new internal void Initialize( btDispatcher dispatcher, btBroadphaseInterface broadphase
, btCollisionConfiguration collisionConfiguration )
{
base.Initialize( dispatcher, broadphase, collisionConfiguration );
m_internalTickCallback = null;
m_internalPreTickCallback = null;
m_worldUserInfo = ( 0 );
}
internal void Initialize( btDispatcher dispatcher
, btBroadphaseInterface pairCache
, btCollisionConfiguration collisionConfiguration )
{
m_dispatcher1 = dispatcher;
m_broadphasePairCache = pairCache;
m_debugDrawer = null;
m_forceUpdateAllAabbs = true;
}
///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
public btSimpleDynamicsWorld(btDispatcher dispatcher
, btBroadphaseInterface pairCache
,btConstraintSolver constraintSolver
, btCollisionConfiguration collisionConfiguration)
: base( dispatcher, pairCache, collisionConfiguration )
{
m_constraintSolver = ( constraintSolver );
m_ownsConstraintSolver = ( false );
m_gravity = new btVector3( 0, 0, -9.8 );
}
public void Initialize( btDispatcher dispatcher, btCollisionObjectWrapper body0Wrap, btCollisionObjectWrapper body1Wrap, bool isSwapped )
{
m_dispatcher = ( dispatcher );
m_dispatchInfoPtr = ( null );
m_convexBodyWrap = isSwapped ? body1Wrap : body0Wrap;
m_triBodyWrap = isSwapped ? body0Wrap : body1Wrap;
//
// create the manifold from the dispatcher 'manifold pool'
//
m_manifoldPtr = m_dispatcher.getNewManifold( m_convexBodyWrap.m_collisionObject, m_triBodyWrap.m_collisionObject );
clearCache();
}
public void Initialize( btCollisionObject me, ref btVector3 fromA, ref btVector3 toA, btOverlappingPairCache pairCache, btDispatcher dispatcher )
{
base.Initialize( ref fromA, ref toA );
m_me = ( me );
m_allowedPenetration = ( 0.0f );
m_pairCache = ( pairCache );
m_dispatcher = ( dispatcher );
}
internal btDynamicsWorld( btDispatcher dispatcher, btBroadphaseInterface broadphase
, btCollisionConfiguration collisionConfiguration )
//: base( dispatcher, broadphase, collisionConfiguration )
{
Initialize( dispatcher, broadphase, collisionConfiguration );
}
internal override void dispatchAllCollisionPairs( btOverlappingPairCache pairCache, btDispatcherInfo dispatchInfo, btDispatcher dispatcher )
{
//m_blockedForChanges = true;
btCollisionPairCallback collisionCallback = new btCollisionPairCallback( dispatchInfo, this );
pairCache.processAllOverlappingPairs( collisionCallback, dispatcher );
//m_blockedForChanges = false;
}
internal abstract void dispatchAllCollisionPairs( btOverlappingPairCache pairCache, btDispatcherInfo dispatchInfo, btDispatcher dispatcher );
internal void Initialize( btDispatcher dispatcher, btBroadphaseInterface pairCache, btConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration )
{
base.Initialize( dispatcher, pairCache, collisionConfiguration );
m_solverIslandCallback = null;
m_constraintSolver = ( constraintSolver );
m_gravity = new btVector3( 0, -10, 0 );
m_localTime = ( 0 );
m_fixedTimeStep = ( 0 );
m_synchronizeAllMotionStates = ( false );
m_applySpeculativeContactRestitution = ( false );
m_latencyMotionStateInterpolation = ( true );
if( m_constraintSolver == null )
{
m_constraintSolver = new btSequentialImpulseConstraintSolver();
m_ownsConstraintSolver = true;
}
else
{
m_ownsConstraintSolver = false;
}
m_islandManager = new btSimulationIslandManager();
m_ownsIslandManager = true;
m_solverIslandCallback = new InplaceSolverIslandCallback( m_constraintSolver, dispatcher );
}
public abstract btBroadphaseProxy createProxy( ref btVector3 aabbMin, ref btVector3 aabbMax, BroadphaseNativeTypes shapeType, btCollisionObject userPtr, btBroadphaseProxy.CollisionFilterGroups collisionFilterGroup, btBroadphaseProxy.CollisionFilterGroups collisionFilterMask, btDispatcher dispatcher, object multiSapProxy );
public abstract void calculateOverlappingPairs( btDispatcher dispatcher );
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
internal override double solveGroup( btCollisionObject[] bodies, int numBodies
, btPersistentManifold[] manifoldPtr, int start_manifold, int numManifolds
, btTypedConstraint[] constraints, int startConstraint, int numConstraints
, btContactSolverInfo infoGlobal
, btIDebugDraw debugDrawer, btDispatcher dispatcher )
{
CProfileSample sample = new CProfileSample( "solveGroup" );
//you need to provide at least some bodies
solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr, start_manifold, numManifolds, constraints, startConstraint, numConstraints, infoGlobal, debugDrawer );
solveGroupCacheFriendlyIterations( bodies, numBodies, manifoldPtr, start_manifold, numManifolds, constraints, startConstraint, numConstraints, infoGlobal, debugDrawer );
solveGroupCacheFriendlyFinish( bodies, numBodies, infoGlobal );
return 0;
}
internal btCompoundCompoundLeafCallback( btCollisionObjectWrapper compound1ObjWrap,
btCollisionObjectWrapper compound0ObjWrap,
btDispatcher dispatcher,
btDispatcherInfo dispatchInfo,
btManifoldResult resultOut,
btHashedSimplePairCache childAlgorithmsCache,
btPersistentManifold sharedManifold )
{
m_numOverlapPairs = ( 0 );
m_compound0ColObjWrap = ( compound1ObjWrap );
m_compound1ColObjWrap = ( compound0ObjWrap );
m_dispatcher = ( dispatcher );
m_dispatchInfo = ( dispatchInfo );
m_resultOut = ( resultOut );
m_childCollisionAlgorithmCache = ( childAlgorithmsCache );
m_sharedManifold = ( sharedManifold );
}
///solve a group of constraints internal abstract double solveGroup( btCollisionObject[] bodies, int numBodies , btPersistentManifold[] manifold, int first_manifold, int numManifolds , btTypedConstraint[] constraints, int startConstraint, int numConstraints , btContactSolverInfo info , btIDebugDraw debugDrawer , btDispatcher dispatcher );
internal btCollisionWorld( btDispatcher dispatcher
, btBroadphaseInterface pairCache
, btCollisionConfiguration collisionConfiguration )
{
Initialize( dispatcher, pairCache, collisionConfiguration );
}
internal InplaceSolverIslandCallback(
btConstraintSolver solver,
btDispatcher dispatcher )
{
m_solverInfo = null;
m_solver = ( solver );
m_sortedConstraints = null;
m_numConstraints = ( 0 );
m_debugDrawer = null;
m_dispatcher = ( dispatcher );
}
public btDiscreteDynamicsWorld( btDispatcher dispatcher, btBroadphaseInterface pairCache, btConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration )
: base( dispatcher, pairCache, collisionConfiguration )
{
Initialize( dispatcher, pairCache, constraintSolver, collisionConfiguration );
}
public abstract void destroyProxy( btBroadphaseProxy proxy, btDispatcher dispatcher );
StaticOnlyCallback( btCollisionObject me, ref btVector3 fromA, ref btVector3 toA, btOverlappingPairCache* pairCache, btDispatcher* dispatcher ) :
public abstract void resetPool( btDispatcher dispatcher );
internal void Initialize( btCollisionObjectWrapper compoundObjWrap, btCollisionObjectWrapper otherObjWrap, btDispatcher dispatcher, btDispatcherInfo dispatchInfo, btManifoldResult resultOut, btCollisionAlgorithm[] childCollisionAlgorithms, btPersistentManifold sharedManifold )
{
m_compoundColObjWrap = ( compoundObjWrap );
m_otherObjWrap = ( otherObjWrap );
m_dispatcher = ( dispatcher );
m_dispatchInfo = ( dispatchInfo );
m_resultOut = ( resultOut );
m_childCollisionAlgorithms = ( childCollisionAlgorithms );
m_sharedManifold = ( sharedManifold );
}
public abstract void setAabb( btBroadphaseProxy proxy, ref btVector3 aabbMin, ref btVector3 aabbMax, btDispatcher dispatcher );