{
ConvexShape convex0 = (ConvexShape) col0.getCollisionShape();
SphereShape sphere1 = new SphereShape(col1.getCcdSweptSphereRadius()); // todo: allow non-zero sphere sizes, for better approximation
ConvexCast.CastResult result = new ConvexCast.CastResult();
VoronoiSimplexSolver voronoiSimplex = new VoronoiSimplexSolver();
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
///Simplification, one object is simplified as a sphere
GjkConvexCast ccd1 = new GjkConvexCast(convex0, sphere1, voronoiSimplex);
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
if (ccd1.calcTimeOfImpact(col0.getWorldTransform(tmpTrans1), col0.getInterpolationWorldTransform(tmpTrans2),
col1.getWorldTransform(tmpTrans3), col1.getInterpolationWorldTransform(tmpTrans4), result)) {
// store result.m_fraction in both bodies
if (col0.getHitFraction() > result.fraction) {
col0.setHitFraction(result.fraction);
}
if (col1.getHitFraction() > result.fraction) {
col1.setHitFraction(result.fraction);
}
if (resultFraction > result.fraction) {
resultFraction = result.fraction;
}
}
}
// Sphere (for convex0) against Convex1
{
ConvexShape convex1 = (ConvexShape) col1.getCollisionShape();
SphereShape sphere0 = new SphereShape(col0.getCcdSweptSphereRadius()); // todo: allow non-zero sphere sizes, for better approximation
ConvexCast.CastResult result = new ConvexCast.CastResult();
VoronoiSimplexSolver voronoiSimplex = new VoronoiSimplexSolver();
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
///Simplification, one object is simplified as a sphere
GjkConvexCast ccd1 = new GjkConvexCast(sphere0, convex1, voronoiSimplex);
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
if (ccd1.calcTimeOfImpact(col0.getWorldTransform(tmpTrans1), col0.getInterpolationWorldTransform(tmpTrans2),