protected override void OnAttach()
{
NativeCollisionObject = new BulletSharp.CollisionObject
{
CollisionShape = ColliderShape.InternalShape,
ContactProcessingThreshold = !Simulation.CanCcd ? 1e18f : 1e30f,
UserObject = this
};
NativeCollisionObject.CollisionFlags |= BulletSharp.CollisionFlags.NoContactResponse;
if (ColliderShape.NeedsCustomCollisionCallback)
{
NativeCollisionObject.CollisionFlags |= BulletSharp.CollisionFlags.CustomMaterialCallback;
}
//this will set all the properties in the native side object
base.OnAttach();
UpdatePhysicsTransformation(); //this will set position and rotation of the collider
if (IsDefaultGroup)
{
Simulation.AddCollider(this, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter);
}
else
{
Simulation.AddCollider(this, (CollisionFilterGroupFlags)CollisionGroup, CanCollideWith);
}
}
protected override void OnAttach()
{
NativeCollisionObject = new BulletSharp.CollisionObject
{
CollisionShape = ColliderShape.InternalShape,
ContactProcessingThreshold = !Simulation.CanCcd ? 1e18f : 1e30f,
UserObject = this
};
NativeCollisionObject.CollisionFlags |= BulletSharp.CollisionFlags.NoContactResponse;
if (ColliderShape.NeedsCustomCollisionCallback)
{
NativeCollisionObject.CollisionFlags |= BulletSharp.CollisionFlags.CustomMaterialCallback;
}
//this will set all the properties in the native side object
base.OnAttach();
UpdatePhysicsTransformation(); //this will set position and rotation of the collider
if (IsDefaultGroup)
{
Simulation.AddCollider(this, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter);
}
else
{
Simulation.AddCollider(this, (CollisionFilterGroupFlags)CollisionGroup, CanCollideWith);
}
}
protected virtual void OnDetach()
{
if (NativeCollisionObject == null)
{
return;
}
NativeCollisionObject.Dispose();
NativeCollisionObject = null;
}
public CollisionObject(CollisionShape shape)
{
BulletCollisionObject = new BulletSharp.CollisionObject();
BulletCollisionObject.UserObject = this;
BulletCollisionObject.CollisionShape = shape.BulletShape;
//BulletCollisionObject.Restitution = 1.0f;
IsInWorld = true;
}
protected virtual void OnDetach()
{
if (CurrentPhysicalContacts != null)
{
CurrentPhysicalContacts.Clear();
}
if (NativeCollisionObject == null || DoNotDispose)
{
return;
}
NativeCollisionObject.UserObject = null;
NativeCollisionObject.Dispose();
NativeCollisionObject = null;
}
protected virtual void OnDetach()
{
if (processingPhysicalContacts != null)
{
processingPhysicalContacts[0].Clear();
processingPhysicalContacts[1].Clear();
}
if (NativeCollisionObject == null || DoNotDispose)
{
return;
}
NativeCollisionObject.UserObject = null;
NativeCollisionObject.Dispose();
NativeCollisionObject = null;
}
public MousePole2D(Camera camera, Vector3 forwardAxis, Vector3 rightAxis, Vector3 upAxis)
{
this.scale = camera.CreateScale(origin, 0.5f, pixelSize: 85);
var scaleMatrix = Matrix4.CreateScale(scale, scale, scale);
var rotationX = Matrix3.CreateRotationX((float)Math.Acos(Vector3.Dot(Vector3.UnitX, rightAxis)));
var rotationY = Matrix3.CreateRotationY((float)Math.Acos(Vector3.Dot(Vector3.UnitY, forwardAxis)));
var rotationZ = Matrix3.CreateRotationZ((float)Math.Acos(Vector3.Dot(Vector3.UnitZ, upAxis)));
this.rotation = Quaternion.FromMatrix(rotationX * rotationY * rotationZ);
var rotationMatrix = Matrix4.CreateFromQuaternion(this.rotation);
this.origin = Vector3.Transform(new Vector3(0, 0, 0), scaleMatrix * rotationMatrix);
this.right = Vector3.Transform(new Vector3(1, 0, 0), scaleMatrix * rotationMatrix);
this.forward = Vector3.Transform(new Vector3(0, 1, 0), scaleMatrix * rotationMatrix);
this.up = Vector3.Transform(new Vector3(0, 0, 1), scaleMatrix * rotationMatrix);
rightContact = new BulletSharp.CollisionObject( )
{
UserObject = this
};
forwardContact = new BulletSharp.CollisionObject( )
{
UserObject = this
};
upContact = new BulletSharp.CollisionObject( )
{
UserObject = this
};
BufferData(camera);
camera.ViewMatrixChanged += camera_ViewMatrixChanged;
camera.Viewport.ProjectionChanged += Viewport_ProjectionChanged;
camera.Viewport.ViewportChanged += Viewport_ViewportChanged;
OnCameraUpdate(this, new CameraEventArgs(camera));
}
private void PersistentManifoldContactProcessed(BulletSharp.ManifoldPoint cp, BulletSharp.CollisionObject body0, BulletSharp.CollisionObject body1)
{
var colA = (Collider)body0.UserObject;
var colB = (Collider)body1.UserObject;
if (!colA.NeedsCollisionCheck && !colB.NeedsCollisionCheck)
{
return; //don't process at all if both the objects don't need any collision event
}
if (cp.UserPersistentData == null) //New contact!
{
var contact = new Contact
{
ColliderA = colA,
ColliderB = colB,
Distance = cp.Distance,
PositionOnA = new Vector3(cp.PositionWorldOnA.X, cp.PositionWorldOnA.Y, cp.PositionWorldOnA.Z),
PositionOnB = new Vector3(cp.PositionWorldOnB.X, cp.PositionWorldOnB.Y, cp.PositionWorldOnB.Z),
Normal = new Vector3(cp.NormalWorldOnB.X, cp.NormalWorldOnB.Y, cp.NormalWorldOnB.Z)
};
//must figure if we are a really brand new collision for correct event propagation
var colABegan = false;
var previousColAState = colA.Contacts.Where(x => (x.ColliderA == colA && x.ColliderB == colB) || (x.ColliderA == colB && x.ColliderB == colA));
if (!previousColAState.Any())
{
colABegan = true;
}
var colBBegan = false;
var previousColBState = colB.Contacts.Where(x => (x.ColliderB == colB && x.ColliderA == colA) || (x.ColliderB == colA && x.ColliderA == colB));
if (!previousColBState.Any())
{
colBBegan = true;
}
colA.Contacts.Add(contact);
colB.Contacts.Add(contact);
var args = new CollisionArgs {
Contact = contact
};
cp.UserPersistentData = contact;
if (CacheContacts)
{
contactsCache.Add(new ContactEventData
{
Type = colABegan ? ContactEventType.FirstContactStart : ContactEventType.ContactStart,
Caller = colA,
Args = args
});
contactsCache.Add(new ContactEventData
{
Type = colBBegan ? ContactEventType.FirstContactStart : ContactEventType.ContactStart,
Caller = colB,
Args = args
});
}
else
{
if (colABegan)
{
colA.OnFirstContactStart(args);
}
colA.OnContactStart(args);
if (colBBegan)
{
colB.OnFirstContactStart(args);
}
colB.OnContactStart(args);
}
}
else
{
var contact = (Contact)cp.UserPersistentData;
contact.Distance = cp.Distance;
contact.PositionOnA = new Vector3(cp.PositionWorldOnA.X, cp.PositionWorldOnA.Y, cp.PositionWorldOnA.Z);
contact.PositionOnB = new Vector3(cp.PositionWorldOnB.X, cp.PositionWorldOnB.Y, cp.PositionWorldOnB.Z);
contact.Normal = new Vector3(cp.NormalWorldOnB.X, cp.NormalWorldOnB.Y, cp.NormalWorldOnB.Z);
var args = new CollisionArgs {
Contact = contact
};
if (CacheContacts)
{
contactsCache.Add(new ContactEventData
{
Type = ContactEventType.ContactChange,
Caller = colA,
Args = args
});
contactsCache.Add(new ContactEventData
{
Type = ContactEventType.ContactChange,
Caller = colB,
Args = args
});
}
else
{
colA.OnContactChange(args);
colB.OnContactChange(args);
}
}
}
internal CollisionData(BulletSharp.CollisionObject body, float impulse)
{
Impulse = impulse;
Body = body;
}
private void PersistentManifoldContactProcessed(BulletSharp.ManifoldPoint cp, BulletSharp.CollisionObject body0, BulletSharp.CollisionObject body1)
{
if (body0 == null || body1 == null)
{
return;
}
//this can fail and will fail in the case of multiple scenes and bodies not of the current simulation ( working as intended )
Collider colA, colB;
if (!aliveColliders.TryGetValue(body0, out colA))
{
return;
}
if (!aliveColliders.TryGetValue(body1, out colB))
{
return;
}
if (colA == null || colB == null || !colA.ContactsAlwaysValid && !colB.ContactsAlwaysValid)
{
return;
}
//Pairs management
Collision pair = null;
var newPair = true;
foreach (var pair1 in colA.Collisions)
{
if ((pair1.ColliderA != colA || pair1.ColliderB != colB) && (pair1.ColliderA != colB || pair1.ColliderB != colA))
{
continue;
}
pair = pair1;
newPair = false;
break;
}
if (pair == null)
{
pair = new Collision
{
ColliderA = colA,
ColliderB = colB,
Contacts = new List <ContactPoint>()
};
colA.Collisions.Add(pair);
colB.Collisions.Add(pair);
}
//Contacts management
ContactPoint contact = null;
var newContact = true;
foreach (var contact1 in pair.Contacts)
{
if (contact1.Handle.IsAllocated && cp.UserPersistentPtr != IntPtr.Zero && contact1.Handle.Target != GCHandle.FromIntPtr(cp.UserPersistentPtr).Target)
{
continue;
}
contact = contact1;
newContact = false;
break;
}
if (contact == null)
{
contact = new ContactPoint
{
Distance = cp.Distance,
PositionOnA = new Vector3(cp.PositionWorldOnA.X, cp.PositionWorldOnA.Y, cp.PositionWorldOnA.Z),
PositionOnB = new Vector3(cp.PositionWorldOnB.X, cp.PositionWorldOnB.Y, cp.PositionWorldOnB.Z),
Normal = new Vector3(cp.NormalWorldOnB.X, cp.NormalWorldOnB.Y, cp.NormalWorldOnB.Z),
Pair = pair
};
pair.Contacts.Add(contact);
contact.Handle = GCHandle.Alloc(contact);
cp.UserPersistentPtr = GCHandle.ToIntPtr(contact.Handle);
contact.Manifold = cp;
}
if (newPair)
{
//are we the first pair we detect?
if (colA.Collisions.Count == 1)
{
firstPairsCache.Add(new KeyValuePair <Collider, Collision>(colA, pair));
}
//are we the first pair we detect?
if (colB.Collisions.Count == 1)
{
firstPairsCache.Add(new KeyValuePair <Collider, Collision>(colB, pair));
}
newPairsCache.Add(new KeyValuePair <Collider, Collision>(colA, pair));
newPairsCache.Add(new KeyValuePair <Collider, Collision>(colB, pair));
}
if (newContact)
{
newContactsCache.Add(new KeyValuePair <Collision, ContactPoint>(pair, contact));
}
else
{
updatedContactsCache.Add(new KeyValuePair <Collision, ContactPoint>(pair, contact));
}
}
protected virtual void OnDetach()
{
if (NativeCollisionObject == null) return;
NativeCollisionObject.UserObject = null;
NativeCollisionObject.Dispose();
NativeCollisionObject = null;
}
public MousePole2D(Camera camera, Vector3 forwardAxis, Vector3 rightAxis, Vector3 upAxis)
{
this.scale = camera.CreateScale(origin, 0.5f, pixelSize: 85);
var scaleMatrix = Matrix4.CreateScale(scale, scale, scale);
var rotationX = Matrix3.CreateRotationX((float)Math.Acos(Vector3.Dot(Vector3.UnitX, rightAxis)));
var rotationY = Matrix3.CreateRotationY((float)Math.Acos(Vector3.Dot(Vector3.UnitY, forwardAxis)));
var rotationZ = Matrix3.CreateRotationZ((float)Math.Acos(Vector3.Dot(Vector3.UnitZ, upAxis)));
this.rotation = Quaternion.FromMatrix(rotationX * rotationY * rotationZ);
var rotationMatrix = Matrix4.CreateFromQuaternion(this.rotation);
this.origin = Vector3.Transform(new Vector3(0, 0, 0), scaleMatrix * rotationMatrix);
this.right = Vector3.Transform(new Vector3(1, 0, 0), scaleMatrix * rotationMatrix);
this.forward = Vector3.Transform(new Vector3(0, 1, 0), scaleMatrix * rotationMatrix);
this.up = Vector3.Transform(new Vector3(0, 0, 1), scaleMatrix * rotationMatrix);
rightContact = new BulletSharp.CollisionObject() { UserObject = this };
forwardContact = new BulletSharp.CollisionObject() { UserObject = this };
upContact = new BulletSharp.CollisionObject() { UserObject = this };
BufferData(camera);
camera.ViewMatrixChanged += camera_ViewMatrixChanged;
camera.Viewport.ProjectionChanged += Viewport_ProjectionChanged;
camera.Viewport.ViewportChanged += Viewport_ViewportChanged;
OnCameraUpdate(this, new CameraEventArgs(camera));
}
private void PersistentManifoldContactProcessed(BulletSharp.ManifoldPoint cp, BulletSharp.CollisionObject body0, BulletSharp.CollisionObject body1)
{
var colA = aliveColliders[body0];
var colB = aliveColliders[body1];
if (colA == null || colB == null || !colA.ContactsAlwaysValid && !colB.ContactsAlwaysValid)
{
return;
}
//Pairs management
Collision pair = null;
var newPair = true;
foreach (var pair1 in colA.Pairs)
{
if ((pair1.ColliderA != colA || pair1.ColliderB != colB) && (pair1.ColliderA != colB || pair1.ColliderB != colA))
{
continue;
}
pair = pair1;
newPair = false;
break;
}
if (pair == null)
{
pair = new Collision
{
ColliderA = colA,
ColliderB = colB,
Contacts = new List <ContactPoint>()
};
colA.Pairs.Add(pair);
colB.Pairs.Add(pair);
}
//Contacts management
ContactPoint contact = null;
var newContact = true;
foreach (var contact1 in pair.Contacts)
{
if (contact1 != cp.UserPersistentData)
{
continue;
}
contact = contact1;
newContact = false;
break;
}
if (contact == null)
{
contact = new ContactPoint
{
Distance = cp.Distance,
PositionOnA = new Vector3(cp.PositionWorldOnA.X, cp.PositionWorldOnA.Y, cp.PositionWorldOnA.Z),
PositionOnB = new Vector3(cp.PositionWorldOnB.X, cp.PositionWorldOnB.Y, cp.PositionWorldOnB.Z),
Normal = new Vector3(cp.NormalWorldOnB.X, cp.NormalWorldOnB.Y, cp.NormalWorldOnB.Z),
Pair = pair
};
pair.Contacts.Add(contact);
cp.UserPersistentData = contact;
}
if (newPair)
{
//are we the first pair we detect?
if (colA.Pairs.Count == 1)
{
firstPairsCache.Add(new KeyValuePair <Collider, Collision>(colA, pair));
}
//are we the first pair we detect?
if (colB.Pairs.Count == 1)
{
firstPairsCache.Add(new KeyValuePair <Collider, Collision>(colB, pair));
}
newPairsCache.Add(new KeyValuePair <Collider, Collision>(colA, pair));
newPairsCache.Add(new KeyValuePair <Collider, Collision>(colB, pair));
}
if (newContact)
{
newContactsCache.Add(new KeyValuePair <Collision, ContactPoint>(pair, contact));
}
else
{
updatedContactsCache.Add(new KeyValuePair <Collision, ContactPoint>(pair, contact));
}
}
