public override void ClientMoveAndDisplay(GameTime gameTime)
{
// OPTIONAL: We simply move our ghost objects around (without rotating them.....)==============
if (m_ghostObject != null || m_pairCachingGhostObject != null)
{
rad += 0.005f; // Bad (depends on PC speed)
float sinRad = (float)Math.Sin(rad);
float cosRad = (float)Math.Cos(rad);
if (m_ghostObject != null)
{
IndexedMatrix im = IndexedMatrix.CreateFromQuaternion(quatDeg45Y);
im._origin = new IndexedVector3(15 * cosRad, 5, -15 * sinRad);
m_ghostObject.SetWorldTransform(ref im);
}
if (m_pairCachingGhostObject != null)
{
IndexedMatrix im = IndexedMatrix.CreateFromQuaternion(quatDeg45Y);
im._origin = new IndexedVector3(-15 * cosRad, 7, 15 * sinRad);
m_pairCachingGhostObject.SetWorldTransform(ref im);
}
}
base.ClientMoveAndDisplay(gameTime);
// NEW => Retrives the content from all ghost objects in the world and call ProcessObectsInsideGhostObjects(...) for each ====
if (m_dynamicsWorld != null)
{
ObjectArray <CollisionObject> objsInsidePairCachingGhostObject = new ObjectArray <CollisionObject>(); // We might want this to be a member variable...
ObjectArray <CollisionObject> pObjsInsideGhostObject = null; // We will store a reference of the current array in this pointer
ObjectArray <CollisionObject> objs = m_dynamicsWorld.GetCollisionObjectArray();
for (int i = 0, sz = objs.Count; i < sz; i++)
{
CollisionObject o = objs[i];
GhostObject go = GhostObject.Upcast(o);
if (go != null)
{
objsInsidePairCachingGhostObject.Resize(0);
PairCachingGhostObject pgo = go as PairCachingGhostObject; // No upcast functionality...
if (pgo != null)
{
GetCollidingObjectsInsidePairCachingGhostObject((DiscreteDynamicsWorld)m_dynamicsWorld, pgo, objsInsidePairCachingGhostObject);
pObjsInsideGhostObject = objsInsidePairCachingGhostObject;
}
else
{
pObjsInsideGhostObject = go.GetOverlappingPairs(); // It's better not to try and copy the whole array, but to keep a reference to it!
// Side Note: btAlignedObjectArray < btCollisionObject* > objs = go.getOverlappingPairs(); (at the moment) makes my program crash on my system...
// Nevermind, that was the wrong way of doing it: btAlignedObjectArray < btCollisionObject* >& objs = go.getOverlappingPairs(); is much better.
}
// Here pObjsInsideGhostObject should be valid.
ProcessObectsInsideGhostObjects(pObjsInsideGhostObject, pgo != null);
}
}
}
}
//InplaceSolverIslandCallback operator=(InplaceSolverIslandCallback& other)
//{
// Debug.Assert(false);
// //(void)other;
// return *this;
//}
public void Setup(ContactSolverInfo solverInfo, ObjectArray <TypedConstraint> sortedConstraints, int numConstraints, IDebugDraw debugDrawer)
{
Debug.Assert(solverInfo != null);
m_solverInfo = solverInfo;
m_sortedConstraints = sortedConstraints;
m_numConstraints = numConstraints;
m_debugDrawer = debugDrawer;
m_bodies.Resize(0);
m_manifolds.Resize(0);
m_constraints.Resize(0);
}
public static void Split(ObjectArray <DbvtNode> leaves, ObjectArray <DbvtNode> left, ObjectArray <DbvtNode> right, ref IndexedVector3 org, ref IndexedVector3 axis)
{
left.Resize(0);
right.Resize(0);
for (int i = 0, ni = leaves.Count; i < ni; ++i)
{
if (IndexedVector3.Dot(axis, leaves[i].volume.Center() - org) < 0)
{
left.Add(leaves[i]);
}
else
{
right.Add(leaves[i]);
}
}
}
public static void CollideTTpersistentStack(DbvtNode root0,
DbvtNode root1,
ICollide collideable)
{
//CollideTT(root0, root1, collideable);
//return;
if (root0 != null && root1 != null)
{
int depth = 1;
int treshold = DOUBLE_STACKSIZE - 4;
m_stkStack.Resize(DOUBLE_STACKSIZE);
m_stkStack[0] = new sStkNN(root0, root1);
do
{
sStkNN p = m_stkStack[--depth];
if (depth > treshold)
{
m_stkStack.Resize(m_stkStack.Count * 2);
treshold = m_stkStack.Count - 4;
}
if (p.a == p.b)
{
if (p.a.IsInternal())
{
m_stkStack[depth++] = new sStkNN(p.a._children[0], p.a._children[0]);
m_stkStack[depth++] = new sStkNN(p.a._children[1], p.a._children[1]);
m_stkStack[depth++] = new sStkNN(p.a._children[0], p.a._children[1]);
}
}
else if (DbvtAabbMm.Intersect(ref p.a.volume, ref p.b.volume))
{
if (p.a.IsInternal())
{
if (p.b.IsInternal())
{
m_stkStack[depth++] = new sStkNN(p.a._children[0], p.b._children[0]);
m_stkStack[depth++] = new sStkNN(p.a._children[1], p.b._children[0]);
m_stkStack[depth++] = new sStkNN(p.a._children[0], p.b._children[1]);
m_stkStack[depth++] = new sStkNN(p.a._children[1], p.b._children[1]);
}
else
{
m_stkStack[depth++] = new sStkNN(p.a._children[0], p.b);
m_stkStack[depth++] = new sStkNN(p.a._children[1], p.b);
}
}
else
{
if (p.b.IsInternal())
{
m_stkStack[depth++] = new sStkNN(p.a, p.b._children[0]);
m_stkStack[depth++] = new sStkNN(p.a, p.b._children[1]);
}
else
{
collideable.Process(p.a, p.b);
}
}
}
} while (depth > 0);
}
}
public static void CollideTT(DbvtNode root0, DbvtNode root1, ICollide collideable)
{
CollideTTCount++;
Debug.Assert(CollideTTCount < 2);
CollideTTStack.Clear();
if (root0 != null && root1 != null)
{
int depth = 1;
int treshold = DOUBLE_STACKSIZE - 4;
CollideTTStack[0] = new sStkNN(root0, root1);
do
{
sStkNN p = CollideTTStack[--depth];
if (depth > treshold)
{
CollideTTStack.Resize(CollideTTStack.Count * 2);
treshold = CollideTTStack.Count - 4;
}
if (p.a == p.b)
{
if (p.a.IsInternal())
{
CollideTTStack[depth++] = new sStkNN(p.a._children[0], p.a._children[0]);
CollideTTStack[depth++] = new sStkNN(p.a._children[1], p.a._children[1]);
CollideTTStack[depth++] = new sStkNN(p.a._children[0], p.a._children[1]);
}
}
else if (DbvtAabbMm.Intersect(ref p.a.volume, ref p.b.volume))
{
if (p.a.IsInternal())
{
if (p.b.IsInternal())
{
CollideTTStack[depth++] = new sStkNN(p.a._children[0], p.b._children[0]);
CollideTTStack[depth++] = new sStkNN(p.a._children[1], p.b._children[0]);
CollideTTStack[depth++] = new sStkNN(p.a._children[0], p.b._children[1]);
CollideTTStack[depth++] = new sStkNN(p.a._children[1], p.b._children[1]);
}
else
{
CollideTTStack[depth++] = new sStkNN(p.a._children[0], p.b);
CollideTTStack[depth++] = new sStkNN(p.a._children[1], p.b);
}
}
else
{
if (p.b.IsInternal())
{
CollideTTStack[depth++] = new sStkNN(p.a, p.b._children[0]);
CollideTTStack[depth++] = new sStkNN(p.a, p.b._children[1]);
}
else
{
collideable.Process(p.a, p.b);
}
}
}
} while (depth > 0);
}
CollideTTCount--;
}
///optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges)
public virtual bool InitializePolyhedralFeatures()
{
#if USE_CONVEX_HULL_COMPUTER
if (m_polyhedron != null)
{
m_polyhedron = null;
}
m_polyhedron = new ConvexPolyhedron();
ObjectArray <IndexedVector3> tmpVertices = new ObjectArray <IndexedVector3>();
for (int i = 0; i < GetNumVertices(); i++)
{
IndexedVector3 newVertex;
GetVertex(i, out newVertex);
tmpVertices.Add(newVertex);
}
ConvexHullComputer conv = new ConvexHullComputer();
//conv.compute(&tmpVertices[0].getX(), sizeof(IndexedVector3),tmpVertices.Count,0.0f,0.0f);
conv.Compute(tmpVertices, 0, tmpVertices.Count, 0.0f, 0.0f);
ObjectArray <IndexedVector3> faceNormals = new ObjectArray <IndexedVector3>();
int numFaces = conv.faces.size();
faceNormals.Resize(numFaces);
ConvexHullComputer convexUtil = conv;
m_polyhedron.m_faces.Resize(numFaces);
int numVertices = convexUtil.vertices.Count;
m_polyhedron.m_vertices.Resize(numVertices);
for (int p = 0; p < numVertices; p++)
{
m_polyhedron.m_vertices[p] = convexUtil.vertices[p];
}
for (int i = 0; i < numFaces; i++)
{
int face = convexUtil.faces[i];
//printf("face=%d\n",face);
Edge firstEdge = convexUtil.edges[face];
Edge edge = firstEdge;
IndexedVector3[] edges = new IndexedVector3[3];
int numEdges = 0;
//compute face normals
float maxCross2 = 0.0f;
int chosenEdge = -1;
do
{
int src = edge.GetSourceVertex();
m_polyhedron.m_faces[i].m_indices.Add(src);
int targ = edge.GetTargetVertex();
IndexedVector3 wa = convexUtil.vertices[src];
IndexedVector3 wb = convexUtil.vertices[targ];
IndexedVector3 newEdge = wb - wa;
newEdge.Normalize();
if (numEdges < 2)
{
edges[numEdges++] = newEdge;
}
edge = edge.GetNextEdgeOfFace();
} while (edge != firstEdge);
float planeEq = 1e30f;
if (numEdges == 2)
{
faceNormals[i] = IndexedVector3.Cross(edges[0], edges[1]);
faceNormals[i].Normalize();
m_polyhedron.m_faces[i].m_plane[0] = -faceNormals[i].X;
m_polyhedron.m_faces[i].m_plane[1] = -faceNormals[i].Y;
m_polyhedron.m_faces[i].m_plane[2] = -faceNormals[i].Z;
m_polyhedron.m_faces[i].m_plane[3] = planeEq;
}
else
{
Debug.Assert(false);//degenerate?
faceNormals[i] = IndexedVector3.Zero;
}
for (int v = 0; v < m_polyhedron.m_faces[i].m_indices.Count; v++)
{
float eq = IndexedVector3.Dot(m_polyhedron.m_vertices[m_polyhedron.m_faces[i].m_indices[v]], faceNormals[i]);
if (planeEq > eq)
{
planeEq = eq;
}
}
m_polyhedron.m_faces[i].m_plane[3] = planeEq;
}
if (m_polyhedron.m_faces.Count > 0 && conv.vertices.Count > 0)
{
for (int f = 0; f < m_polyhedron.m_faces.Count; f++)
{
IndexedVector3 planeNormal = new IndexedVector3(m_polyhedron.m_faces[f].m_plane[0], m_polyhedron.m_faces[f].m_plane[1], m_polyhedron.m_faces[f].m_plane[2]);
float planeEq = m_polyhedron.m_faces[f].m_plane[3];
IndexedVector3 supVec = LocalGetSupportingVertex(-planeNormal);
if (IndexedVector3.Dot(supVec, planeNormal) < planeEq)
{
m_polyhedron.m_faces[f].m_plane[0] *= -1;
m_polyhedron.m_faces[f].m_plane[1] *= -1;
m_polyhedron.m_faces[f].m_plane[2] *= -1;
m_polyhedron.m_faces[f].m_plane[3] *= -1;
int numVerts = m_polyhedron.m_faces[f].m_indices.Count;
for (int v = 0; v < numVerts / 2; v++)
{
int temp = m_polyhedron.m_faces[f].m_indices[v];
m_polyhedron.m_faces[f].m_indices[v] = m_polyhedron.m_faces[f].m_indices[numVerts - 1 - v];
m_polyhedron.m_faces[f].m_indices[numVerts - 1 - v] = temp;
}
}
}
}
m_polyhedron.Initialize();
#endif
return(true);
}
// Portable static method: prerequisite call: m_dynamicsWorld.getBroadphase().getOverlappingPairCache().setInternalGhostPairCallback(new btGhostPairCallback());
public static void GetCollidingObjectsInsidePairCachingGhostObject(DiscreteDynamicsWorld m_dynamicsWorld, PairCachingGhostObject m_pairCachingGhostObject, ObjectArray<CollisionObject> collisionArrayOut)
{
bool addOnlyObjectsWithNegativeDistance = true; // With "false" things don't change much, and the code is a bit faster and cleaner...
collisionArrayOut.Resize(0);
if (m_pairCachingGhostObject == null || m_dynamicsWorld == null) return;
//#define USE_PLAIN_COLLISION_WORLD // We dispatch all collision pairs of the ghost object every step (slow)
#if USE_PLAIN_COLLISION_WORLD
//======================================================================================================
// I thought this line was no longer needed, but it seems to be necessary (and I believe it's an expensive call):
m_dynamicsWorld.getDispatcher().dispatchAllCollisionPairs(m_pairCachingGhostObject.getOverlappingPairCache(), m_dynamicsWorld.getDispatchInfo(), m_dynamicsWorld.getDispatcher());
// Maybe the call can be automatically triggered by some other Bullet call (I'm almost sure I could comment it out in another demo I made long ago...)
// So by now the general rule is: in real projects, simply comment it out and see if it works!
//======================================================================================================
// UPDATE: in dynamic worlds, the line above can be commented out and the broadphase pair can be retrieved through the call to findPair(...) below.
// In collision worlds probably the above line is needed only if collision detection for all the bodies hasn't been made... This is something
// I'm still not sure of... the general rule is to try to comment out the line above and try to use findPair(...) and see if it works whenever possible....
//======================================================================================================
#endif //USE_PLAIN_COLLISION_WORLD
ObjectArray<BroadphasePair> collisionPairs = m_pairCachingGhostObject.GetOverlappingPairCache().GetOverlappingPairArray();
int numObjects = collisionPairs.Count;
PersistentManifoldArray m_manifoldArray = new PersistentManifoldArray();
bool added;
for (int i = 0; i < numObjects; i++)
{
m_manifoldArray.Resize(0);
#if USE_PLAIN_COLLISION_WORLD
const btBroadphasePair& collisionPair = collisionPairs[i];
if (collisionPair.m_algorithm) collisionPair.m_algorithm.getAllContactManifolds(m_manifoldArray);
else { // THIS SHOULD NEVER HAPPEN, AND IF IT DOES, PLEASE RE-ENABLE the "call" a few lines above...
printf("No collisionPair.m_algorithm - probably m_dynamicsWorld.getDispatcher().dispatchAllCollisionPairs(...) must be missing.\n");
}
#else // USE_PLAIN_COLLISION_WORLD
BroadphasePair cPair = collisionPairs[i];
//unless we manually perform collision detection on this pair, the contacts are in the dynamics world paircache:
BroadphasePair collisionPair = m_dynamicsWorld.GetPairCache().FindPair(cPair.m_pProxy0, cPair.m_pProxy1);
if (collisionPair == null)
{
continue;
}
if (collisionPair.m_algorithm != null)
{
collisionPair.m_algorithm.GetAllContactManifolds(m_manifoldArray);
}
else
{ // THIS SHOULD NEVER HAPPEN, AND IF IT DOES, PLEASE RE-ENABLE the "call" a few lines above...
//printf("No collisionPair.m_algorithm - probably m_dynamicsWorld.getDispatcher().dispatchAllCollisionPairs(...) must be missing.\n");
}
#endif //USE_PLAIN_COLLISION_WORLD
added = false;
for (int j = 0; j < m_manifoldArray.Count; j++)
{
PersistentManifold manifold = m_manifoldArray[j];
// Here we are in the narrowphase, but can happen that manifold.getNumContacts()==0:
if (addOnlyObjectsWithNegativeDistance)
{
for (int p = 0, numContacts = manifold.GetNumContacts(); p < numContacts; p++)
{
ManifoldPoint pt = manifold.GetContactPoint(p);
if (pt.GetDistance() < 0.0)
{
// How can I be sure that the colObjs are all distinct ? I use the "added" flag.
collisionArrayOut.Add((CollisionObject)(manifold.GetBody0() == m_pairCachingGhostObject ? manifold.GetBody1() : manifold.GetBody0()));
added = true;
break;
}
}
if (added)
{
break;
}
}
else if (manifold.GetNumContacts() > 0)
{
collisionArrayOut.Add((CollisionObject)(manifold.GetBody0() == m_pairCachingGhostObject ? manifold.GetBody1() : manifold.GetBody0()));
break;
}
}
}
}
public override void ClientMoveAndDisplay(GameTime gameTime)
{
// OPTIONAL: We simply move our ghost objects around (without rotating them.....)==============
if (m_ghostObject != null || m_pairCachingGhostObject != null)
{
rad+=0.005f; // Bad (depends on PC speed)
float sinRad = (float)Math.Sin(rad);
float cosRad = (float)Math.Cos(rad);
if (m_ghostObject != null)
{
IndexedMatrix im = IndexedMatrix.CreateFromQuaternion(quatDeg45Y);
im._origin = new IndexedVector3(15*cosRad,5,-15*sinRad);
m_ghostObject.SetWorldTransform(ref im);
}
if (m_pairCachingGhostObject != null)
{
IndexedMatrix im = IndexedMatrix.CreateFromQuaternion(quatDeg45Y);
im._origin = new IndexedVector3(-15*cosRad,7,15*sinRad);
m_pairCachingGhostObject.SetWorldTransform(ref im);
}
}
base.ClientMoveAndDisplay(gameTime);
// NEW => Retrives the content from all ghost objects in the world and call ProcessObectsInsideGhostObjects(...) for each ====
if (m_dynamicsWorld != null)
{
ObjectArray < CollisionObject > objsInsidePairCachingGhostObject = new ObjectArray<CollisionObject>(); // We might want this to be a member variable...
ObjectArray < CollisionObject > pObjsInsideGhostObject = null; // We will store a reference of the current array in this pointer
ObjectArray < CollisionObject > objs = m_dynamicsWorld.GetCollisionObjectArray();
for (int i=0,sz=objs.Count;i<sz;i++)
{
CollisionObject o = objs[i];
GhostObject go = GhostObject.Upcast(o);
if (go != null)
{
objsInsidePairCachingGhostObject.Resize(0);
PairCachingGhostObject pgo = go as PairCachingGhostObject; // No upcast functionality...
if (pgo != null)
{
GetCollidingObjectsInsidePairCachingGhostObject((DiscreteDynamicsWorld)m_dynamicsWorld,pgo,objsInsidePairCachingGhostObject);
pObjsInsideGhostObject = objsInsidePairCachingGhostObject;
}
else
{
pObjsInsideGhostObject = go.GetOverlappingPairs(); // It's better not to try and copy the whole array, but to keep a reference to it!
// Side Note: btAlignedObjectArray < btCollisionObject* > objs = go.getOverlappingPairs(); (at the moment) makes my program crash on my system...
// Nevermind, that was the wrong way of doing it: btAlignedObjectArray < btCollisionObject* >& objs = go.getOverlappingPairs(); is much better.
}
// Here pObjsInsideGhostObject should be valid.
ProcessObectsInsideGhostObjects(pObjsInsideGhostObject,pgo != null);
}
}
}
}
public static void Split(ObjectArray<DbvtNode> leaves, ObjectArray<DbvtNode> left, ObjectArray<DbvtNode> right, ref IndexedVector3 org, ref IndexedVector3 axis)
{
left.Resize(0);
right.Resize(0);
for (int i = 0, ni = leaves.Count; i < ni; ++i)
{
if (IndexedVector3.Dot(axis, leaves[i].volume.Center() - org) < 0)
{
left.Add(leaves[i]);
}
else
{
right.Add(leaves[i]);
}
}
}
///optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges)
public virtual bool InitializePolyhedralFeatures()
{
#if USE_CONVEX_HULL_COMPUTER
if (m_polyhedron != null)
{
m_polyhedron = null;
}
m_polyhedron = new ConvexPolyhedron();
ObjectArray<IndexedVector3> tmpVertices = new ObjectArray<IndexedVector3>();
for (int i = 0; i < GetNumVertices(); i++)
{
IndexedVector3 newVertex;
GetVertex(i, out newVertex);
tmpVertices.Add(newVertex);
}
ConvexHullComputer conv = new ConvexHullComputer();
//conv.compute(&tmpVertices[0].getX(), sizeof(IndexedVector3),tmpVertices.Count,0.0f,0.0f);
conv.Compute(tmpVertices, 0, tmpVertices.Count, 0.0f, 0.0f);
ObjectArray<IndexedVector3> faceNormals = new ObjectArray<IndexedVector3>();
int numFaces = conv.faces.size();
faceNormals.Resize(numFaces);
ConvexHullComputer convexUtil = conv;
m_polyhedron.m_faces.Resize(numFaces);
int numVertices = convexUtil.vertices.Count;
m_polyhedron.m_vertices.Resize(numVertices);
for (int p = 0; p < numVertices; p++)
{
m_polyhedron.m_vertices[p] = convexUtil.vertices[p];
}
for (int i = 0; i < numFaces; i++)
{
int face = convexUtil.faces[i];
//printf("face=%d\n",face);
Edge firstEdge = convexUtil.edges[face];
Edge edge = firstEdge;
IndexedVector3[] edges = new IndexedVector3[3];
int numEdges = 0;
//compute face normals
float maxCross2 = 0.0f;
int chosenEdge = -1;
do
{
int src = edge.GetSourceVertex();
m_polyhedron.m_faces[i].m_indices.Add(src);
int targ = edge.GetTargetVertex();
IndexedVector3 wa = convexUtil.vertices[src];
IndexedVector3 wb = convexUtil.vertices[targ];
IndexedVector3 newEdge = wb - wa;
newEdge.Normalize();
if (numEdges < 2)
{
edges[numEdges++] = newEdge;
}
edge = edge.GetNextEdgeOfFace();
} while (edge != firstEdge);
float planeEq = 1e30f;
if (numEdges == 2)
{
faceNormals[i] = IndexedVector3.Cross(edges[0], edges[1]);
faceNormals[i].Normalize();
m_polyhedron.m_faces[i].m_plane[0] = -faceNormals[i].X;
m_polyhedron.m_faces[i].m_plane[1] = -faceNormals[i].Y;
m_polyhedron.m_faces[i].m_plane[2] = -faceNormals[i].Z;
m_polyhedron.m_faces[i].m_plane[3] = planeEq;
}
else
{
Debug.Assert(false);//degenerate?
faceNormals[i] = IndexedVector3.Zero;
}
for (int v = 0; v < m_polyhedron.m_faces[i].m_indices.Count; v++)
{
float eq = IndexedVector3.Dot(m_polyhedron.m_vertices[m_polyhedron.m_faces[i].m_indices[v]], faceNormals[i]);
if (planeEq > eq)
{
planeEq = eq;
}
}
m_polyhedron.m_faces[i].m_plane[3] = planeEq;
}
if (m_polyhedron.m_faces.Count > 0 && conv.vertices.Count > 0)
{
for (int f = 0; f < m_polyhedron.m_faces.Count; f++)
{
IndexedVector3 planeNormal = new IndexedVector3(m_polyhedron.m_faces[f].m_plane[0], m_polyhedron.m_faces[f].m_plane[1], m_polyhedron.m_faces[f].m_plane[2]);
float planeEq = m_polyhedron.m_faces[f].m_plane[3];
IndexedVector3 supVec = LocalGetSupportingVertex(-planeNormal);
if (IndexedVector3.Dot(supVec, planeNormal) < planeEq)
{
m_polyhedron.m_faces[f].m_plane[0] *= -1;
m_polyhedron.m_faces[f].m_plane[1] *= -1;
m_polyhedron.m_faces[f].m_plane[2] *= -1;
m_polyhedron.m_faces[f].m_plane[3] *= -1;
int numVerts = m_polyhedron.m_faces[f].m_indices.Count;
for (int v = 0; v < numVerts / 2; v++)
{
int temp = m_polyhedron.m_faces[f].m_indices[v];
m_polyhedron.m_faces[f].m_indices[v] = m_polyhedron.m_faces[f].m_indices[numVerts - 1 - v];
m_polyhedron.m_faces[f].m_indices[numVerts - 1 - v] = temp;
}
}
}
}
m_polyhedron.Initialize();
#endif
return true;
}
public virtual void CalculateOverlappingPairs(IDispatcher dispatcher)
{
if (m_pairCache.HasDeferredRemoval())
{
ObjectArray <BroadphasePair> overlappingPairArray = m_pairCache.GetOverlappingPairArray();
//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
overlappingPairArray.QuickSort(new BroadphasePairQuickSort());
//overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
BroadphasePair previousPair = new BroadphasePair();
for (int i = 0; i < overlappingPairArray.Count; i++)
{
BroadphasePair pair = overlappingPairArray[i];
bool isDuplicate = pair.Equals(previousPair);
// MAN - not sure if this should be a deep copy or not...
previousPair = pair;
bool needsRemoval = false;
if (!isDuplicate)
{
///important to use an AABB test that is consistent with the broadphase
bool hasOverlap = TestAabbOverlap(pair.m_pProxy0, pair.m_pProxy1);
if (hasOverlap)
{
needsRemoval = false;//callback.processOverlap(pair);
}
else
{
needsRemoval = true;
}
}
else
{
//remove duplicate
needsRemoval = true;
//should have no algorithm
Debug.Assert(pair.m_algorithm == null);
}
if (needsRemoval)
{
m_pairCache.CleanOverlappingPair(pair, dispatcher);
// m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
// m_overlappingPairArray.pop_back();
pair.m_pProxy0 = null;
pair.m_pProxy1 = null;
m_invalidPair++;
OverlappingPairCacheGlobals.gOverlappingPairs--;
}
}
///if you don't like to skip the invalid pairs in the array, execute following code:
#if CLEAN_INVALID_PAIRS
overlappingPairArray.QuickSort(new BroadphasePairQuickSort());
overlappingPairArray.Resize(overlappingPairArray.Count - m_invalidPair);
m_invalidPair = 0;
#endif//CLEAN_INVALID_PAIRS
//printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size());
}
}
// Portable static method: prerequisite call: m_dynamicsWorld.getBroadphase().getOverlappingPairCache().setInternalGhostPairCallback(new btGhostPairCallback());
public static void GetCollidingObjectsInsidePairCachingGhostObject(DiscreteDynamicsWorld m_dynamicsWorld, PairCachingGhostObject m_pairCachingGhostObject, ObjectArray <CollisionObject> collisionArrayOut)
{
bool addOnlyObjectsWithNegativeDistance = true; // With "false" things don't change much, and the code is a bit faster and cleaner...
collisionArrayOut.Resize(0);
if (m_pairCachingGhostObject == null || m_dynamicsWorld == null)
{
return;
}
//#define USE_PLAIN_COLLISION_WORLD // We dispatch all collision pairs of the ghost object every step (slow)
#if USE_PLAIN_COLLISION_WORLD
//======================================================================================================
// I thought this line was no longer needed, but it seems to be necessary (and I believe it's an expensive call):
m_dynamicsWorld.getDispatcher().dispatchAllCollisionPairs(m_pairCachingGhostObject.getOverlappingPairCache(), m_dynamicsWorld.getDispatchInfo(), m_dynamicsWorld.getDispatcher());
// Maybe the call can be automatically triggered by some other Bullet call (I'm almost sure I could comment it out in another demo I made long ago...)
// So by now the general rule is: in real projects, simply comment it out and see if it works!
//======================================================================================================
// UPDATE: in dynamic worlds, the line above can be commented out and the broadphase pair can be retrieved through the call to findPair(...) below.
// In collision worlds probably the above line is needed only if collision detection for all the bodies hasn't been made... This is something
// I'm still not sure of... the general rule is to try to comment out the line above and try to use findPair(...) and see if it works whenever possible....
//======================================================================================================
#endif //USE_PLAIN_COLLISION_WORLD
ObjectArray <BroadphasePair> collisionPairs = m_pairCachingGhostObject.GetOverlappingPairCache().GetOverlappingPairArray();
int numObjects = collisionPairs.Count;
PersistentManifoldArray m_manifoldArray = new PersistentManifoldArray();
bool added;
for (int i = 0; i < numObjects; i++)
{
m_manifoldArray.Resize(0);
#if USE_PLAIN_COLLISION_WORLD
const btBroadphasePair& collisionPair = collisionPairs[i];
if (collisionPair.m_algorithm)
{
collisionPair.m_algorithm.getAllContactManifolds(m_manifoldArray);
}
else // THIS SHOULD NEVER HAPPEN, AND IF IT DOES, PLEASE RE-ENABLE the "call" a few lines above...
{
printf("No collisionPair.m_algorithm - probably m_dynamicsWorld.getDispatcher().dispatchAllCollisionPairs(...) must be missing.\n");
}
#else // USE_PLAIN_COLLISION_WORLD
BroadphasePair cPair = collisionPairs[i];
//unless we manually perform collision detection on this pair, the contacts are in the dynamics world paircache:
BroadphasePair collisionPair = m_dynamicsWorld.GetPairCache().FindPair(cPair.m_pProxy0, cPair.m_pProxy1);
if (collisionPair == null)
{
continue;
}
if (collisionPair.m_algorithm != null)
{
collisionPair.m_algorithm.GetAllContactManifolds(m_manifoldArray);
}
else
{ // THIS SHOULD NEVER HAPPEN, AND IF IT DOES, PLEASE RE-ENABLE the "call" a few lines above...
//printf("No collisionPair.m_algorithm - probably m_dynamicsWorld.getDispatcher().dispatchAllCollisionPairs(...) must be missing.\n");
}
#endif //USE_PLAIN_COLLISION_WORLD
added = false;
for (int j = 0; j < m_manifoldArray.Count; j++)
{
PersistentManifold manifold = m_manifoldArray[j];
// Here we are in the narrowphase, but can happen that manifold.getNumContacts()==0:
if (addOnlyObjectsWithNegativeDistance)
{
for (int p = 0, numContacts = manifold.GetNumContacts(); p < numContacts; p++)
{
ManifoldPoint pt = manifold.GetContactPoint(p);
if (pt.GetDistance() < 0.0)
{
// How can I be sure that the colObjs are all distinct ? I use the "added" flag.
collisionArrayOut.Add((CollisionObject)(manifold.GetBody0() == m_pairCachingGhostObject ? manifold.GetBody1() : manifold.GetBody0()));
added = true;
break;
}
}
if (added)
{
break;
}
}
else if (manifold.GetNumContacts() > 0)
{
collisionArrayOut.Add((CollisionObject)(manifold.GetBody0() == m_pairCachingGhostObject ? manifold.GetBody1() : manifold.GetBody0()));
break;
}
}
}
}