planeTrimesh method

bool planeTrimesh(Plane planeShape, Trimesh sj, Vec3 planePos, Vec3 xj, Quaternion planeQuat, Quaternion qj, Body planeBody, Body bj, [ Shape? rsi, Shape? rsj, bool justTest = false, ])

Implementation

bool planeTrimesh(
  Plane planeShape,
  Trimesh sj,
  Vec3 planePos,
  Vec3 xj,
  Quaternion planeQuat,
  Quaternion qj,
  Body planeBody,
  Body bj,
  [
    Shape? rsi,
    Shape? rsj,
    bool justTest = false
]){
  // Make contacts!
  final v = Vec3();

  final normal = _planeTrimeshNormal;
  normal.set(0, 0, 1);
  planeQuat.vmult(normal, normal);// Turn normal according to plane

  for (int i = 0; i < sj.vertices.length / 3; i++) {
    // Get world vertex from trimesh
    sj.getVertex(i, v);

    // Safe up
    final v2 = Vec3();
    v2.copy(v);
    Transform.pointToWorldFrame(xj, qj, v2, v);

    // Check plane side
    final relpos = _planeTrimeshRelpos;
    v.vsub(planePos, relpos);
    final dot = normal.dot(relpos);

    if (dot <= 0.0) {
      if (justTest) {
        return true;
      }

      final r = createContactEquation(planeBody,bj,planeShape,sj, rsi, rsj);

      r.ni.copy(normal); // Contact normal is the plane normal

      // Get vertex position projected on plane
      final projected = _planeTrimeshProjected;
      normal.scale(relpos.dot(normal), projected);
      v.vsub(projected, projected);

      // ri is the projected world position minus plane position
      r.ri.copy(projected);
      r.ri.vsub(planeBody.position, r.ri);

      r.rj.copy(v);
      r.rj.vsub(bj.position, r.rj);

      // Store result
      result.add(r);
      createFrictionEquationsFromContact(r, frictionResult);
    }
  }

  return false;
}