internal DynamicWorldImp()
{
//Debug.WriteLine("DynamicWorldImp");
//Default
// collision configuration contains default setup for memory, collision setup
BtCollisionConf = new DefaultCollisionConfiguration();
BtDispatcher = new CollisionDispatcher(BtCollisionConf);
BtBroadphase = new DbvtBroadphase();
BtSolver = new SequentialImpulseConstraintSolver();
// BtCollisionShapes = new AlignedCollisionShapeArray();
BtWorld = new DiscreteDynamicsWorld(BtDispatcher, BtBroadphase, BtSolver, BtCollisionConf)
{
Gravity = new Vector3(0, -9.81f, 0)
};
BtWorld.SolverInfo.NumIterations = 5;
BtWorld.PerformDiscreteCollisionDetection();
//GImpactCollisionAlgorithm.RegisterAlgorithm(BtDispatcher);
// BtWorld.SetInternalTickCallback(MyTickCallBack);
//BtWorld.SetInternalTickCallback(TickTack);
//ManifoldPoint.ContactAdded += OnContactAdded;
//PersistentManifold.ContactDestroyed += OnContactDestroyed;
//PersistentManifold.ContactProcessed += OnContactProcessed;
}
internal static void Update(float deltaTime)
{
world.StepSimulation(deltaTime, 100);
world.PerformDiscreteCollisionDetection();
for (var i = 0; i < world.Dispatcher.NumManifolds; i++)
{
var mani = world.Dispatcher.GetManifoldByIndexInternal(i);
mani.RefreshContactPoints(mani.Body0.WorldTransform, mani.Body1.WorldTransform);
var colA = (mani.Body0.UserObject as CollisionObject).tag as PhysicalGameComponent;
var colB = (mani.Body1.UserObject as CollisionObject).tag as PhysicalGameComponent;
if (colA == colB)
{
continue;
}
var mps = new ManifoldPoint[mani.NumContacts];
for (int j = 0; j < mani.NumContacts; j++)
{
mps[j] = mani.GetContactPoint(j);
}
colA.OnCollision(colB.GameObject, mps);
colB.OnCollision(colA.GameObject, mps);
}
}