public void ProcessTriangle(Vector3[] triangle, int partID, int triangleIndex)
{
//aabb filter is already applied!
CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo = new CollisionAlgorithmConstructionInfo();
collisionAlgorithmConstructionInfo.Dispatcher = _dispatcher;
CollisionObject collisionObject = _triBody;
//debug drawing of the overlapping triangles
/*if (m_dispatchInfoPtr && m_dispatchInfoPtr.m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() > 0)
* {
* Vector3 color = new Vector3(255, 255, 0);
* btTransform & tr = ob->WorldTransform;
* m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]), tr(triangle[1]), color);
* m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]), tr(triangle[2]), color);
* m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]), tr(triangle[0]), color);
* }*/
if (_convexBody.CollisionShape.IsConvex)
{
TriangleShape triangleShape = new TriangleShape(triangle[0], triangle[1], triangle[2]);
triangleShape.Margin = _collisionMarginTriangle;
CollisionShape tempShape = collisionObject.CollisionShape;
collisionObject.CollisionShape = triangleShape;
CollisionAlgorithm collisionAlgorithm = collisionAlgorithmConstructionInfo.Dispatcher.FindAlgorithm(_convexBody, _triBody, _manifold);
_resultOut.SetShapeIdentifiers(-1, -1, partID, triangleIndex);
collisionAlgorithm.ProcessCollision(_convexBody, _triBody, _dispatchInfo, _resultOut);
collisionObject.CollisionShape = tempShape;
}
}
public BroadphasePair(BroadphaseProxy proxyA, BroadphaseProxy proxyB)
{
_proxyA = proxyA;
_proxyB = proxyB;
_algorithm = null;
_userInfo = null;
}
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 BroadphasePair(BroadphasePair other)
{
_proxyA = other._proxyA;
_proxyB = other._proxyB;
_algorithm = other._algorithm;
_userInfo = null;
}
public CollisionAlgorithm FindAlgorithm(CollisionObject bodyA, CollisionObject bodyB, PersistentManifold sharedManifold)
{
CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo = new CollisionAlgorithmConstructionInfo();
collisionAlgorithmConstructionInfo.Dispatcher = this;
collisionAlgorithmConstructionInfo.Manifold = sharedManifold;
CollisionAlgorithm collisionAlgorithm = _doubleDispatch[(int)bodyA.CollisionShape.ShapeType, (int)bodyB.CollisionShape.ShapeType].CreateCollisionAlgorithm(collisionAlgorithmConstructionInfo, bodyA, bodyB);
return(collisionAlgorithm);
}