public virtual void ProcessTriangle(IndexedVector3[] triangle, int partId, int triangleIndex)
{
TriangleShape triangleShape = new TriangleShape(ref triangle[0], ref triangle[1], ref triangle[2]);
triangleShape.SetMargin(m_triangleCollisionMargin);
VoronoiSimplexSolver simplexSolver = BulletGlobals.VoronoiSimplexSolverPool.Get();
GjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver = new GjkEpaPenetrationDepthSolver();
//#define USE_SUBSIMPLEX_CONVEX_CAST 1
//if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented ref code below
#if USE_SUBSIMPLEX_CONVEX_CAST
SubsimplexConvexCast convexCaster = new SubsimplexConvexCast(m_convexShape, triangleShape, simplexSolver);
#else
//btGjkConvexCast convexCaster(m_convexShape,&triangleShape,&simplexSolver);
ContinuousConvexCollision convexCaster = BulletGlobals.ContinuousConvexCollisionPool.Get();
convexCaster.Initialize(m_convexShape, triangleShape, simplexSolver, gjkEpaPenetrationSolver);
#endif //#USE_SUBSIMPLEX_CONVEX_CAST
CastResult castResult = BulletGlobals.CastResultPool.Get();
castResult.m_fraction = 1f;
if (convexCaster.CalcTimeOfImpact(ref m_convexShapeFrom, ref m_convexShapeTo, ref m_triangleToWorld, ref m_triangleToWorld, castResult))
{
//add hit
if (castResult.m_normal.LengthSquared() > 0.0001f)
{
if (castResult.m_fraction < m_hitFraction)
{
/* btContinuousConvexCast's normal is already in world space */
/*
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
* //rotate normal into worldspace
* castResult.m_normal = m_convexShapeFrom.getBasis() * castResult.m_normal;
#endif //USE_SUBSIMPLEX_CONVEX_CAST
*/
castResult.m_normal.Normalize();
ReportHit(ref castResult.m_normal, ref castResult.m_hitPoint, castResult.m_fraction, partId, triangleIndex);
}
}
}
BulletGlobals.ContinuousConvexCollisionPool.Free(convexCaster);
BulletGlobals.VoronoiSimplexSolverPool.Free(simplexSolver);
castResult.Cleanup();
}
public virtual void ProcessTriangle(IndexedVector3[] triangle, int partId, int triangleIndex)
{
if (!AabbUtil2.TestTriangleAgainstAabb2(triangle, ref m_aabbMin, ref m_aabbMax))
{
return;
}
//aabb filter is already applied!
CollisionAlgorithmConstructionInfo ci = new CollisionAlgorithmConstructionInfo();
ci.SetDispatcher(m_dispatcher);
CollisionObject ob = m_triBody as CollisionObject;
///debug drawing of the overlapping triangles
///
#if false
if (m_dispatchInfoPtr != null && m_dispatchInfoPtr.getDebugDraw() != null && ((m_dispatchInfoPtr.getDebugDraw().GetDebugMode() & DebugDrawModes.DBG_DrawWireframe) > 0))
{
IndexedVector3 color = new IndexedVector3(1, 1, 0);
IndexedMatrix tr = ob.GetWorldTransform();
IndexedVector3[] transformedTriangles = new IndexedVector3[3];
IndexedVector3.Transform(triangle, ref tr, transformedTriangles);
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);
}
#endif
if (m_convexBody.GetCollisionShape().IsConvex())
{
using (TriangleShape tm = BulletGlobals.TriangleShapePool.Get())
{
tm.Initialize(ref triangle[0], ref triangle[1], ref triangle[2]);
tm.SetMargin(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);
ci.GetDispatcher().FreeCollisionAlgorithm(colAlgo);
colAlgo = null;
ob.InternalSetTemporaryCollisionShape(tmpShape);
}
}
}