detectCollision method

@override void detectCollision(Shape shape1, Shape shape2, ContactManifold manifold)

Detect collision of the shapes provided

Implementation

@override
void detectCollision(Shape shape1, Shape shape2,ContactManifold manifold){
  if(shape1 is Tetra && shape2 is Tetra){
    int i, j;
    Vector3 vec;
    List<Face> fs1 = shape1.faces;
    List<Vector3> vs1 = shape1.verts;
    Vector3 j1, j2, j3;
    int ts = 0; // Triangle vertices `j1`, `j2` and `j3`

    // fs is undeclared
    List<Face> fs = fs1;

    for(i = 0; i < 4; i++){
      vec = vs1[i];
      for(j = 0; j < 4; j++){
        j1 = fs[i].a;
        j2 = fs[i].b;
        j3 = fs[i].c;

        if(
          tricheck(pt(vec.x, vec.y), pt(j1.x, j1.y), pt(j2.x, j2.y), pt(j3.x, j3.y)) &&
          tricheck(pt(vec.x, vec.z), pt(j1.x, j1.z), pt(j2.x, j2.z), pt(j3.x, j3.z)) &&
          tricheck(pt(vec.z, vec.y), pt(j1.z, j1.y), pt(j2.z, j2.y), pt(j3.z, j3.y))
        ){
          ts++;
        }

        if(ts == 4){
          manifold.addPointVec(vec);
        }
      }
    }
  }
}