Function makeCollisionConstraint

tutorials/collide/collide_device.cpp:287–303

}

collide2::CollisionConstraint * makeCollisionConstraint (RTCScene scene, unsigned qID, unsigned cGeomID, unsigned cPrimID) 
{
  auto x0 = meshes[cGeomID]->x_[meshes[cGeomID]->tris_[cPrimID].v0];
  auto x1 = meshes[cGeomID]->x_[meshes[cGeomID]->tris_[cPrimID].v1];
  auto x2 = meshes[cGeomID]->x_[meshes[cGeomID]->tris_[cPrimID].v2];
  collide2::vec_t e0, e1;
  e0.x = x1.x - x0.x;
  e0.y = x1.y - x0.y;
  e0.z = x1.z - x0.z;
  e1.x = x2.x - x1.x;
  e1.y = x2.y - x1.y;
  e1.z = x2.z - x1.z;
  auto collNorm = normalize (cross (e0, e1));
  auto c = new collide2::CollisionConstraint ();
  c->initConstraint (qID, x0, collNorm, collDelta);
  return c;
}

void addCollisionConstraints (RTCScene scene)
{