C# CollisionFunctor.CollisionNotify方法代码示例

        public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
        {
            Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
            Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;

            // todo - proper swept test
            Capsule oldCapsule0 = (Capsule)info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0);
            Capsule newCapsule0 = (Capsule)info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0);
            Segment oldSeg0 = new Segment(oldCapsule0.Position, oldCapsule0.Length * oldCapsule0.Orientation.Backward);
            Segment newSeg0 = new Segment(newCapsule0.Position, newCapsule0.Length * newCapsule0.Orientation.Backward);

            Capsule oldCapsule1 = (Capsule)info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1);
            Capsule newCapsule1 = (Capsule)info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1);
            Segment oldSeg1 = new Segment(oldCapsule1.Position, oldCapsule1.Length * oldCapsule1.Orientation.Backward);
            Segment newSeg1 = new Segment(newCapsule1.Position, newCapsule1.Length * newCapsule1.Orientation.Backward);

            float radSum = newCapsule0.Radius + newCapsule1.Radius;

            float oldt0, oldt1;
            float newt0, newt1;
            float oldDistSq = Distance.SegmentSegmentDistanceSq(out oldt0, out oldt1, oldSeg0, oldSeg1);
            float newDistSq = Distance.SegmentSegmentDistanceSq(out newt0, out newt1, newSeg0, newSeg1);

            if (System.Math.Min(oldDistSq, newDistSq) < ((radSum + collTolerance) * (radSum + collTolerance)))
            {
                Vector3 pos0 = oldSeg0.GetPoint(oldt0);
                Vector3 pos1 = oldSeg1.GetPoint(oldt1);

                Vector3 delta = pos0 - pos1;

                float dist = (float)System.Math.Sqrt((float)oldDistSq);
                float depth = radSum - dist;

                if (dist > JiggleMath.Epsilon)
                {
                    delta /= dist;
                }
                else
                {
                    // todo - make this not random
                    delta = Vector3.Transform(Vector3.Backward, Matrix.CreateFromAxisAngle(Vector3.Up, MathHelper.ToRadians(random.Next(360))));
                }

                Vector3 worldPos = pos1 +
                    (oldCapsule1.Radius - 0.5f * depth) * delta;

                unsafe
                {
                    SmallCollPointInfo collInfo = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, depth);
                    collisionFunctor.CollisionNotify(ref info, ref delta, &collInfo, 1);
                }

            }
        }

        /// <summary>
        /// 
        /// </summary>
        /// <param name="info"></param>
        /// <param name="collTolerance"></param>
        /// <param name="collisionFunctor"></param>
        public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
        {
            if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
            {
                CollisionSkin skinSwap = info.Skin0;
                info.Skin0 = info.Skin1;
                info.Skin1 = skinSwap;
                int primSwap = info.IndexPrim0;
                info.IndexPrim0 = info.IndexPrim1;
                info.IndexPrim1 = primSwap;
            }

            Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
            Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;

            // todo - proper swept test
            Sphere oldSphere = (Sphere)info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0);
            Sphere newSphere = (Sphere)info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0);

            JigLibX.Geometry.Plane oldPlane = (JigLibX.Geometry.Plane)info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1);
            JigLibX.Geometry.Plane newPlane = (JigLibX.Geometry.Plane)info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1);

            Matrix newPlaneInvTransform = newPlane.InverseTransformMatrix;
            Matrix oldPlaneInvTransform = oldPlane.InverseTransformMatrix;

            Vector3 oldSpherePos = Vector3.Transform(oldSphere.Position, oldPlaneInvTransform);
            Vector3 newSpherePos = Vector3.Transform(newSphere.Position, newPlaneInvTransform);

            // consider it a contact if either old or new are touching
            float oldDist = Distance.PointPlaneDistance(oldSpherePos, oldPlane);
            float newDist = Distance.PointPlaneDistance(newSpherePos, newPlane);

            if (System.Math.Min(newDist, oldDist) > collTolerance + newSphere.Radius)
                return;

            // collision - record depth using the old values
            float oldDepth = oldSphere.Radius - oldDist;

            // calc the world position based on the old position(s)
            Vector3 worldPos = oldSphere.Position - oldSphere.Radius * oldPlane.Normal;

            unsafe
            {
                SmallCollPointInfo collInfo = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, oldDepth);
                collisionFunctor.CollisionNotify(ref info, ref oldPlane.normal, &collInfo, 1);
            }
        }

        /// <summary>
        /// CollDetect
        /// </summary>
        /// <param name="info"></param>
        /// <param name="collTolerance"></param>
        /// <param name="collisionFunctor"></param>
        public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
        {
            Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
            Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;

            // todo - proper swept test
            Sphere oldSphere0 = (Sphere) info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0);
            Sphere newSphere0 = (Sphere)info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0);
            Sphere oldSphere1 = (Sphere)info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1);
            Sphere newSphere1 = (Sphere)info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1);

            Vector3 oldDelta = oldSphere0.Position - oldSphere1.Position;
            Vector3 newDelta = newSphere0.Position - oldSphere1.Position;

            float oldDistSq = oldDelta.LengthSquared;
            float newDistSq = newDelta.LengthSquared;

            float radSum = newSphere0.Radius + newSphere1.Radius;

            if (System.Math.Min(oldDistSq, newDistSq) < ((radSum + collTolerance) * (radSum + collTolerance)))
            {
                float oldDist = (float)System.Math.Sqrt((float)oldDistSq);
                float depth = radSum - oldDist;

                if (oldDist > JiggleMath.Epsilon)
                {
                    oldDelta /= oldDist;
                }
                else
                {
                    // TODO - make this not random...!
                    oldDelta = Vector3Extensions.TransformNormal(Vector3Extensions.Backward, Matrix4.CreateFromAxisAngle(Vector3Extensions.Up, OpenTKHelper.ToRadians(random.Next(360))));
                }

                Vector3 worldPos = oldSphere1.Position +
                    (oldSphere1.Radius - 0.5f * depth) * oldDelta;

                unsafe
                {
                    SmallCollPointInfo collInfo = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, depth);

                    collisionFunctor.CollisionNotify(ref info, ref oldDelta, &collInfo, 1);
                }
            }
        }

        /// <summary>
        /// 
        /// </summary>
        /// <param name="infoOrig"></param>
        /// <param name="collTolerance"></param>
        /// <param name="collisionFunctor"></param>
        public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
        {
            CollDetectInfo info = infoOrig;
            if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
            {
                CollisionSkin skinSwap = info.Skin0;
                info.Skin0 = info.Skin1;
                info.Skin1 = skinSwap;
                int primSwap = info.IndexPrim0;
                info.IndexPrim0 = info.IndexPrim1;
                info.IndexPrim1 = primSwap;
            }

            Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
            Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;

            // todo - proper swept test
            Sphere oldSphere = (Sphere)info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0);
            Sphere newSphere = (Sphere)info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0);

            Heightmap oldHeightmap = (Heightmap)info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1);
            Heightmap newHeightmap = (Heightmap)info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1);

            float newDist;
            Vector3 normal;
            newHeightmap.GetHeightAndNormal(out newDist, out normal,newSphere.Position);
            if (newDist < collTolerance + newSphere.Radius)
            {
                float oldDist = oldHeightmap.GetHeight(oldSphere.Position);
                float depth = oldSphere.Radius - oldDist;

                // calc the world position when it just hit
                Vector3 oldPt = oldSphere.Position - oldSphere.Radius * normal;
                unsafe
                {
                    SmallCollPointInfo ptInfo = new SmallCollPointInfo(oldPt - body0Pos, oldPt - body1Pos, depth);

                    collisionFunctor.CollisionNotify(ref info, ref normal, &ptInfo, 1);
                }
            }
        }

        /// <summary>
        /// Detect BoxPlane Collisions.
        /// </summary>
        /// <param name="info"></param>
        /// <param name="collTolerance"></param>
        /// <param name="collisionFunctor"></param>
        public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
        {
            if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
            {
                CollisionSkin skinSwap = info.Skin0;
                info.Skin0 = info.Skin1;
                info.Skin1 = skinSwap;
                int primSwap = info.IndexPrim0;
                info.IndexPrim0 = info.IndexPrim1;
                info.IndexPrim1 = primSwap;
            }

            Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
            Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;

            Box oldBox = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Box;
            Box newBox = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Box;

            JPlane oldPlane = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as JPlane;
            JPlane newPlane = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as JPlane;

            Matrix4 newPlaneInvTransform = newPlane.InverseTransformMatrix;
            Vector3 newBoxCen = Vector3.Transform(newBox.GetCentre(), newPlaneInvTransform);

            // quick check
            float centreDist = Distance.PointPlaneDistance(newBoxCen, newPlane);
            if (centreDist > collTolerance + newBox.GetBoundingRadiusAroundCentre())
                return;

            Matrix4 oldPlaneInvTransform = oldPlane.InverseTransformMatrix;

            Vector3[] newPts;
            newBox.GetCornerPoints(out newPts);
            Vector3[] oldPts;
            oldBox.GetCornerPoints(out oldPts);

            unsafe
            {
            #if USE_STACKALLOC
                SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
            #else
                SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
                fixed (SmallCollPointInfo* collPts = collPtArray)
            #endif
                {
                    int numCollPts = 0;

                    for (int i = 0; i < 8; ++i)
                    {
                        Vector3.Transform(ref oldPts[i], ref oldPlaneInvTransform, out oldTransPts[i]);
                        Vector3.Transform(ref newPts[i], ref newPlaneInvTransform, out newPts[i]);

                        float oldDepth = -Distance.PointPlaneDistance(ref oldTransPts[i], oldPlane);
                        float newDepth = -Distance.PointPlaneDistance(ref newPts[i], newPlane);

                        if (OpenTKHelper.Max(oldDepth, newDepth) > -collTolerance)
                        {
                            if (numCollPts < MaxLocalStackSCPI)
                            {
                                // BEN-OPTIMISATION: Now reuses instead of reallocating.
                                collPts[numCollPts].R0 = oldPts[i] - body0Pos;
                                collPts[numCollPts].R1 = oldPts[i] - body1Pos;
                                collPts[numCollPts++].InitialPenetration = oldDepth;
                            }
                        }
                    }

                    if (numCollPts > 0)
                    {
                        collisionFunctor.CollisionNotify(ref info, ref oldPlane.normal, collPts, numCollPts);
                    }
                }
            #if !USE_STACKALLOC
                FreeStackAlloc(collPtArray);
            #endif
            }
        }

        /// <summary>
        /// CollDetect
        /// </summary>
        /// <param name="info"></param>
        /// <param name="collTolerance"></param>
        /// <param name="collisionFunctor"></param>
        public override void CollDetect(CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
        {
            if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
            {
                CollisionSkin skinSwap = info.Skin0;
                info.Skin0 = info.Skin1;
                info.Skin1 = skinSwap;
                int primSwap = info.IndexPrim0;
                info.IndexPrim0 = info.IndexPrim1;
                info.IndexPrim1 = primSwap;
            }

            Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
            Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;

            // todo - proper swept test
            Capsule oldCapsule = (Capsule)info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0);
            Capsule newCapsule = (Capsule)info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0);

            JigLibX.Geometry.Plane oldPlane = (JigLibX.Geometry.Plane)info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1);
            JigLibX.Geometry.Plane newPlane = (JigLibX.Geometry.Plane)info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1);

            Matrix newPlaneInvTransform = newPlane.InverseTransformMatrix;
            Matrix oldPlaneInvTransform = oldPlane.InverseTransformMatrix;

            unsafe
            {
            #if USE_STACKALLOC
                SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
            #else
                SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
                fixed (SmallCollPointInfo* collPts = collPtArray)
            #endif
                {
                    int numCollPts = 0;

                    // the start
                    {
                        Vector3 oldCapsuleStartPos = Vector3.Transform(oldCapsule.Position, oldPlaneInvTransform);
                        Vector3 newCapsuleStartPos = Vector3.Transform(newCapsule.Position, newPlaneInvTransform);

                        float oldDist = Distance.PointPlaneDistance(oldCapsuleStartPos, oldPlane);
                        float newDist = Distance.PointPlaneDistance(newCapsuleStartPos, newPlane);

                        if (MathHelper.Min(newDist, oldDist) < collTolerance + newCapsule.Radius)
                        {
                            float oldDepth = oldCapsule.Radius - oldDist;
                            // calc the world position based on the old position8(s)
                            Vector3 worldPos = oldCapsule.Position - oldCapsule.Radius * oldPlane.Normal;

                            // BEN-OPTIMISATION: Now reuses existing collPts instead of reallocating.
                            collPts[numCollPts].R0 = worldPos - body0Pos;
                            collPts[numCollPts].R1 = worldPos - body1Pos;
                            collPts[numCollPts++].InitialPenetration = oldDepth;
                        }
                    }

                    // the end
                    {
                        Vector3 oldCapsuleEndPos = Vector3.Transform(oldCapsule.GetEnd(), oldPlaneInvTransform);
                        Vector3 newCapsuleEndPos = Vector3.Transform(newCapsule.GetEnd(), newPlaneInvTransform);
                        float oldDist = Distance.PointPlaneDistance(oldCapsuleEndPos, oldPlane);
                        float newDist = Distance.PointPlaneDistance(newCapsuleEndPos, newPlane);

                        if (System.Math.Min(newDist, oldDist) < collTolerance + newCapsule.Radius)
                        {
                            float oldDepth = oldCapsule.Radius - oldDist;
                            // calc the world position based on the old position(s)
                            Vector3 worldPos = oldCapsule.GetEnd() - oldCapsule.Radius * oldPlane.Normal;

                            // BEN-OPTIMISATION: Now reuses existing collPts instead of reallocating.
                            collPts[numCollPts].R0 = worldPos - body0Pos;
                            collPts[numCollPts].R1 = worldPos - body1Pos;
                            collPts[numCollPts++].InitialPenetration = oldDepth;
                        }

                        if (numCollPts > 0)
                        {
                            collisionFunctor.CollisionNotify(ref info, ref oldPlane.normal, collPts, numCollPts);
                        }
                    }
                }
            #if !USE_STACKALLOC
                FreeStackAlloc(collPtArray);
            #endif
            }
        }

        /// <summary>
        /// CollDetect
        /// </summary>
        /// <param name="infoOrig"></param>
        /// <param name="collTolerance"></param>
        /// <param name="collisionFunctor"></param>
        public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
        {
           // get the skins in the order that we're expecting
            CollDetectInfo info = infoOrig;

            if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
            {
                CollisionSkin skinSwap = info.Skin0;
                info.Skin0 = info.Skin1;
                info.Skin1 = skinSwap;
                int primSwap = info.IndexPrim0;
                info.IndexPrim0 = info.IndexPrim1;
                info.IndexPrim1 = primSwap;
            }

            Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
            Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;

            // todo - proper sweep test
            Sphere oldSphere = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Sphere;
            Sphere newSphere = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Sphere;

            Box oldBox = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Box;
            Box newBox = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Box;

            Vector3 oldBoxPoint;
            Vector3 newBoxPoint;

            float oldDist = oldBox.GetDistanceToPoint(out oldBoxPoint, oldSphere.Position);
            float newDist = newBox.GetDistanceToPoint(out newBoxPoint, newSphere.Position);

            // normally point will be outside
            float oldDepth = oldSphere.Radius - oldDist;
            float newDepth = newSphere.Radius - newDist;

            if (System.Math.Max(oldDepth, newDepth) > -collTolerance)
            {
                Vector3 dir;
                if (oldDist < -JiggleMath.Epsilon)
                {
                    dir = oldBoxPoint - oldSphere.Position - oldBoxPoint;
                    JiggleMath.NormalizeSafe(ref dir);
                }
                else if (oldDist > JiggleMath.Epsilon)
                {
                    dir = oldSphere.Position - oldBoxPoint;
                    JiggleMath.NormalizeSafe(ref dir);
                }
                else
                {
                    dir = oldSphere.Position - oldBox.GetCentre();
                    JiggleMath.NormalizeSafe(ref dir);
                }

                unsafe
                {
                    SmallCollPointInfo collInfo = new SmallCollPointInfo(oldBoxPoint - body0Pos,
                        oldBoxPoint - body1Pos, oldDepth);

                    
                    collisionFunctor.CollisionNotify(ref info, ref dir, &collInfo, 1);
                }

            }
        #endregion

        }

        /// <summary>
        /// CollDetect
        /// </summary>
        /// <param name="infoOrig"></param>
        /// <param name="collTolerance"></param>
        /// <param name="collisionFunctor"></param>
        public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
        {
            // get the skins in the order that we're expectiing
            CollDetectInfo info = infoOrig;
            if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
            {
                CollisionSkin skinSwap = info.Skin0;
                info.Skin0 = info.Skin1;
                info.Skin1 = skinSwap;
                int primSwap = info.IndexPrim0;
                info.IndexPrim0 = info.IndexPrim1;
                info.IndexPrim1 = primSwap;
            }

            Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
            Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;

            // todo - proper swept test
            Capsule oldCapsule = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Capsule;
            Capsule newCapsule = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Capsule;
            Segment oldSeg = new Segment(oldCapsule.Position, oldCapsule.Length * oldCapsule.Orientation.Backward);
            Segment newSeg = new Segment(newCapsule.Position, newCapsule.Length * newCapsule.Orientation.Backward);

            float radius = oldCapsule.Radius;

            Box oldBox = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Box;
            Box newBox = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Box;

            float oldSegT;
            float oldBoxT0, oldBoxT1, oldBoxT2;
            float oldDistSq = Distance.SegmentBoxDistanceSq(out oldSegT, out oldBoxT0, out oldBoxT1, out oldBoxT2,oldSeg, oldBox);
            float newSegT;
            float newBoxT0, newBoxT1, newBoxT2;
            float newDistSq = Distance.SegmentBoxDistanceSq(out newSegT, out newBoxT0, out newBoxT1, out newBoxT2,newSeg, newBox);

            if (MathHelper.Min(oldDistSq, newDistSq) < ((radius + collTolerance) * (radius + collTolerance)))
            {
                Vector3 segPos = oldSeg.GetPoint(oldSegT);
                Vector3 boxPos = oldBox.GetCentre() + oldBoxT0 * oldBox.Orientation.Right +
                    oldBoxT1 * oldBox.Orientation.Up + oldBoxT2 * oldBox.Orientation.Backward;

                float dist = (float)System.Math.Sqrt((float)oldDistSq);
                float depth = radius - dist;

                Vector3 dir;

                if (dist > JiggleMath.Epsilon)
                {
                    dir = segPos - boxPos;
                    JiggleMath.NormalizeSafe(ref dir);
                }
                else if ((segPos - oldBox.GetCentre()).LengthSquared() > JiggleMath.Epsilon)
                {
                    dir = segPos - oldBox.GetCentre();
                    JiggleMath.NormalizeSafe(ref dir);
                }
                else
                {
                    // todo - make this not random
                    dir = Vector3.Transform(Vector3.Backward, Matrix.CreateFromAxisAngle(Vector3.Up, MathHelper.ToRadians(random.Next(360))));
                }

                unsafe
                {
                    SmallCollPointInfo collInfo = new SmallCollPointInfo(boxPos - body0Pos, boxPos - body1Pos, depth);

                    collisionFunctor.CollisionNotify(ref info, ref dir, &collInfo, 1);
                }

            }
        }

        /// <summary>
        /// 
        /// </summary>
        /// <param name="infoOrig"></param>
        /// <param name="collTolerance"></param>
        /// <param name="collisionFunctor"></param>
        public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
        {
            CollDetectInfo info = infoOrig;

            if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
            {
                CollisionSkin skinSwap = info.Skin0;
                info.Skin0 = info.Skin1;
                info.Skin1 = skinSwap;
                int primSwap = info.IndexPrim0;
                info.IndexPrim0 = info.IndexPrim1;
                info.IndexPrim1 = primSwap;
            }

            Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
            Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;

            // todo - proper swept test
            Capsule oldCapsule = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Capsule;
            Capsule newCapsule = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Capsule;

            Heightmap oldHeightmap = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Heightmap;
            Heightmap newHeightmap = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Heightmap;

            unsafe
            {

            #if USE_STACKALLOC
                SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
            #else
                SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
                fixed (SmallCollPointInfo* collPts = collPtArray)
            #endif
                {
                    int numCollPts = 0;
                    Vector3 averageNormal = Vector3.Zero;

                    // the start
                    {
                        float oldDist, newDist;
                        Vector3 normal;
                        oldHeightmap.GetHeightAndNormal(out oldDist, out normal, oldCapsule.Position);
                        newHeightmap.GetHeightAndNormal(out newDist, out normal, newCapsule.Position);

                        if (MathHelper.Min(newDist, oldDist) < collTolerance + newCapsule.Radius)
                        {
                            float oldDepth = oldCapsule.Radius - oldDist;
                            // calc the world position based on the old position(s)
                            Vector3 worldPos = oldCapsule.Position - oldCapsule.Radius * normal;
                            if (numCollPts < MaxLocalStackSCPI)
                            {
                                collPts[numCollPts++] = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, oldDepth);
                            }
                            averageNormal += normal;
                        }
                    }
                    // the end
                    {
                        Vector3 oldEnd = oldCapsule.GetEnd();
                        Vector3 newEnd = newCapsule.GetEnd();
                        float oldDist, newDist;
                        Vector3 normal;
                        oldHeightmap.GetHeightAndNormal(out oldDist, out normal, oldEnd);
                        newHeightmap.GetHeightAndNormal(out newDist, out normal, newEnd);
                        if (MathHelper.Min(newDist, oldDist) < collTolerance + newCapsule.Radius)
                        {
                            float oldDepth = oldCapsule.Radius - oldDist;
                            // calc the world position based on the old position(s)
                            Vector3 worldPos = oldEnd - oldCapsule.Radius * normal;
                            if (numCollPts < MaxLocalStackSCPI)
                            {
                                collPts[numCollPts++] = new SmallCollPointInfo(worldPos - body0Pos, worldPos - body1Pos, oldDepth);
                            }
                            averageNormal += normal;
                        }
                    }

                    if (numCollPts > 0)
                    {
                        JiggleMath.NormalizeSafe(ref averageNormal);
                        collisionFunctor.CollisionNotify(ref info, ref averageNormal, collPts, numCollPts);
                    }
                }
            #if !USE_STACKALLOC
                FreeStackAlloc(collPtArray);
            #endif
            }
        }

//.........这里部分代码省略.........
                    {
                        {
            #else
                    SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
                    fixed (SmallCollPointInfo* collPts = collPtArray)
                    {
                        int[] potTriArray = IntStackAlloc();
                        fixed( int* potentialTriangles = potTriArray)
                        {
            #endif
                            int numCollPts = 0;

                            int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb);

                            for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
                            {

                                // first test the old sphere for being on the wrong side
                                IndexedTriangle meshTriangle = mesh.GetTriangle(potentialTriangles[iTriangle]);
                                float distToCentreOld = meshTriangle.Plane.DotCoordinate(oldSphereCen);
                                if (distToCentreOld <= 0.0f)
                                    continue;
                                // now test the new sphere for being clear

                                float distToCentreNew = meshTriangle.Plane.DotCoordinate(newSphereCen);
                                if (distToCentreNew > sphereTolR)
                                    continue;

                                int i0, i1, i2;
                                meshTriangle.GetVertexIndices(out i0, out i1, out i2);

                                Triangle triangle = new Triangle(mesh.GetVertex(i0), mesh.GetVertex(i1), mesh.GetVertex(i2));

                                // If the old sphere is intersecting, just use that result
                                float s, t;
                                float d2 = Distance.PointTriangleDistanceSq(out s, out t, oldSphereCen, triangle);

                                if (d2 < sphereToR2)
                                {
                                    float dist = (float)System.Math.Sqrt(d2);
                                    float depth = oldSphere.Radius - dist;
                                    Vector3 triangleN = triangle.Normal;
                                    Vector3 normSafe = oldSphereCen - triangle.GetPoint(s, t);

                                    JiggleMath.NormalizeSafe(ref normSafe);

                                    Vector3 collisionN = (dist > float.Epsilon) ? normSafe : triangleN;
                                    // since impulse gets applied at the old position
                                    Vector3 pt = oldSphere.Center - oldSphere.Radius * collisionN;
                                    if (numCollPts < MaxLocalStackSCPI)
                                    {
                                        collPts[numCollPts++] = new SmallCollPointInfo(pt - body0Pos, pt - body1Pos, depth);
                                    }
                                    collNormal += collisionN;
                                }
                                else if (distToCentreNew < distToCentreOld)
                                {
                                    // old sphere is not intersecting - do a sweep, but only if the sphere is moving into the
                                    // triangle
                                    Vector3 pt, N; // CHECK THIS
                                    float depth;
                                    if (Intersection.SweptSphereTriangleIntersection(out pt, out N, out depth, oldSphere, newSphere, triangle,
                                        distToCentreOld, distToCentreNew, Intersection.EdgesToTest.EdgeAll, Intersection.CornersToTest.CornerAll))
                                    {
                                        // collision point etc must be relative to the old position because that's
                                        //where the impulses are applied
                                        float dist = (float)System.Math.Sqrt(d2);
                                        float depth2 = oldSphere.Radius - dist;
                                        Vector3 triangleN = triangle.Normal;
                                        Vector3 normSafe = oldSphereCen - triangle.GetPoint(s, t);
                                        JiggleMath.NormalizeSafe(ref normSafe);
                                        Vector3 collisionN = (dist > JiggleMath.Epsilon) ? normSafe : triangleN;
                                        // since impulse gets applied at the old position
                                        Vector3 pt2 = oldSphere.Center - oldSphere.Radius * collisionN;
                                        if (numCollPts < MaxLocalStackSCPI)
                                        {
                                            collPts[numCollPts++] = new SmallCollPointInfo(pt2 - body0Pos, pt2 - body1Pos, depth);
                                        }
                                        collNormal += collisionN;
                                    }
                                }
                            }
                            if (numCollPts > 0)
                            {
                                JiggleMath.NormalizeSafe(ref collNormal);
                                collisionFunctor.CollisionNotify(ref info, ref collNormal, collPts, numCollPts);
                            }
                        }
            #if USE_STACKALLOC
                    }
               }
            #else

                        FreeStackAlloc(potTriArray);
                    }
                    FreeStackAlloc(collPtArray);
                }
            #endif
            }
        }

//.........这里部分代码省略.........
            {
            #if USE_STACKALLOC
                SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
                int* potentialTriangles = stackalloc int[MaxLocalStackTris];
                {
                    {
            #else
                SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
                fixed (SmallCollPointInfo* collPts = collPtArray)
                {
                    int[] potTriArray = IntStackAlloc();
                    fixed (int* potentialTriangles = potTriArray)
                    {
            #endif
                        int numCollPts = 0;

                        int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb);

                        Vector3 capsuleStart = newCapsule.Position;
                        Vector3 capsuleEnd = newCapsule.GetEnd();
                        Matrix4 meshInvTransform = mesh.InverseTransformMatrix;

                        Vector3 meshSpaceCapsuleStart = Vector3.Transform(capsuleStart, meshInvTransform);
                        Vector3 meshSpaceCapsuleEnd = Vector3.Transform(capsuleEnd, meshInvTransform);

                        for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
                        {
                            IndexedTriangle meshTriangle = mesh.GetTriangle(potentialTriangles[iTriangle]);

                            // we do the plane test using the capsule in mesh space
                            float distToStart = meshTriangle.Plane.DotCoordinate(meshSpaceCapsuleStart);
                            float distToEnd = meshTriangle.Plane.DotCoordinate(meshSpaceCapsuleEnd);

                            // BEN-BUG-FIX: Fixed by replacing 0.0F with -capsuleTolR.
                            if ((distToStart > capsuleTolR && distToEnd > capsuleTolR)
                                || (distToStart < -capsuleTolR && distToEnd < -capsuleTolR))
                                continue;

                            // we now transform the triangle into world space (we could keep leave the mesh alone
                            // but at this point 3 vector transforms is probably not a major slow down)
                            int i0, i1, i2;
                            meshTriangle.GetVertexIndices(out i0, out i1, out i2);

                            Vector3 triVec0;
                            Vector3 triVec1;
                            Vector3 triVec2;
                            mesh.GetVertex(i0, out triVec0);
                            mesh.GetVertex(i1, out triVec1);
                            mesh.GetVertex(i2, out triVec2);

                            // Deano move tri into world space
                            Matrix4 transformMatrix = mesh.TransformMatrix;
                            Vector3.Transform(ref triVec0, ref transformMatrix, out triVec0);
                            Vector3.Transform(ref triVec1, ref transformMatrix, out triVec1);
                            Vector3.Transform(ref triVec2, ref transformMatrix, out triVec2);
                            Triangle triangle = new Triangle(ref triVec0, ref triVec1, ref triVec2);

                            Segment seg = new Segment(capsuleStart, capsuleEnd - capsuleStart);

                            float tS, tT0, tT1;
                            float d2 = Distance.SegmentTriangleDistanceSq(out tS, out tT0, out tT1, seg, triangle);

                            if (d2 < capsuleTolR2)
                            {
                                Vector3 oldCapsuleStart = oldCapsule.Position;
                                Vector3 oldCapsuleEnd = oldCapsule.GetEnd();
                                Segment oldSeg = new Segment(oldCapsuleStart, oldCapsuleEnd - oldCapsuleStart);
                                d2 = Distance.SegmentTriangleDistanceSq(out tS, out tT0, out tT1, oldSeg, triangle);
                                // report result from old position
                                float dist = (float)System.Math.Sqrt(d2);
                                float depth = oldCapsule.Radius - dist;
                                Vector3 pt = triangle.GetPoint(tT0, tT1);
                                Vector3 collisionN = (d2 > JiggleMath.Epsilon) ? JiggleMath.NormalizeSafe(oldSeg.GetPoint(tS) - pt) :
                                    meshTriangle.Plane.Normal;
                                if (numCollPts < MaxLocalStackSCPI)
                                {
                                    // BEN-OPTIMISATION: Reused existing collPts.
                                    collPts[numCollPts].R0 = pt - body0Pos;
                                    collPts[numCollPts].R1 = pt - body1Pos;
                                    collPts[numCollPts++].InitialPenetration = depth;
                                }
                                collNormal += collisionN;
                            }
                        }
                        if (numCollPts > 0)
                        {
                            JiggleMath.NormalizeSafe(ref collNormal);
                            collisionFunctor.CollisionNotify(ref info, ref collNormal, collPts, numCollPts);
                        }
            #if USE_STACKALLOC
                    }
               }
            #else
                    }
                    FreeStackAlloc(potTriArray);
                }
                FreeStackAlloc(collPtArray);
            #endif
            }
        }

        /// <summary>
        /// Detect BoxHeightmap Collisions.
        /// </summary>
        /// <param name="infoOrig"></param>
        /// <param name="collTolerance"></param>
        /// <param name="collisionFunctor"></param>
        public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
        {
            CollDetectInfo info = infoOrig;
            if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
            {
                CollisionSkin skinSwap = info.Skin0;
                info.Skin0 = info.Skin1;
                info.Skin1 = skinSwap;
                int primSwap = info.IndexPrim0;
                info.IndexPrim0 = info.IndexPrim1;
                info.IndexPrim1 = primSwap;
            }

            Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
            Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;

            // todo - proper swept test
            Box oldBox = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Box;
            Box newBox = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Box;

            Heightmap oldHeightmap = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Heightmap;
            Heightmap newHeightmap = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Heightmap;

            Vector3[] oldPts, newPts;
            oldBox.GetCornerPoints(out oldPts);
            newBox.GetCornerPoints(out newPts);

            unsafe
            {
            #if USE_STACKALLOC
                SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
            #else
                SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
                fixed (SmallCollPointInfo* collPts = collPtArray)
            #endif
                {
                    int numCollPts = 0;

                    Vector3 collNormal = Vector3.Zero;

                    for (int i = 0; i < 8; ++i)
                    {
                        Vector3 newPt = newPts[i];
                        float newDist;
                        Vector3 normal;
                        newHeightmap.GetHeightAndNormal(out newDist, out normal, newPt);

                        if (newDist < collTolerance)
                        {
                            Vector3 oldPt = oldPts[i];
                            float oldDist = oldHeightmap.GetHeight(oldPt);

                            #region REFERENCE: collPts.Add(new CollPointInfo(oldPt - body0Pos, oldPt - body1Pos, -oldDist));
                            Vector3 pt0;
                            Vector3 pt1;
                            Vector3.Subtract(ref oldPt, ref body0Pos, out pt0);
                            Vector3.Subtract(ref oldPt, ref body1Pos, out pt1);
                            if (numCollPts < MaxLocalStackSCPI)
                            {
                                collPts[numCollPts++] = new SmallCollPointInfo(ref pt0, ref pt1, -oldDist);
                            }
                            #endregion

                            #region REFERENCE: collNormal += normal;
                            Vector3.Add(ref collNormal, ref normal, out collNormal);
                            #endregion
                        }
                    }

                    if (numCollPts > 0)
                    {
                        JiggleMath.NormalizeSafe(ref collNormal);
                        collisionFunctor.CollisionNotify(ref info, ref collNormal, collPts, numCollPts);
                    }
                }
            #if !USE_STACKALLOC
                FreeStackAlloc(collPtArray);
            #endif
            }
        }

        /// <summary>
        /// CollDetect
        /// </summary>
        /// <param name="infoOrig"></param>
        /// <param name="collTolerance"></param>
        /// <param name="collisionFunctor"></param>
        public override void CollDetect(CollDetectInfo infoOrig, float collTolerance, CollisionFunctor collisionFunctor)
        {
            CollDetectInfo info = infoOrig;

            // get the skins in the order that we're expecting
            if (info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0).Type == this.Type1)
            {
                CollisionSkin skinSwap = info.Skin0;
                info.Skin0 = info.Skin1;
                info.Skin1 = skinSwap;
                int primSwap = info.IndexPrim0;
                info.IndexPrim0 = info.IndexPrim1;
                info.IndexPrim1 = primSwap;
            }

            Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
            Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;

            // todo - proper swept test
            Sphere oldSphere = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Sphere;
            Sphere newSphere = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Sphere;

            Capsule oldCapsule = info.Skin1.GetPrimitiveOldWorld(info.IndexPrim1) as Capsule;
            Capsule newCapsule = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as Capsule;

            Segment oldSeg = new Segment(oldCapsule.Position, oldCapsule.Length * oldCapsule.Orientation.Backward());
            Segment newSeg = new Segment(oldCapsule.Position, newCapsule.Length * newCapsule.Orientation.Backward());

            float radSum = newCapsule.Radius + newSphere.Radius;

            float oldt, newt;
            float oldDistSq = Distance.PointSegmentDistanceSq(out oldt, oldSphere.Position, oldSeg);
            float newDistSq = Distance.PointSegmentDistanceSq(out newt, newSphere.Position, newSeg);

            if (OpenTKHelper.Min(oldDistSq, newDistSq) < (radSum + collTolerance) * (radSum + collTolerance))
            {
                Vector3 segPos = oldSeg.GetPoint(oldt);
                Vector3 delta = oldSphere.Position - segPos;

                float dist = (float)System.Math.Sqrt((float)oldDistSq);
                float depth = radSum - dist;

                if (dist > JiggleMath.Epsilon)
                {
                    delta /= dist;
                }
                else
                {
                    // todo - make this not random
                    delta = Vector3Extensions.TransformNormal(Vector3Extensions.Backward, Matrix4.CreateFromAxisAngle(Vector3Extensions.Up, OpenTKHelper.ToRadians(random.Next(360))));
                }

                Vector3 worldPos = segPos +
                    ((oldCapsule.Radius - 0.5f * depth) * delta);
                unsafe
                {
                    SmallCollPointInfo collInfo = new SmallCollPointInfo(worldPos - body0Pos,
                        worldPos - body1Pos, depth);

                    collisionFunctor.CollisionNotify(ref info, ref delta, &collInfo, 1);
                }
            }
        }

//.........这里部分代码省略.........

            // The box overlap, find the separation depth closest to 0.
            float minDepth = float.MaxValue;
            int minAxis = -1;

            for (i = 0; i < numAxes; ++i)
            {
                // If we can't normalise the axis, skip it
                float l2 = axes[i].LengthSquared();
                if (l2 < JiggleMath.Epsilon)
                    continue;

                // Normalise the separation axis and the depth
                float invl = 1.0f / (float)System.Math.Sqrt(l2);
                axes[i] *= invl;
                overlapDepths[i] *= invl;

                // If this axis is the minimum, select it
                if (overlapDepths[i] < minDepth)
                {
                    minDepth = overlapDepths[i];
                    minAxis = i;
                }
            }

            if (minAxis == -1)
                return false;

            // Make sure the axis is facing towards the 0th box.
            // if not, invert it
            Vector3 D = newBox.GetCentre() - tri.Centre;
            Vector3 N = axes[minAxis];
            float depth = overlapDepths[minAxis];

            if (Vector3.Dot(D, N) < 0.0f)
               N *= -1;

            Vector3 boxOldPos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
            Vector3 boxNewPos = (info.Skin0.Owner != null) ? info.Skin0.Owner.Position : Vector3.Zero;
            Vector3 meshPos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;

            List<Vector3> pts = new List<Vector3>();
            //pts.Clear();

            const float combinationDist = 0.05f;
            GetBoxTriangleIntersectionPoints(pts, newBox, tri, depth + combinationDist);

            // adjust the depth
            #region REFERENCE: Vector3 delta = boxNewPos - boxOldPos;
            Vector3 delta;
            Vector3.Subtract(ref boxNewPos, ref boxOldPos, out delta);
            #endregion

            #region REFERENCE: float oldDepth = depth + Vector3.Dot(delta, N);
            float oldDepth;
            Vector3.Dot(ref delta, ref N, out oldDepth);
            oldDepth += depth;
            #endregion

            unsafe
            {
                // report collisions
                int numPts = pts.Count;
            #if USE_STACKALLOC
                SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
            #else
                SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
                fixed (SmallCollPointInfo* collPts = collPtArray)
            #endif
                {
                    if (numPts > 0)
                    {
                        if (numPts >= MaxLocalStackSCPI)
                        {
                            numPts = MaxLocalStackSCPI - 1;
                        }

                        // adjust positions
                        for (i = 0; i < numPts; ++i)
                        {
                            collPts[i] = new SmallCollPointInfo(pts[i] - boxNewPos, pts[i] - meshPos, oldDepth);
                        }

                        collisionFunctor.CollisionNotify(ref info, ref N, collPts, numPts);
            #if !USE_STACKALLOC
                        FreeStackAlloc(collPtArray);
            #endif
                        return true;
                    }
                    else
                    {
            #if !USE_STACKALLOC
                        FreeStackAlloc(collPtArray);
            #endif
                        return false;
                    }
                }

            }
        }

        public static void CollDetectSphereStaticMeshOverlap(BoundingSphere oldSphere, BoundingSphere newSphere,
            TriangleMesh mesh, CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
        {
            Vector3 body0Pos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
            Vector3 body1Pos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;

            float sphereTolR = collTolerance + newSphere.Radius;
            float sphereTolR2 = sphereTolR * sphereTolR;

            unsafe
            {
            #if USE_STACKALLOC
                SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
                int* potentialTriangles = stackalloc int[MaxLocalStackTris];
                {
                    {
            #else
                SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
                fixed (SmallCollPointInfo* collPts = collPtArray)
                {
                    int[] potTriArray = IntStackAlloc();
                    fixed( int* potentialTriangles = potTriArray)
                    {
            #endif
                        int numCollPts = 0;

                        Vector3 collNormal = Vector3.Zero;

                        BoundingBox bb = BoundingBoxHelper.InitialBox;
                        BoundingBoxHelper.AddSphere(newSphere, ref bb);
                        int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb);

                        // Deano : get the spheres centers in triangle mesh space
                        Vector3 newSphereCen = Vector3.Transform(newSphere.Center, mesh.InverseTransformMatrix);
                        Vector3 oldSphereCen = Vector3.Transform(oldSphere.Center, mesh.InverseTransformMatrix);

                        for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
                        {
                            IndexedTriangle meshTriangle = mesh.GetTriangle(potentialTriangles[iTriangle]);
                            float distToCentre = meshTriangle.Plane.DotCoordinate(newSphereCen);

                            if (distToCentre <= 0.0f)
                                continue;
                            if (distToCentre >= sphereTolR)
                                continue;
                            int i0, i1, i2;
                            meshTriangle.GetVertexIndices(out i0, out i1, out i2);

                            Triangle triangle = new Triangle(mesh.GetVertex(i0), mesh.GetVertex(i1), mesh.GetVertex(i2));

                            float s, t;
                            float newD2 = Distance.PointTriangleDistanceSq(out s, out t, newSphereCen, triangle);

                            if (newD2 < sphereTolR2)
                            {
                                // have overlap - but actually report the old intersection
                                float oldD2 = Distance.PointTriangleDistanceSq(out s, out t, oldSphereCen, triangle);
                                float dist = (float)System.Math.Sqrt((float)oldD2);
                                float depth = oldSphere.Radius - dist;

                                Vector3 triPointSTNorm = oldSphereCen - triangle.GetPoint(s, t);
                                JiggleMath.NormalizeSafe(ref triPointSTNorm);

                                Vector3 collisionN = (dist > float.Epsilon) ? triPointSTNorm : triangle.Normal;

                                // since impulse get applied at the old position
                                Vector3 pt = oldSphere.Center - oldSphere.Radius * collisionN;

                                if (numCollPts < MaxLocalStackSCPI)
                                {
                                    collPts[numCollPts++] = new SmallCollPointInfo(pt - body0Pos, pt - body1Pos, depth);
                                }
                                collNormal += collisionN;
                            }
                        }

                        if (numCollPts > 0)
                        {
                            JiggleMath.NormalizeSafe(ref collNormal);
                            collisionFunctor.CollisionNotify(ref info, ref collNormal, collPts, numCollPts);
                        }
            #if USE_STACKALLOC
                    }
               }
            #else

                        FreeStackAlloc(potTriArray);
                    }
                    FreeStackAlloc(collPtArray);
                }
            #endif
            }
        }