public void ProcessChildShape( btCollisionShape childShape, int index )
{
Debug.Assert( index >= 0 );
btCompoundShape compoundShape = (btCompoundShape)( m_compoundColObjWrap.getCollisionShape() );
Debug.Assert( index < compoundShape.getNumChildShapes() );
//backup
//btTransform orgTrans = m_compoundColObjWrap.getWorldTransform();
//btTransform childTrans = compoundShape.getChildTransform( index );
btTransform newChildWorldTrans; m_compoundColObjWrap.m_collisionObject.m_worldTransform.Apply( ref compoundShape.m_children.InternalArray[index].m_transform
, out newChildWorldTrans );
//perform an AABB check first
btVector3 aabbMin0, aabbMax0, aabbMin1, aabbMax1;
childShape.getAabb( ref newChildWorldTrans, out aabbMin0, out aabbMax0 );
m_otherObjWrap.getCollisionShape().getAabb( ref m_otherObjWrap.m_collisionObject.m_worldTransform
, out aabbMin1, out aabbMax1 );
if( gCompoundChildShapePairCallback != null )
{
if( !gCompoundChildShapePairCallback( m_otherObjWrap.getCollisionShape(), childShape ) )
return;
}
if( btAabbUtil.TestAabbAgainstAabb2( ref aabbMin0, ref aabbMax0, ref aabbMin1, ref aabbMax1 ) )
{
btCollisionObjectWrapper compoundWrap = BulletGlobals.CollisionObjectWrapperPool.Get();
compoundWrap.Initialize( this.m_compoundColObjWrap, childShape, m_compoundColObjWrap.m_collisionObject, -1, index);
//the contactpoint is still projected back using the original inverted worldtrans
if( m_childCollisionAlgorithms[index] == null )
m_childCollisionAlgorithms[index] = m_dispatcher.findAlgorithm( compoundWrap, m_otherObjWrap, m_sharedManifold );
btCollisionObjectWrapper tmpWrap = null;
///detect swapping case
if( m_resultOut.getBody0Internal() == m_compoundColObjWrap.m_collisionObject )
{
tmpWrap = m_resultOut.m_body0Wrap;
m_resultOut.m_body0Wrap = compoundWrap;
m_resultOut.setShapeIdentifiersA( -1, index );
}
else
{
tmpWrap = m_resultOut.m_body1Wrap;
m_resultOut.m_body1Wrap =( compoundWrap );
m_resultOut.setShapeIdentifiersB( -1, index );
}
m_childCollisionAlgorithms[index].processCollision( compoundWrap, ref newChildWorldTrans
, m_otherObjWrap
, ref m_otherObjWrap.m_collisionObject.m_worldTransform
, m_dispatchInfo, m_resultOut );
#if false
if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw.getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
btVector3 worldAabbMin,worldAabbMax;
m_dispatchInfo.m_debugDraw.drawAabb(aabbMin0,aabbMax0,btVector3(1,1,1));
m_dispatchInfo.m_debugDraw.drawAabb(aabbMin1,aabbMax1,btVector3(1,1,1));
}
#endif
if( m_resultOut.getBody0Internal() == m_compoundColObjWrap.m_collisionObject )
{
m_resultOut.m_body0Wrap = tmpWrap;
}
else
{
m_resultOut.m_body1Wrap =( tmpWrap );
}
}
}
public void addChildShape( ref btTransform localTransform, btCollisionShape shape )
{
m_updateRevision++;
//m_childTransforms.Add(localTransform);
//m_childShapes.Add(shape);
btCompoundShapeChild child = new btCompoundShapeChild();
child.m_node = null;
child.m_transform = localTransform;
child.m_childShape = shape;
child.m_childShapeType = shape.getShapeType();
child.m_childMargin = shape.getMargin();
//extend the local aabbMin/aabbMax
btVector3 localAabbMin, localAabbMax;
shape.getAabb( ref localTransform, out localAabbMin, out localAabbMax );
for( int i = 0; i < 3; i++ )
{
if( m_localAabbMin[i] > localAabbMin[i] )
{
m_localAabbMin[i] = localAabbMin[i];
}
if( m_localAabbMax[i] < localAabbMax[i] )
{
m_localAabbMax[i] = localAabbMax[i];
}
}
if( m_dynamicAabbTree != null )
{
btDbvt.btDbvtVolume bounds = btDbvt.btDbvtVolume.FromMM( ref localAabbMin, ref localAabbMax );
int index = m_children.Count;
child.m_node = m_dynamicAabbTree.insert( ref bounds, index );
}
m_children.Add( child );
}