void fillPointFaceBoxBox(
const CollisionBox &one,
const CollisionBox &two,
const Vector3 &toCentre,
CollisionData *data,
unsigned best,
real pen
)
{
// This method is called when we know that a vertex from
// box two is in contact with box one.
Contact* contact = data->contacts;
// We know which axis the collision is on (i.e. best),
// but we need to work out which of the two faces on
// this axis.
Vector3 normal = one.getAxis(best);
if (one.getAxis(best) * toCentre > 0)
{
normal = normal * -1.0f;
}
// Work out which vertex of box two we're colliding with.
// Using toCentre doesn't work!
Vector3 vertex = two.halfSize;
if (two.getAxis(0) * normal < 0) vertex.x = -vertex.x;
if (two.getAxis(1) * normal < 0) vertex.y = -vertex.y;
if (two.getAxis(2) * normal < 0) vertex.z = -vertex.z;
// Create the contact data
contact->contactNormal = normal;
contact->penetration = pen;
contact->contactPoint = two.getTransform() * vertex;
contact->setBodyData(one.body, two.body,
data->friction, data->restitution);
}
