public BoxBoxCollisionAlgorithm(PersistentManifold mf,CollisionAlgorithmConstructionInfo ci,CollisionObject body0,CollisionObject body1) : base(ci)
{
if (m_manifoldPtr == null && m_dispatcher.NeedsCollision(body0,body1))
{
m_manifoldPtr = m_dispatcher.GetNewManifold(body0,body1);
m_ownManifold = true;
}
}
public Convex2dConvex2dAlgorithm(PersistentManifold mf,CollisionAlgorithmConstructionInfo ci,CollisionObject body0,CollisionObject body1, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold) : base(ci,body0,body1)
{
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
m_ownManifold = false;
m_manifoldPtr = mf;
m_lowLevelOfDetail = false;
m_numPerturbationIterations = numPerturbationIterations;
m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
}
public virtual void ProcessTriangle(ObjectArray<Vector3> triangle, int partId, int triangleIndex)
{
//aabb filter is already applied!
CollisionAlgorithmConstructionInfo ci = new CollisionAlgorithmConstructionInfo();
ci.SetDispatcher(m_dispatcher);
CollisionObject ob = (CollisionObject)m_triBody;
///debug drawing of the overlapping triangles
///
if (m_dispatchInfoPtr != null && m_dispatchInfoPtr.getDebugDraw() != null&& ((m_dispatchInfoPtr.getDebugDraw().GetDebugMode() & DebugDrawModes.DBG_DrawWireframe) > 0))
{
Vector3 color = new Vector3(1,1,0);
Matrix tr = ob.GetWorldTransform();
Vector3[] transformedTriangles = new Vector3[3];
for(int i=0;i<transformedTriangles.Length;++i)
{
transformedTriangles[i] = Vector3.Transform(triangle[i],tr);
}
m_dispatchInfoPtr.getDebugDraw().DrawLine(ref transformedTriangles[0], ref transformedTriangles[1], ref color);
m_dispatchInfoPtr.getDebugDraw().DrawLine(ref transformedTriangles[1], ref transformedTriangles[2], ref color);
m_dispatchInfoPtr.getDebugDraw().DrawLine(ref transformedTriangles[2], ref transformedTriangles[0], ref color);
}
if (m_convexBody.GetCollisionShape().IsConvex())
{
TriangleShape tm = new TriangleShape(triangle[0],triangle[1],triangle[2]);
tm.Margin = m_collisionMarginTriangle;
CollisionShape tmpShape = ob.GetCollisionShape();
ob.InternalSetTemporaryCollisionShape(tm);
CollisionAlgorithm colAlgo = ci.GetDispatcher().FindAlgorithm(m_convexBody,m_triBody,m_manifoldPtr);
///this should use the btDispatcher, so the actual registered algorithm is used
// btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
if (m_resultOut.GetBody0Internal() == m_triBody)
{
m_resultOut.SetShapeIdentifiersA(partId, triangleIndex);
}
else
{
m_resultOut.SetShapeIdentifiersB(partId, triangleIndex);
}
colAlgo.ProcessCollision(m_convexBody,m_triBody,m_dispatchInfoPtr, m_resultOut);
colAlgo.Cleanup();
ci.GetDispatcher().FreeCollisionAlgorithm(colAlgo);
colAlgo = null;
ob.InternalSetTemporaryCollisionShape( tmpShape);
}
}
public SphereBoxCollisionAlgorithm(PersistentManifold mf,CollisionAlgorithmConstructionInfo ci,CollisionObject col0,CollisionObject col1, bool isSwapped) : base(ci,col0,col1)
{
CollisionObject sphereObj = m_isSwapped ? col1 : col0;
CollisionObject boxObj = m_isSwapped ? col0 : col1;
if (m_manifoldPtr == null && m_dispatcher.NeedsCollision(sphereObj, boxObj))
{
m_manifoldPtr = m_dispatcher.GetNewManifold(sphereObj, boxObj);
m_ownManifold = true;
}
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0,CollisionObject body1)
{
if (!m_swapped)
{
return new ConvexPlaneCollisionAlgorithm(null,ci,body0,body1,false,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
}
else
{
return new ConvexPlaneCollisionAlgorithm(null,ci,body0,body1,true,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
}
}
public CompoundCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, bool isSwapped)
: base(ci, body0, body1)
{
m_isSwapped = isSwapped;
m_sharedManifold = ci.GetManifold();
m_ownsManifold = false;
CollisionObject colObj = m_isSwapped ? body1 : body0;
System.Diagnostics.Debug.Assert(colObj.GetCollisionShape().IsCompound());
CompoundShape compoundShape = (CompoundShape)(colObj.GetCollisionShape());
m_compoundShapeRevision = compoundShape.GetUpdateRevision();
PreallocateChildAlgorithms(body0, body1);
}
public ConvexConvexAlgorithm(PersistentManifold mf,CollisionAlgorithmConstructionInfo ci,CollisionObject body0,CollisionObject body1, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold) : base(ci,body0,body1)
{
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
m_ownManifold = false;
m_manifoldPtr = mf;
m_lowLevelOfDetail = false;
#if USE_SEPDISTANCE_UTIL2
m_sepDistance ((static_cast<btConvexShape*>(body0.getCollisionShape())).getAngularMotionDisc(),
(static_cast<btConvexShape*>(body1.getCollisionShape())).getAngularMotionDisc()),
#endif
m_numPerturbationIterations = numPerturbationIterations;
m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
}
public ConvexPlaneCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject col0,CollisionObject col1,bool isSwapped,int numPerturbationIterations,int minimumPointsPerturbationThreshold) : base(ci)
{
m_manifoldPtr = mf;
m_ownManifold = false;
m_isSwapped = isSwapped;
m_numPerturbationIterations = numPerturbationIterations;
m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
CollisionObject convexObj = m_isSwapped? col1 : col0;
CollisionObject planeObj = m_isSwapped? col0 : col1;
if (m_manifoldPtr == null && m_dispatcher.NeedsCollision(convexObj,planeObj))
{
m_manifoldPtr = m_dispatcher.GetNewManifold(convexObj,planeObj);
m_ownManifold = true;
}
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
return new ConvexConvexAlgorithm(ci.GetManifold(), ci, body0, body1, m_simplexSolver, m_pdSolver, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
}
public ActivatingCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject colObj0, CollisionObject colObj1)
: base(ci)
{
}
public ActivatingCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci)
: base(ci)
{
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0,CollisionObject body1)
{
return new EmptyAlgorithm(ci);
}
public ActivatingCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject colObj0, CollisionObject colObj1)
: base(ci)
{
}
public Box2dBox2dCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci)
: base(ci)
{
}
public virtual CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo caci, CollisionObject body0, CollisionObject body1)
{
return null;
}
public SphereTriangleCollisionAlgorithm(PersistentManifold mf,CollisionAlgorithmConstructionInfo ci,CollisionObject body0,CollisionObject body1,bool swapped) : base(ci,body0,body1)
{
m_ownManifold = false;
m_manifoldPtr = mf;
m_swapped = swapped;
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
return new Box2dBox2dCollisionAlgorithm(null, ci, body0, body1);
}
public virtual void Initialize(CollisionAlgorithmConstructionInfo ci, CollisionObject colObj0, CollisionObject colObj1)
{
base.Initialize(ci);
}
public override void Initialize(CollisionAlgorithmConstructionInfo ci)
{
base.Initialize(ci);
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0,CollisionObject body1)
{
return new SphereTriangleCollisionAlgorithm(ci.GetManifold(),ci,body0,body1,m_swapped);
}
public virtual void Initialize(CollisionAlgorithmConstructionInfo ci, CollisionObject colObj0, CollisionObject colObj1)
{
base.Initialize(ci);
}
public EmptyAlgorithm(CollisionAlgorithmConstructionInfo ci)
{
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
return new ConvexConcaveCollisionAlgorithm(ci, body0, body1, true);
}
public ConvexConcaveCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci,CollisionObject body0,CollisionObject body1,bool isSwapped) : base(ci,body0,body1)
{
m_isSwapped = isSwapped;
m_convexTriangleCallback = new ConvexTriangleCallback(m_dispatcher, body0, body1, isSwapped);
}
public SphereSphereCollisionAlgorithm(PersistentManifold mf,CollisionAlgorithmConstructionInfo ci,CollisionObject body0,CollisionObject body1) : base(ci,body0,body1)
{
}
} // for pool
public ActivatingCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci)
: base(ci)
{
}
public virtual CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo caci, CollisionObject body0, CollisionObject body1)
{
return(null);
}
public override void Initialize(CollisionAlgorithmConstructionInfo ci)
{
base.Initialize(ci);
}
public SphereTriangleCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci)
: base(ci)
{
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
return new CompoundCollisionAlgorithm(ci, body0, body1,false);
}
