public override float CalculateTimeOfImpact(CollisionObject bodyA, CollisionObject bodyB, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
CollisionObject convexbody = _isSwapped ? bodyB : bodyA;
CollisionObject triBody = _isSwapped ? bodyA : bodyB;
//quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast)
//only perform CCD above a certain threshold, this prevents blocking on the long run
//because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame...
float squareMot0 = (convexbody.InterpolationWorldTransform.Translation - convexbody.WorldTransform.Translation).LengthSquared();
if (squareMot0 < convexbody.CcdSquareMotionThreshold)
{
return(1);
}
Matrix triInv = MathHelper.InvertMatrix(triBody.WorldTransform);
Matrix convexFromLocal = triInv * convexbody.WorldTransform;
Matrix convexToLocal = triInv * convexbody.InterpolationWorldTransform;
if (triBody.CollisionShape.IsConcave)
{
Vector3 rayAabbMin = convexFromLocal.Translation;
MathHelper.SetMin(ref rayAabbMin, convexToLocal.Translation);
Vector3 rayAabbMax = convexFromLocal.Translation;
MathHelper.SetMax(ref rayAabbMax, convexToLocal.Translation);
float ccdRadius0 = convexbody.CcdSweptSphereRadius;
rayAabbMin -= new Vector3(ccdRadius0, ccdRadius0, ccdRadius0);
rayAabbMax += new Vector3(ccdRadius0, ccdRadius0, ccdRadius0);
float curHitFraction = 1f; //is this available?
LocalTriangleSphereCastCallback raycastCallback = new LocalTriangleSphereCastCallback(convexFromLocal, convexToLocal,
convexbody.CcdSweptSphereRadius, curHitFraction);
raycastCallback.HitFraction = convexbody.HitFraction;
CollisionObject concavebody = triBody;
ConcaveShape triangleMesh = concavebody.CollisionShape as ConcaveShape;
if (triangleMesh != null)
{
triangleMesh.ProcessAllTriangles(raycastCallback, rayAabbMin, rayAabbMax);
}
if (raycastCallback.HitFraction < convexbody.HitFraction)
{
convexbody.HitFraction = raycastCallback.HitFraction;
return(raycastCallback.HitFraction);
}
}
return(1);
}
public override float CalculateTimeOfImpact(CollisionObject bodyA, CollisionObject bodyB, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
CollisionObject convexbody = _isSwapped ? bodyB : bodyA;
CollisionObject triBody = _isSwapped ? bodyA : bodyB;
//quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast)
//only perform CCD above a certain threshold, this prevents blocking on the long run
//because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame...
float squareMot0 = (convexbody.InterpolationWorldTransform.Translation - convexbody.WorldTransform.Translation).LengthSquared();
if (squareMot0 < convexbody.CcdSquareMotionThreshold)
{
return 1;
}
Matrix triInv = MathHelper.InvertMatrix(triBody.WorldTransform);
Matrix convexFromLocal = triInv * convexbody.WorldTransform;
Matrix convexToLocal = triInv * convexbody.InterpolationWorldTransform;
if (triBody.CollisionShape.IsConcave)
{
Vector3 rayAabbMin = convexFromLocal.Translation;
MathHelper.SetMin(ref rayAabbMin, convexToLocal.Translation);
Vector3 rayAabbMax = convexFromLocal.Translation;
MathHelper.SetMax(ref rayAabbMax, convexToLocal.Translation);
float ccdRadius0 = convexbody.CcdSweptSphereRadius;
rayAabbMin -= new Vector3(ccdRadius0, ccdRadius0, ccdRadius0);
rayAabbMax += new Vector3(ccdRadius0, ccdRadius0, ccdRadius0);
float curHitFraction = 1f; //is this available?
LocalTriangleSphereCastCallback raycastCallback = new LocalTriangleSphereCastCallback(convexFromLocal, convexToLocal,
convexbody.CcdSweptSphereRadius, curHitFraction);
raycastCallback.HitFraction = convexbody.HitFraction;
CollisionObject concavebody = triBody;
ConcaveShape triangleMesh = concavebody.CollisionShape as ConcaveShape;
if (triangleMesh != null)
{
triangleMesh.ProcessAllTriangles(raycastCallback, rayAabbMin, rayAabbMax);
}
if (raycastCallback.HitFraction < convexbody.HitFraction)
{
convexbody.HitFraction = raycastCallback.HitFraction;
return raycastCallback.HitFraction;
}
}
return 1;
}
internal override double calculateTimeOfImpact( btCollisionObject body0, btCollisionObject body1, btDispatcherInfo dispatchInfo, btManifoldResult resultOut )
{
//(void)resultOut;
//(void)dispatchInfo;
btCollisionObject convexbody = m_isSwapped ? body1 : body0;
btCollisionObject triBody = m_isSwapped ? body0 : body1;
//quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast)
//only perform CCD above a certain threshold, this prevents blocking on the long run
//because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame...
double squareMot0 = btVector3.btDelLength2( ref convexbody.m_interpolationWorldTransform.m_origin, ref convexbody.m_worldTransform.m_origin );
if( squareMot0 < convexbody.getCcdSquareMotionThreshold() )
{
return btScalar.BT_ONE;
}
//ref btVector3 from = convexbody.m_worldTransform.getOrigin();
//btVector3 to = convexbody.m_interpolationWorldTransform.getOrigin();
//todo: only do if the motion exceeds the 'radius'
btTransform triInv; triBody.m_worldTransform.inverse( out triInv );
btTransform convexFromLocal; triInv.Apply( ref convexbody.m_worldTransform, out convexFromLocal );
btTransform convexToLocal; triInv.Apply( ref convexbody.m_interpolationWorldTransform, out convexToLocal );
if( triBody.getCollisionShape().isConcave() )
{
btVector3 rayAabbMin = convexFromLocal.m_origin;
rayAabbMin.setMin( ref convexToLocal.m_origin );
btVector3 rayAabbMax = convexFromLocal.m_origin;
rayAabbMax.setMax( ref convexToLocal.m_origin );
double ccdRadius0 = convexbody.getCcdSweptSphereRadius();
rayAabbMin.AddScale( ref btVector3.One, -ccdRadius0, out rayAabbMin );
rayAabbMax.AddScale( ref btVector3.One, ccdRadius0, out rayAabbMax );
double curHitFraction = btScalar.BT_ONE; //is this available?
LocalTriangleSphereCastCallback raycastCallback = new LocalTriangleSphereCastCallback ( ref convexFromLocal, ref convexToLocal,
convexbody.getCcdSweptSphereRadius(), curHitFraction);
raycastCallback.m_hitFraction = convexbody.getHitFraction();
btCollisionObject concavebody = triBody;
btConcaveShape triangleMesh = (btConcaveShape)concavebody.getCollisionShape();
if( triangleMesh != null )
{
triangleMesh.processAllTriangles( raycastCallback, ref rayAabbMin, ref rayAabbMax );
}
if( raycastCallback.m_hitFraction < convexbody.getHitFraction() )
{
convexbody.setHitFraction( raycastCallback.m_hitFraction );
return raycastCallback.m_hitFraction;
}
}
return btScalar.BT_ONE;
}
