public virtual bool NeedsCollision(CollisionObject body0, CollisionObject body1)
{
// Debug.Assert(body0 != null);
// Debug.Assert(body1 != null);
bool needsCollision = true;
#if BT_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;
System.err.Writeline("warning CollisionDispatcher::needsCollision: static-static collision!\n");
}
}
#endif //BT_DEBUG
if ((!body0.IsActive()) && (!body1.IsActive()))
{
needsCollision = false;
}
else if (!body0.CheckCollideWith(body1))
{
needsCollision = false;
}
return(needsCollision);
}
public virtual bool NeedsCollision(CollisionObject body0, CollisionObject body1)
{
Debug.Assert(body0 != null);
Debug.Assert(body1 != null);
bool needsCollision = true;
#if BT_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;
System.err.Writeline("warning CollisionDispatcher::needsCollision: static-static collision!\n");
}
}
#endif //BT_DEBUG
if ((!body0.IsActive()) && (!body1.IsActive()))
{
needsCollision = false;
}
else if (!body0.CheckCollideWith(body1))
{
needsCollision = false;
}
return needsCollision;
}
public void BuildAndProcessIslands(IDispatcher dispatcher, CollisionWorld collisionWorld, IIslandCallback callback)
{
ObjectArray <CollisionObject> collisionObjects = collisionWorld.GetCollisionObjectArray();
BuildIslands(dispatcher, collisionWorld);
int endIslandIndex = 1;
int startIslandIndex;
int numElem = GetUnionFind().GetNumElements();
BulletGlobals.StartProfile("processIslands");
if (!m_splitIslands)
{
PersistentManifoldArray manifolds = dispatcher.GetInternalManifoldPointer();
int maxNumManifolds = dispatcher.GetNumManifolds();
callback.ProcessIsland(collisionObjects, collisionObjects.Count, manifolds, 0, maxNumManifolds, -1);
}
else
{
// Sort manifolds, based on islands
// Sort the vector using predicate and std::sort
//std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate);
int numManifolds = m_islandmanifold.Count;
//we should do radix sort, it it much faster (O(n) instead of O (n log2(n))
m_islandmanifold.QuickSort(m_sortPredicate);
//now process all active islands (sets of manifolds for now)
int startManifoldIndex = 0;
int endManifoldIndex = 1;
//traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
for (startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex)
{
int islandId = GetUnionFind().GetElement(startIslandIndex).m_id;
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugIslands)
{
BulletGlobals.g_streamWriter.WriteLine(String.Format("buildAndProcessIslands start[{0}] end[{1}] id[{2}]", startIslandIndex, endIslandIndex, islandId));
}
bool islandSleeping = true;
for (endIslandIndex = startIslandIndex; (endIslandIndex < numElem) && (GetUnionFind().GetElement(endIslandIndex).m_id == islandId); endIslandIndex++)
{
int i = GetUnionFind().GetElement(endIslandIndex).m_sz;
CollisionObject colObj0 = collisionObjects[i];
m_islandBodies.Add(colObj0);
if (colObj0.IsActive())
{
islandSleeping = false;
}
}
//find the accompanying contact manifold for this islandId
int numIslandManifolds = 0;
PersistentManifold startManifold = null;
if (startManifoldIndex < numManifolds)
{
int curIslandId = GetIslandId(m_islandmanifold[startManifoldIndex]);
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugIslands)
{
BulletGlobals.g_streamWriter.WriteLine("curIsland[{0}] startManifold[{1}].", curIslandId, startManifoldIndex);
}
if (curIslandId == islandId)
{
startManifold = m_islandmanifold[startManifoldIndex];
for (endManifoldIndex = startManifoldIndex + 1; (endManifoldIndex < numManifolds) && (islandId == GetIslandId(m_islandmanifold[endManifoldIndex])); endManifoldIndex++)
{
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugIslands)
{
BulletGlobals.g_streamWriter.WriteLine("endManifoldIndex[{0}] islandId[{1}] getIsland[{2}].", endManifoldIndex, startManifoldIndex, GetIslandId(m_islandmanifold[endManifoldIndex]));
}
}
/// Process the actual simulation, only if not sleeping/deactivated
numIslandManifolds = endManifoldIndex - startManifoldIndex;
}
}
if (!islandSleeping)
{
callback.ProcessIsland(m_islandBodies, m_islandBodies.Count, m_islandmanifold, startManifoldIndex, numIslandManifolds, islandId);
// printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
}
else
{
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugIslands)
{
BulletGlobals.g_streamWriter.WriteLine("islandSleeping.");
}
}
if (numIslandManifolds != 0)
{
startManifoldIndex = endManifoldIndex;
}
m_islandBodies.Clear();
}
} // else if(!splitIslands)
BulletGlobals.StopProfile();
}