public override void ReportProximities(ChProximityContainer mproximitycontainer)
{
mproximitycontainer.BeginAddProximities();
/*
* int numManifolds = bt_collision_world->getDispatcher()->getNumManifolds();
* for (int i = 0; i < numManifolds; i++) {
* btPersistentManifold* contactManifold = bt_collision_world->getDispatcher()->getManifoldByIndexInternal(i);
* btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
* btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
* contactManifold->refreshContactPoints(obA->getWorldTransform(), obB->getWorldTransform());
*
* ChCollisionModel* modelA = (ChCollisionModel*)obA->getUserPointer();
* ChCollisionModel* modelB = (ChCollisionModel*)obB->getUserPointer();
*
* // Add to proximity container
* mproximitycontainer->AddProximity(modelA, modelB);
* }
*/
int numPairs = bt_collision_world.GetBroadphase().GetOverlappingPairCache().GetNumOverlappingPairs();
for (int i = 0; i < numPairs; i++)
{
BroadphasePair mp = bt_collision_world.GetBroadphase().GetOverlappingPairCache().GetOverlappingPairArray()[i];
CollisionObject obA = (CollisionObject)(mp.m_pProxy0.GetClientObject());
CollisionObject obB = (CollisionObject)(mp.m_pProxy1.GetClientObject());
ChCollisionModel modelA = (ChCollisionModel)obA.GetUserPointer();
ChCollisionModel modelB = (ChCollisionModel)obB.GetUserPointer();
// Add to proximity container
mproximitycontainer.AddProximity(modelA, modelB);
}
mproximitycontainer.EndAddProximities();
}
/// After the Run() has completed, you can call this function to /// fill a 'proximity container' (container of narrow phase pairs), that is /// an object inherited from class ChProximityContainer. For instance ChSystem, after each Run() /// collision detection, calls this method multiple times for all proximity containers in the system, /// Children classes _must_ implement this. /// The basic behavior of the implementation should be the following: collision system /// will call in sequence the functions BeginAddProximities(), AddProximity() (x n times), /// EndAddProximities() of the proximity container. /// In case a specialized implementation (ex. a GPU parallel collision engine) /// finds that the proximity container is a specialized one (ex with a GPU buffer) /// it can call more performant methods to add directly the proximities in batches, for instance /// by recognizing that he can call, say, some special AddAllProximitiesAsGpuBuffer() instead of many /// AddProximity(). public abstract void ReportProximities(ChProximityContainer mproximitycontainer);
