, Shape? rsj, bool justTest = false, ])

Implementation

bool particleTrimesh1(
  Particle si,
  Trimesh sj,
  Vec3 xi,
  Vec3 xj,
  Quaternion qi,
  Quaternion qj,
  Body bi,
  Body bj,
  [
    Shape? rsi,
    Shape? rsj,
    bool justTest = false
]){
  final local = Vec3();
  final localAABB = AABB();
  final triangles = _sphereTrimeshTriangles;

  // Transform ray to local space!
  Transform.pointToLocalFrame(xj, qj, xi, local);

  localAABB.lowerBound.set(
    local.x - 0.1,
    local.y - 0.1,
    local.z - 0.1
  );
  localAABB.upperBound.set(
    local.x + 0.1,
    local.y + 0.1,
    local.z + 0.1
  );

  sj.getTrianglesInAABB(localAABB, triangles);

  final va = Vec3();
  final vb = Vec3();
  final vc = Vec3();
  final normal = Vec3();
  final relpos = Vec3();

  for (int i = 0; i < triangles.length; i++) {
    sj.getTriangleVertices(triangles[i], va, vb, vc);
    sj.getFaceNormal(triangles[i], normal);

    //final normal = Vec3();
    //normal.set(0, 0, 1);
    //bj.quaternion.vmult(normal, normal); // Turn normal according to plane

    xi.vsub(vc, relpos);
    final dot = normal.dot(relpos);

    if (dot <= 0.0) {
      if (justTest) {
        return true;
      }
      final r = createContactEquation(bi, bj, si, sj, rsi, rsj);
      r.ni.copy(normal); // Contact normal is the plane normal
      r.ni.negate(r.ni);
      r.ri.set(0, 0, 0); // Center of particle

      // Get particle position projected on plane
      final projected = _particlePlaneProjected;
      normal.scale(normal.dot(xi), projected);
      xi.vsub(projected, projected);

      // rj is now the projected world position minus plane position
      r.rj.copy(projected);
      result.add(r);
      createFrictionEquationsFromContact(r, frictionResult);
    }
  }

  triangles.clear();

  return false;
}