internal static bool qsCompare( btBroadphasePair a, btBroadphasePair b )
{
int uidA0 = 0;// a.m_pProxy0 != null ? a.m_pProxy0.m_uniqueId : -1;
int uidB0 = 0;// b.m_pProxy0 != null ? b.m_pProxy0.m_uniqueId : -1;
int uidA1 = 0;// a.m_pProxy1 != null ? a.m_pProxy1.m_uniqueId : -1;
int uidB1 = 0;// b.m_pProxy1 != null ? b.m_pProxy1.m_uniqueId : -1;
return uidA0 > uidB0 ||
( a.m_pProxy0.Equals( b.m_pProxy0 ) && uidA1 > uidB1 ) ||
( a.m_pProxy0 == b.m_pProxy0
&& a.m_pProxy1 == b.m_pProxy1
&& a.m_algorithm != b.m_algorithm
);
}
internal bool Equals( btBroadphasePair a, btBroadphasePair b )
{
return ( ( a.m_pProxy0 == b.m_pProxy0 ) && ( a.m_pProxy1 == b.m_pProxy1 ) )
|| ( ( a.m_pProxy0 == b.m_pProxy1 ) && ( a.m_pProxy1 == b.m_pProxy0 ) )
;
}
//by default, Bullet will use this near callback
void defaultNearCallback( btBroadphasePair collisionPair, btCollisionDispatcher dispatcher, btDispatcherInfo dispatchInfo )
{
btCollisionObject colObj0 = (btCollisionObject)collisionPair.m_pProxy0.m_clientObject;
btCollisionObject colObj1 = (btCollisionObject)collisionPair.m_pProxy1.m_clientObject;
if( dispatcher.needsCollision( colObj0, colObj1 ) )
{
btCollisionObjectWrapper obj0Wrap = BulletGlobals.CollisionObjectWrapperPool.Get();
obj0Wrap.Initialize( null, colObj0.getCollisionShape(), colObj0, -1, -1 );
btCollisionObjectWrapper obj1Wrap = BulletGlobals.CollisionObjectWrapperPool.Get();
obj1Wrap.Initialize( null, colObj1.getCollisionShape(), colObj1, -1, -1 );
//dispatcher will keep algorithms persistent in the collision pair
if( collisionPair.m_algorithm == null )
{
collisionPair.m_algorithm = dispatcher.findAlgorithm( obj0Wrap, obj1Wrap );
}
if( collisionPair.m_algorithm != null )
{
btManifoldResult contactPointResult = BulletGlobals.ManifoldResultPool.Get();
contactPointResult.Initialize( obj0Wrap, obj1Wrap );
if( dispatchInfo.m_dispatchFunc == btDispatcherInfo.DispatchFunc.DISPATCH_DISCRETE )
{
//discrete collision detection query
collisionPair.m_algorithm.processCollision( obj0Wrap
, ref obj0Wrap.m_collisionObject.m_worldTransform
, obj1Wrap
, ref obj1Wrap.m_collisionObject.m_worldTransform
, dispatchInfo, contactPointResult );
}
else
{
//continuous collision detection query, time of impact (toi)
double toi = collisionPair.m_algorithm.calculateTimeOfImpact( colObj0, colObj1, dispatchInfo, contactPointResult );
if( dispatchInfo.m_timeOfImpact > toi )
dispatchInfo.m_timeOfImpact = toi;
}
BulletGlobals.ManifoldResultPool.Free( contactPointResult );
}
BulletGlobals.CollisionObjectWrapperPool.Free( obj0Wrap );
BulletGlobals.CollisionObjectWrapperPool.Free( obj1Wrap );
}
}
internal btBroadphasePair( ref btBroadphasePair other )
{
m_pProxy0 = other.m_pProxy0;
m_pProxy1 = other.m_pProxy1;
m_algorithm = other.m_algorithm;
m_internalInfo1 = other.m_internalInfo1;
}
public bool processOverlap( btBroadphasePair pair )
{
m_dispatcher.m_nearCallback( pair, m_dispatcher, m_dispatchInfo );
return false;
}
