internal override bool needsCollision( btCollisionObject body0, btCollisionObject body1 )
{
Debug.Assert( body0 != null );
Debug.Assert( body1 != null );
bool needsCollision = true;
#if 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;
Console.WriteLine( "warning needsCollision: static-static collision!\n" );
}
}
#endif //BT_DEBUG
if( ( !body0.isActive() ) && ( !body1.isActive() ) )
needsCollision = false;
else if( ( !body0.checkCollideWith( body1 ) ) || ( !body1.checkCollideWith( body0 ) ) )
needsCollision = false;
return needsCollision;
}
void updateSingleAabb( btCollisionObject colObj )
{
btVector3 minAabb, maxAabb;
colObj.getCollisionShape().getAabb( ref colObj.m_worldTransform, out minAabb, out maxAabb );
//need to increase the aabb for contact thresholds
btVector3 contactThreshold = new btVector3( btPersistentManifold.gContactBreakingThreshold, btPersistentManifold.gContactBreakingThreshold, btPersistentManifold.gContactBreakingThreshold );
minAabb.Sub( ref contactThreshold, out minAabb );
maxAabb.Add( ref contactThreshold, out maxAabb );
//minAabb -= contactThreshold;
//maxAabb += contactThreshold;
if( getDispatchInfo().m_useContinuous
&& colObj.getInternalType() == btCollisionObject.CollisionObjectTypes.CO_RIGID_BODY
&& !colObj.isStaticOrKinematicObject() )
{
btVector3 minAabb2, maxAabb2;
colObj.getCollisionShape().getAabb( ref colObj.m_interpolationWorldTransform, out minAabb2, out maxAabb2 );
minAabb2.Sub( ref contactThreshold, out minAabb2 );
maxAabb2.Add( ref contactThreshold, out maxAabb2 );
minAabb.setMin( ref minAabb2 );
maxAabb.setMax( ref maxAabb2 );
}
btBroadphaseInterface bp = (btBroadphaseInterface)m_broadphasePairCache;
//moving objects should be moderately sized, probably something wrong if not
if( colObj.isStaticObject()
|| ( btVector3.BetweenLength2( ref minAabb, ref maxAabb ) < (double)( 1e12 ) ) )
{
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 );
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" );
}
}
}
internal override bool needsResponse( btCollisionObject body0, btCollisionObject body1 )
{
//here you can do filtering
bool hasResponse =
( body0.hasContactResponse() && body1.hasContactResponse() );
//no response between two static/kinematic bodies:
hasResponse = hasResponse &&
( ( !body0.isStaticOrKinematicObject() ) || ( !body1.isStaticOrKinematicObject() ) );
return hasResponse;
}