public void NearCallback(BroadphasePair collisionPair, CollisionDispatcher dispatcher, DispatcherInfo dispatchInfo)
{
CollisionObject colObj0 = collisionPair.m_pProxy0.GetClientObject() as CollisionObject;
CollisionObject colObj1 = collisionPair.m_pProxy1.GetClientObject() as CollisionObject;
if (dispatcher.NeedsCollision(colObj0, colObj1))
{
//dispatcher will keep algorithms persistent in the collision pair
if (collisionPair.m_algorithm == null)
{
collisionPair.m_algorithm = dispatcher.FindAlgorithm(colObj0, colObj1, null);
}
if (collisionPair.m_algorithm != null)
{
ManifoldResult contactPointResult = dispatcher.GetNewManifoldResult(colObj0, colObj1);
if (dispatchInfo.GetDispatchFunc() == DispatchFunc.DISPATCH_DISCRETE)
{
//discrete collision detection query
collisionPair.m_algorithm.ProcessCollision(colObj0, colObj1, dispatchInfo, contactPointResult);
}
else
{
//continuous collision detection query, time of impact (toi)
float toi = collisionPair.m_algorithm.CalculateTimeOfImpact(colObj0, colObj1, dispatchInfo, contactPointResult);
if (dispatchInfo.GetTimeOfImpact() > toi)
{
dispatchInfo.SetTimeOfImpact(toi);
}
}
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugDispatcher)
{
BulletGlobals.g_streamWriter.WriteLine("NearCallback[{0}][{1}][{2}]", contactPointResult.GetBody0Internal().GetUserPointer(), contactPointResult.GetBody1Internal().GetUserPointer(), contactPointResult.GetPersistentManifold().GetNumContacts());
}
#endif
dispatcher.FreeManifoldResult(contactPointResult);
}
}
}