public void UpdateSingleAabb(CollisionObject colObj)
{
Vector3 minAabb = new Vector3();
Vector3 maxAabb = new Vector3();
Matrix wt = colObj.GetWorldTransform();
colObj.GetCollisionShape().GetAabb(ref wt, ref minAabb,ref maxAabb);
//need to increase the aabb for contact thresholds
Vector3 contactThreshold = new Vector3(BulletGlobals.gContactBreakingThreshold, BulletGlobals.gContactBreakingThreshold, BulletGlobals.gContactBreakingThreshold);
minAabb -= contactThreshold;
maxAabb += contactThreshold;
if (BulletGlobals.g_streamWriter != null && debugCollisionWorld)
{
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "updateSingleAabbMin", minAabb);
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "updateSingleAabbMax", maxAabb);
}
IBroadphaseInterface bp = (IBroadphaseInterface)m_broadphasePairCache;
//moving objects should be moderately sized, probably something wrong if not
if ( colObj.IsStaticObject() || ((maxAabb-minAabb).LengthSquared() < 1e12f))
{
bp.SetAabb(colObj.GetBroadphaseHandle(),ref minAabb,ref maxAabb, m_dispatcher1);
}
else
{
//something went wrong, investigate
//this assert is unwanted in 3D modelers (danger of loosing work)
colObj.SetActivationState(ActivationState.DISABLE_SIMULATION);
//static bool reportMe = true;
bool reportMe = true;
if (reportMe && m_debugDrawer != null)
{
reportMe = false;
m_debugDrawer.ReportErrorWarning("Overflow in AABB, object removed from simulation");
m_debugDrawer.ReportErrorWarning("If you can reproduce this, please email [email protected]\n");
m_debugDrawer.ReportErrorWarning("Please include above information, your Platform, version of OS.\n");
m_debugDrawer.ReportErrorWarning("Thanks.\n");
}
}
}
public virtual void RemoveCollisionObject(CollisionObject collisionObject)
{
//bool removeFromBroadphase = false;
{
BroadphaseProxy bp = collisionObject.GetBroadphaseHandle();
if (bp != null)
{
//
// only clear the cached algorithms
//
GetBroadphase().GetOverlappingPairCache().CleanProxyFromPairs(bp,m_dispatcher1);
GetBroadphase().DestroyProxy(bp,m_dispatcher1);
collisionObject.SetBroadphaseHandle(null);
}
}
//swapremove
m_collisionObjects.Remove(collisionObject);
}