public override bool process(BroadphaseProxy proxy)
{
///terminate further ray tests, once the closestHitFraction reached zero
if (aabbMin == aabbMax)
{
return(false);
}
CollisionObject collisionObject = proxy.clientObject;
PersistentManifold result = new PersistentManifold(this.collisionObject, collisionObject);
//only perform raycast if filterMask matches
CollisionAlgorithm algorithm = dispatcher.findAlgorithm(collisionObject, this.collisionObject);
algorithm(collisionObject, this.collisionObject,
dispatcher.getDispatchInfo(),
result);
if (result.getContactPointsNum() > 0)
{
results.Add(result);
}
return(true);
}
public override bool handleCollision(BroadphasePair collisionPair, CollisionDispatcher dispatcher)
{
CollisionObject colObj0 = collisionPair.pProxy0.clientObject;
CollisionObject colObj1 = collisionPair.pProxy1.clientObject;
if (colObj0.isStaticOrKinematicObject() && colObj1.isStaticOrKinematicObject())
{
collisionPair.manifold.clearManifold();
return(false);
}
PersistentManifold manifold = collisionPair.manifold;
int oldContacts = manifold.getContactPointsNum();
manifold.refreshContactPoints(colObj0.getWorldTransform(), colObj1.getWorldTransform());
/*if (oldContacts == manifold.getContactPointsNum() && oldContacts > 0)
* return true;*/
manifold.clearManifold();
CollisionAlgorithm algorithm = dispatcher.findAlgorithm(colObj0, colObj1);
// discrete collision detection query
algorithm(colObj0, colObj1, dispatcher.getDispatchInfo(), manifold);
return(manifold.getContactPointsNum() > 0);
}
/// <summary>
/// Resets this contact set to default values.
/// </summary>
/// <param name="objectA">The first collision object.</param>
/// <param name="objectB">The second collision object.</param>
/// <remarks>
/// This method allows to re-use an existing contact set instead of allocating a new instance on
/// the heap. This avoids garbage on the heap. In general, this method must only be used by the
/// creator of this instance. If the <see cref="ContactSet"/> was created by the collision
/// detection, this method should not be used.
/// </remarks>
public void Reset(CollisionObject objectA, CollisionObject objectB)
{
ObjectA = objectA;
ObjectB = objectB;
IsValid = true;
PreferredNormal = Vector3.Zero;
HaveContact = false;
IsPerturbationTestAllowed = true;
CanCollide = -1;
CollisionAlgorithm = null;
Clear();
}
public DefaultCollisionConfiguration()
{
sphereSphereCF = SphereSphereCollisionAlgorithm.processCollision;
sphereBoxCF = SphereBoxCollisionAlgorithm.processCollision;
sphereCapsuleCF = SphereCapsuleCollisionAlgorithm.processCollision;
capsuleCapsuleCF = CapsuleCapsuleCollisionAlgorithm.processCollision;
boxCapsuleCF = BoxCapsuleCollisionAlgorithm.processCollision;
boxBoxCF = BoxBoxCollisionAlgorithm.processCollision;
emptyCreateFunc = EmptyAlgorithm.processCollision;
emptyRaytestFunc = EmptyRaytestAlgorithm.rayTestSingle;
sphereRaytestFunc = SphereRaytestAlgorithm.rayTestSingle;
boxRaytestFunc = BoxRaytestAlgorithm.rayTestSingle;
capsuleRaytestFunc = CapsuleRaytestAlgorithm.rayTestSingle;
emptySweepFunc = EmptySweepFunc.objectQuerySingle;
sphereBoxSweepFunc = SphereBoxSweepAlgorithm.objectQuerySingle;
sphereSphereSweepFunc = SphereSphereSweepAlgorithm.objectQuerySingle;
sphereCapsuleSweepFunc = SphereCapsuleSweepAlgorithm.objectQuerySingle;
capsuleCapsuleSweepFunc = CapsuleCapsuleSweepAlgorithm.objectQuerySingle;
capsuleBoxSweepFunc = CapsuleBoxSweepAlgorithm.objectQuerySingle;
}
public override CollisionAlgorithm findAlgorithm(CollisionObject body0, CollisionObject body1)
{
CollisionAlgorithm algo = doubleDispatch[(int)body0.getCollisionShape().getShapeType(), (int)body1.getCollisionShape().getShapeType()];
return(algo);
}
