public BroadphasePair(BroadphasePair other)
{
_proxyA = other._proxyA;
_proxyB = other._proxyB;
_algorithm = other._algorithm;
_userInfo = null;
}
public BroadphasePair(BroadphaseProxy proxyA, BroadphaseProxy proxyB)
{
_proxyA = proxyA;
_proxyB = proxyB;
_algorithm = null;
_userInfo = null;
}
public void AddOverlappingPair(BroadphaseProxy proxyA, BroadphaseProxy proxyB)
{
//don't add overlap with own
bool test = proxyA != proxyB;
BulletDebug.Assert(proxyA != proxyB);
if (!NeedsBroadphaseCollision(proxyA, proxyB))
return;
BroadphasePair pair = new BroadphasePair(proxyA, proxyB);
_overlappingPairs.Add(pair);
_overlappingPairCount++;
}
public void CleanProxyFromPairs(BroadphaseProxy proxy)
{
for (int i = 0; i < _overlappingPairs.Count; i++)
{
BroadphasePair pair = _overlappingPairs[i];
if (pair.ProxyA == proxy ||
pair.ProxyB == proxy)
{
CleanOverlappingPair(ref pair);
_overlappingPairs[i] = pair;
}
}
}
public override BroadphaseProxy CreateProxy(Vector3 min, Vector3 max, BroadphaseNativeTypes shapeType, object userData, BroadphaseProxy.CollisionFilterGroups collisionFilterGroup, BroadphaseProxy.CollisionFilterGroups collisionFilterMask)
{
if (_proxies.Count >= _maxProxies)
{
BulletDebug.Assert(false);
return null; //should never happen, but don't let the game crash ;-)
}
BulletDebug.Assert(min.X <= max.X && min.Y <= max.Y && min.Z <= max.Z);
SimpleBroadphaseProxy proxy = new SimpleBroadphaseProxy(min, max, shapeType, userData, collisionFilterGroup, collisionFilterMask);
_proxies.Add(proxy);
return proxy;
}
//this FindPair becomes really slow. Either sort the list to speedup the query, or
//use a different solution. It is mainly used for Removing overlapping pairs. Removal could be delayed.
//we could keep a linked list in each proxy, and store pair in one of the proxies (with lowest memory address)
//Also we can use a 2D bitmap, which can be useful for a future GPU implementation
public BroadphasePair FindPair(BroadphaseProxy proxyA, BroadphaseProxy proxyB)
{
if (!NeedsBroadphaseCollision(proxyA, proxyB))
return null;
BroadphasePair pair = new BroadphasePair(proxyA, proxyB);
for (int i = 0; i < _overlappingPairs.Count; i++)
{
if (_overlappingPairs[i] == pair)
{
return _overlappingPairs[i];
}
}
return null;
}
private SimpleBroadphaseProxy GetSimpleProxyFromProxy(BroadphaseProxy proxy)
{
return(proxy as SimpleBroadphaseProxy);
}
public abstract void SetAabb(BroadphaseProxy proxy, Microsoft.Xna.Framework.Vector3 aabbMin, Microsoft.Xna.Framework.Vector3 aabbMax);
public abstract void DestroyProxy(BroadphaseProxy proxy);
public override void SetAabb(BroadphaseProxy proxy, Vector3 aabbMin, Vector3 aabbMax)
{
SimpleBroadphaseProxy simpleProxy = GetSimpleProxyFromProxy(proxy);
simpleProxy.Minimum = aabbMin;
simpleProxy.Maximum = aabbMax;
}
public override void DestroyProxy(BroadphaseProxy proxy)
{
Handle handle = proxy as Handle;
RemoveHandle(handle.HandleID);
}
private bool TestOverlap(BroadphaseProxy proxyA, BroadphaseProxy proxyB)
{
if (proxyA == null || proxyB == null)
return false;
Handle handleA = proxyA as Handle;
Handle handleB = proxyB as Handle;
for (int axis = 0; axis < 3; axis++)
{
if (handleA.MaxEdges[axis] < handleB.MinEdges[axis] ||
handleB.MaxEdges[axis] < handleA.MinEdges[axis])
{
return false;
}
}
return true;
}
public void RemoveOverlappingPairsContainingProxy(BroadphaseProxy proxy)
{
for (int i = _overlappingPairs.Count - 1; i >= 0; i--)
{
BroadphasePair pair = _overlappingPairs[i];
if (pair.ProxyA == proxy ||
pair.ProxyB == proxy)
{
RemoveOverlappingPair(pair);
i++;
}
}
}
public override void DestroyProxy(BroadphaseProxy proxy)
{
RemoveOverlappingPairsContainingProxy(proxy);
_proxies.Remove(proxy as SimpleBroadphaseProxy);
}
public override void SetAabb(BroadphaseProxy proxy, Vector3 aabbMin, Vector3 aabbMax)
{
Handle handle = proxy as Handle;
UpdateHandle(handle.HandleID, aabbMin, aabbMax);
}
public override void DestroyProxy(BroadphaseProxy proxy)
{
Handle handle = proxy as Handle;
RemoveHandle(handle.HandleID);
}
public abstract void SetAabb(BroadphaseProxy proxy, MonoXnaCompactMaths.Vector3 aabbMin, MonoXnaCompactMaths.Vector3 aabbMax);
public abstract BroadphaseProxy CreateProxy(MonoXnaCompactMaths.Vector3 min, MonoXnaCompactMaths.Vector3 max, BroadphaseNativeTypes shapeType, object userData, BroadphaseProxy.CollisionFilterGroups collisionFilterGroup, BroadphaseProxy.CollisionFilterGroups collisionFilterMask);
public abstract void SetAabb(BroadphaseProxy proxy, MonoXnaCompactMaths.Vector3 aabbMin, MonoXnaCompactMaths.Vector3 aabbMax);
public ushort AddHandle(Vector3 aabbMin, Vector3 aabbMax, object owner, BroadphaseProxy.CollisionFilterGroups collisionFilterGroup, BroadphaseProxy.CollisionFilterGroups collisionFilterMask)
{
ushort[] min = new ushort[3], max = new ushort[3];
Quantize(out min, aabbMin, 0);
Quantize(out max, aabbMax, 1);
ushort handle = AllocateHandle();
Handle oHandle = GetHandle(handle);
oHandle.HandleID = handle;
oHandle.ClientData = owner;
oHandle.CollisionFilterGroup = collisionFilterGroup;
oHandle.CollisionFilterMask = collisionFilterMask;
int limit = _numHandles * 2;
// (Gluk )
// ( Inside )
for (int axis = 0; axis < 3; axis++)
{
_handles[0].MaxEdges[axis] += 2;
_edges[axis][limit + 1].Position = _edges[axis][limit - 1].Position;
_edges[axis][limit + 1].Handle = _edges[axis][limit - 1].Handle;
_edges[axis][limit - 1].Position = min[axis];
_edges[axis][limit - 1].Handle = handle;
_edges[axis][limit].Position = max[axis];
_edges[axis][limit].Handle = handle;
oHandle.MinEdges[axis] = (ushort)(limit - 1);
oHandle.MaxEdges[axis] = (ushort)limit;
}
SortMinDown(0, oHandle.MinEdges[0], false);
SortMaxDown(0, oHandle.MaxEdges[0], false);
SortMinDown(1, oHandle.MinEdges[1], false);
SortMaxDown(1, oHandle.MaxEdges[1], false);
SortMinDown(2, oHandle.MinEdges[2], true);
SortMaxDown(2, oHandle.MaxEdges[2], true);
return handle;
}
public void AddCollisionObject(CollisionObject collisionObject, BroadphaseProxy.CollisionFilterGroups collisionFilterGroup, BroadphaseProxy.CollisionFilterGroups collisionFilterMask)
{
//check that the object isn't already added
if (!_collisionObjects.Contains(collisionObject))
{
_collisionObjects.Add(collisionObject);
//calculate new AABB
Matrix trans = collisionObject.WorldTransform;
Vector3 minAabb;
Vector3 maxAabb;
collisionObject.CollisionShape.GetAabb(trans, out minAabb, out maxAabb);
BroadphaseNativeTypes type = collisionObject.CollisionShape.ShapeType;
collisionObject.Broadphase = Broadphase.CreateProxy(
minAabb,
maxAabb,
type,
collisionObject,
collisionFilterGroup,
collisionFilterMask
);
}
}
public override BroadphaseProxy CreateProxy(Vector3 min, Vector3 max, BroadphaseNativeTypes shapeType, object userData, BroadphaseProxy.CollisionFilterGroups collisionFilterGroup, BroadphaseProxy.CollisionFilterGroups collisionFilterMask)
{
ushort handleId = AddHandle(min, max, userData, collisionFilterGroup, collisionFilterMask);
Handle handle = GetHandle(handleId);
return handle;
}
public bool NeedsBroadphaseCollision(BroadphaseProxy proxy0, BroadphaseProxy proxy1)
{
bool collides = (proxy0.CollisionFilterGroup & proxy1.CollisionFilterMask) != 0;
collides = collides && ((proxy1.CollisionFilterGroup & proxy0.CollisionFilterMask) != 0);
return collides;
}
public override void SetAabb(BroadphaseProxy proxy, Vector3 aabbMin, Vector3 aabbMax)
{
Handle handle = proxy as Handle;
UpdateHandle(handle.HandleID, aabbMin, aabbMax);
}
public abstract BroadphaseProxy CreateProxy(Microsoft.Xna.Framework.Vector3 min, Microsoft.Xna.Framework.Vector3 max, BroadphaseNativeTypes shapeType, object userData, BroadphaseProxy.CollisionFilterGroups collisionFilterGroup, BroadphaseProxy.CollisionFilterGroups collisionFilterMask);
private SimpleBroadphaseProxy GetSimpleProxyFromProxy(BroadphaseProxy proxy)
{
return proxy as SimpleBroadphaseProxy;
}
public abstract void DestroyProxy(BroadphaseProxy proxy);
public override void DestroyProxy(BroadphaseProxy proxy)
{
RemoveOverlappingPairsContainingProxy(proxy);
_proxies.Remove(proxy as SimpleBroadphaseProxy);
}
public abstract void SetAabb(BroadphaseProxy proxy, Microsoft.Xna.Framework.Vector3 aabbMin, Microsoft.Xna.Framework.Vector3 aabbMax);