private static void onCCDContactModify(PxCCDContactModifyCallback * @this, PxContactModifyPair *pairs, uint count)
{
for (uint i = 0; i < count; i++)
{
PxRigidActor **actors = (PxRigidActor **)&pairs[i].actor; //BIOQUIRK: Unobvious cast.
PxShape ** shapes = (PxShape **)&pairs[i].shape; //BIOQUIRK: Unobvious cast
//Search for actors that represent vehicles and shapes that represent wheels.
for (uint j = 0; j < 2; j++)
{
PxRigidActor *actor = actors[j];
if (actor->userData != null && ((ActorUserData *)(actor->userData))->vehicle != null)
{
PxVehicleWheels *vehicle = ((ActorUserData *)(actor->userData))->vehicle;
Debug.Assert(vehicle->getRigidDynamicActor() == actors[j]);
PxShape *shape = shapes[j];
if (shape->userData != null && ((ShapeUserData *)(shape->userData))->isWheel)
{
uint wheelId = ((ShapeUserData *)(shape->userData))->wheelId;
Debug.Assert(wheelId < vehicle->mWheelsSimData.getNbWheels());
//Modify wheel contacts.
PxVehicleModifyWheelContacts(*vehicle, wheelId, WHEEL_TANGENT_VELOCITY_MULTIPLIER, MAX_IMPULSE, ref pairs[i]);
}
}
}
}
}
private static void onContactModify(PxContactModifyCallback * @this, PxContactModifyPair *pairs, uint count)
{
for (uint i = 0; i < count; i++)
{
//BIOQUIRK: Probably the "more correct" thing to do here is to use the generated constant array type, but these types currently have long confusing names.
// A Span<PxRigidActor*> would also be nice, but isn't possible in C# today.
// Could be improved by https://github.com/MochiLibraries/Biohazrd/issues/139
PxRigidActor **actors = (PxRigidActor **)&pairs[i].actor; //BIOQUIRK: Unobvious cast.
PxShape ** shapes = (PxShape **)&pairs[i].shape; //BIOQUIRK: Unobvious cast
//Search for actors that represent vehicles and shapes that represent wheels.
for (int j = 0; j < 2; j++)
{
PxRigidActor *actor = actors[j];
if (actor->userData != null && ((ActorUserData *)(actor->userData))->vehicle != null)
{
PxVehicleWheels *vehicle = ((ActorUserData *)(actor->userData))->vehicle;
Debug.Assert(vehicle->getRigidDynamicActor() == actors[j]);
PxShape *shape = shapes[j];
if (shape->userData != null && ((ShapeUserData *)(shape->userData))->isWheel)
{
uint wheelId = ((ShapeUserData *)(shape->userData))->wheelId;
Debug.Assert(wheelId < vehicle->mWheelsSimData.getNbWheels());
//Modify wheel contacts.
PxVehicleModifyWheelContacts(*vehicle, wheelId, WHEEL_TANGENT_VELOCITY_MULTIPLIER, MAX_IMPULSE, ref pairs[i]);
}
}
}
}
}
