public CollisionDispatcher(ICollisionConfiguration collisionConfiguration)
{
m_dispatcherFlags = DispatcherFlags.CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD;
m_collisionConfiguration = collisionConfiguration;
m_neerCallback = DefaultNearCallback;
#if false
m_collisionAlgorithmPoolAllocator = collisionConfiguration.getCollisionAlgorithmPool();
m_persistentManifoldPoolAllocator = collisionConfiguration.getPersistentManifoldPool();
#endif
m_doubleDispatch = new CollisionAlgorithmCreateFunc[(int)BroadphaseNativeTypes.MAX_BROADPHASE_COLLISION_TYPES, (int)BroadphaseNativeTypes.MAX_BROADPHASE_COLLISION_TYPES];
for (BroadphaseNativeTypes i = BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE; i < BroadphaseNativeTypes.MAX_BROADPHASE_COLLISION_TYPES; i++)
{
for (BroadphaseNativeTypes j = BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE; j < BroadphaseNativeTypes.MAX_BROADPHASE_COLLISION_TYPES; j++)
{
m_doubleDispatch[(int)i, (int)j] = m_collisionConfiguration.getCollisionAlgorithmCreateFunc(i, j);
if (m_doubleDispatch[(int)i, (int)j] == null)
throw new BulletException();
}
}
}
public void SetDispatcherFlags(DispatcherFlags flags)
{
m_dispatcherFlags = flags;
}
public void SetDispatcherFlags(DispatcherFlags flags)
{
m_dispatcherFlags = flags;
}
static extern void btCollisionDispatcher_setDispatcherFlags(IntPtr obj, DispatcherFlags flags);
static extern void btCollisionDispatcher_setDispatcherFlags(IntPtr obj, DispatcherFlags flags);
internal override bool needsCollision( btCollisionObject body0, btCollisionObject body1 )
{
Debug.Assert( body0 != null );
Debug.Assert( body1 != null );
bool needsCollision = true;
#if DEBUG
if( ( m_dispatcherFlags & DispatcherFlags.CD_STATIC_STATIC_REPORTED ) == 0 )
{
//broadphase filtering already deals with this
if( body0.isStaticOrKinematicObject() && body1.isStaticOrKinematicObject() )
{
m_dispatcherFlags |= DispatcherFlags.CD_STATIC_STATIC_REPORTED;
Console.WriteLine( "warning needsCollision: static-static collision!\n" );
}
}
#endif //BT_DEBUG
if( ( !body0.isActive() ) && ( !body1.isActive() ) )
needsCollision = false;
else if( ( !body0.checkCollideWith( body1 ) ) || ( !body1.checkCollideWith( body0 ) ) )
needsCollision = false;
return needsCollision;
}
internal btCollisionDispatcher( btCollisionConfiguration collisionConfiguration )
{
int i;
m_dispatcherFlags = DispatcherFlags.CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD;
m_collisionConfiguration = collisionConfiguration;
setNearCallback( defaultNearCallback );
//m_collisionAlgorithmPoolAllocator = collisionConfiguration.getCollisionAlgorithmPool();
//m_persistentManifoldPoolAllocator = collisionConfiguration.getPersistentManifoldPool();
for( i = 0; i < (int)BroadphaseNativeTypes.MAX_BROADPHASE_COLLISION_TYPES; i++ )
{
for( int j = 0; j < (int)BroadphaseNativeTypes.MAX_BROADPHASE_COLLISION_TYPES; j++ )
{
m_doubleDispatch[i, j] = m_collisionConfiguration.getCollisionAlgorithmCreateFunc( (BroadphaseNativeTypes)i, (BroadphaseNativeTypes)j );
Debug.Assert( m_doubleDispatch[i, j] != null );
}
}
}
public virtual bool needsCollision(CollisionObject body0, CollisionObject body1)
{
Debug.Assert(body0 != null);
Debug.Assert(body1 != null);
bool needsCollision = true;
#if DEBUG
if ((m_dispatcherFlags & DispatcherFlags.CD_STATIC_STATIC_REPORTED) != 0)
{
//broadphase filtering already deals with this
if ((body0.isStaticObject || body0.isKinematicObject) &&
(body1.isStaticObject || body1.isKinematicObject))
{
m_dispatcherFlags |= DispatcherFlags.CD_STATIC_STATIC_REPORTED;
Debug.WriteLine("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
}
}
#endif //BT_DEBUG
if ((!body0.isActive) && (!body1.isActive))
needsCollision = false;
else if (!body0.checkCollideWith(body1))
needsCollision = false;
return needsCollision;
}