void DispatcherNearCallback(BroadphasePair collisionPair, CollisionDispatcher dispatcher,
DispatcherInfo dispatchInfo)
{
//AddToDisposeQueue(dispatchInfo.DebugDraw);
TestManifoldPoints();
//Console.WriteLine("DispatcherNearCallback");
}
public void CleanOverlappingPair(BroadphasePair pair, Dispatcher dispatcher)
{
btOverlappingPairCache_cleanOverlappingPair(_native, pair._native, dispatcher._native);
}
public bool ProcessOverlap(BroadphasePair pair)
{
return btOverlapCallback_processOverlap(_native, pair._native);
}
protected bool RecoverFromPenetration(CollisionWorld collisionWorld)
{
// Here we must refresh the overlapping paircache as the penetrating movement itself or the
// previous recovery iteration might have used setWorldTransform and pushed us into an object
// that is not in the previous cache contents from the last timestep, as will happen if we
// are pushed into a new AABB overlap. Unhandled this means the next convex sweep gets stuck.
//
// Do this by calling the broadphase's setAabb with the moved AABB, this will update the broadphase
// paircache and the ghostobject's internal paircache at the same time. /BW
Vector3 minAabb, maxAabb;
m_convexShape.GetAabb(m_ghostObject.WorldTransform, out minAabb, out maxAabb);
collisionWorld.Broadphase.SetAabbRef(m_ghostObject.BroadphaseHandle,
ref minAabb,
ref maxAabb,
collisionWorld.Dispatcher);
bool penetration = false;
collisionWorld.Dispatcher.DispatchAllCollisionPairs(m_ghostObject.OverlappingPairCache, collisionWorld.DispatchInfo, collisionWorld.Dispatcher);
m_currentPosition = m_ghostObject.WorldTransform.Origin;
// btScalar maxPen = btScalar(0.0);
for (int i = 0; i < m_ghostObject.OverlappingPairCache.NumOverlappingPairs; i++)
{
m_manifoldArray.Clear();
BroadphasePair collisionPair = m_ghostObject.OverlappingPairCache.OverlappingPairArray[i];
CollisionObject obj0 = collisionPair.Proxy0.ClientObject as CollisionObject;
CollisionObject obj1 = collisionPair.Proxy1.ClientObject as CollisionObject;
if ((obj0 != null && !obj0.HasContactResponse) || (obj1 != null && !obj1.HasContactResponse))
{
continue;
}
if (!NeedsCollision(obj0, obj1))
{
continue;
}
if (collisionPair.Algorithm != null)
{
collisionPair.Algorithm.GetAllContactManifolds(m_manifoldArray);
}
for (int j = 0; j < m_manifoldArray.Count; j++)
{
PersistentManifold manifold = m_manifoldArray[j];
float directionSign = manifold.Body0 == m_ghostObject ? -1.0f : 1.0f;
for (int p = 0; p < manifold.NumContacts; p++)
{
ManifoldPoint pt = manifold.GetContactPoint(p);
float dist = pt.Distance;
if (dist < -m_maxPenetrationDepth)
{
// to do: cause problems on slopes, not sure if it is needed
//if (dist < maxPen)
//{
// maxPen = dist;
// m_touchingNormal = pt.m_normalWorldOnB * directionSign;//??
//}
m_currentPosition += pt.NormalWorldOnB * directionSign * dist * 0.2f;
penetration = true;
}
else
{
//System.Console.WriteLine("touching " + dist);
}
}
//manifold.ClearManifold();
}
}
Matrix newTrans = m_ghostObject.WorldTransform;
newTrans.Origin = m_currentPosition;
m_ghostObject.WorldTransform = newTrans;
//System.Console.WriteLine("m_touchingNormal = " + m_touchingNormal);
return(penetration);
}
public void CleanOverlappingPair(BroadphasePair pair, Dispatcher dispatcher)
{
btOverlappingPairCache_cleanOverlappingPair(_native, pair._native, dispatcher._native);
}
public bool ProcessOverlap(BroadphasePair pair)
{
return(btOverlapCallback_processOverlap(_native, pair._native));
}
public static void DefaultNearCallback(BroadphasePair collisionPair, CollisionDispatcher dispatcher,
DispatcherInfo dispatchInfo)
{
btCollisionDispatcher_defaultNearCallback(collisionPair.Native, dispatcher.Native,
dispatchInfo.Native);
}
public static void DefaultNearCallback(BroadphasePair collisionPair, CollisionDispatcher dispatcher, DispatcherInfo dispatchInfo)
{
btCollisionDispatcher_defaultNearCallback(collisionPair._native, dispatcher._native, dispatchInfo._native);
}
protected bool RecoverFromPenetration(CollisionWorld collisionWorld)
{
Vector3 minAabb, maxAabb;
m_convexShape.GetAabb(m_ghostObject.WorldTransform, out minAabb, out maxAabb);
collisionWorld.Broadphase.SetAabbRef(m_ghostObject.BroadphaseHandle,
ref minAabb,
ref maxAabb,
collisionWorld.Dispatcher);
bool penetration = false;
collisionWorld.Dispatcher.DispatchAllCollisionPairs(m_ghostObject.OverlappingPairCache, collisionWorld.DispatchInfo, collisionWorld.Dispatcher);
m_currentPosition = m_ghostObject.WorldTransform.Origin;
float maxPen = 0f;
for (int i = 0; i < m_ghostObject.OverlappingPairCache.NumOverlappingPairs; i++)
{
m_manifoldArray.Clear();
BroadphasePair collisionPair = m_ghostObject.OverlappingPairCache.OverlappingPairArray[i];
CollisionObject obj0 = collisionPair.Proxy0.ClientObject as CollisionObject;
CollisionObject obj1 = collisionPair.Proxy1.ClientObject as CollisionObject;
if ((obj0 != null && !obj0.HasContactResponse) || (obj1 != null && !obj1.HasContactResponse))
{
continue;
}
if (collisionPair.Algorithm != null)
{
collisionPair.Algorithm.GetAllContactManifolds(m_manifoldArray);
}
for (int j = 0; j < m_manifoldArray.Count; j++)
{
PersistentManifold manifold = m_manifoldArray[j];
float directionSign = manifold.Body0 == m_ghostObject ? -1f : 1f;
for (int p = 0; p < manifold.NumContacts; p++)
{
ManifoldPoint pt = manifold.GetContactPoint(p);
float dist = pt.Distance;
if (dist < 0.0f)
{
if (dist < maxPen)
{
maxPen = dist;
m_touchingNormal = pt.NormalWorldOnB * directionSign;//??
}
m_currentPosition += pt.NormalWorldOnB * directionSign * dist * 0.2f;
penetration = true;
}
else
{
//printf("touching %f\n", dist);
}
}
//manifold.ClearManifold();
}
}
Matrix newTrans = m_ghostObject.WorldTransform;
newTrans.Origin = m_currentPosition;
m_ghostObject.WorldTransform = newTrans;
// printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);
return(penetration);
}
protected bool RecoverFromPenetration(CollisionWorld collisionWorld)
{
Vector3 minAabb, maxAabb;
m_convexShape.GetAabb(m_ghostObject.WorldTransform, out minAabb, out maxAabb);
collisionWorld.Broadphase.SetAabbRef(m_ghostObject.BroadphaseHandle,
ref minAabb,
ref maxAabb,
collisionWorld.Dispatcher);
bool penetration = false;
collisionWorld.Dispatcher.DispatchAllCollisionPairs(m_ghostObject.OverlappingPairCache, collisionWorld.DispatchInfo, collisionWorld.Dispatcher);
m_currentPosition = m_ghostObject.WorldTransform.Origin;
float maxPen = 0f;
for (int i = 0; i < m_ghostObject.OverlappingPairCache.NumOverlappingPairs; i++)
{
m_manifoldArray.Clear();
BroadphasePair collisionPair = m_ghostObject.OverlappingPairCache.OverlappingPairArray[i];
CollisionObject obj0 = collisionPair.Proxy0.ClientObject as CollisionObject;
CollisionObject obj1 = collisionPair.Proxy1.ClientObject as CollisionObject;
if ((obj0 != null && !obj0.HasContactResponse) || (obj1 != null && !obj1.HasContactResponse))
{
continue;
}
collisionPair.GetAllContactManifolds(m_manifoldArray);
for (int j = 0; j < m_manifoldArray.Count; j++)
{
var manifoldId = AlignedManifoldArray.btAlignedManifoldArray_at(m_manifoldArray._native, j);
var bodyId = PersistentManifold.btPersistentManifold_getBody0(manifoldId);
var numContacts = PersistentManifold.btPersistentManifold_getNumContacts(manifoldId);
float directionSign = bodyId == m_ghostObject._native ? -1f : 1f;
for (int p = 0; p < numContacts; p++)
{
var manifoldPointId = PersistentManifold.btPersistentManifold_getContactPoint(manifoldId, p);
float dist = ManifoldPoint.btManifoldPoint_getDistance(manifoldPointId);
if (dist < 0.0f)
{
Vector3 normalWorldOnB;
ManifoldPoint.btManifoldPoint_getNormalWorldOnB(manifoldPointId, out normalWorldOnB);
if (dist < maxPen)
{
maxPen = dist;
}
var counterPenDir = normalWorldOnB * directionSign;;
m_currentPosition += counterPenDir * dist;
penetration = true;
if (counterPenDir.Dot(Vector3.UnitY) > 0)
{
m_verticalVelocity = 0;
}
}
}
}
}
Matrix newTrans = m_ghostObject.WorldTransform;
newTrans.Origin = m_currentPosition;
m_ghostObject.WorldTransform = newTrans;
return(penetration);
}
public static void RoomNearCallback(BroadphasePair collisionPair, CollisionDispatcher dispatcher,
DispatcherInfo dispatchInfo)
{
var c0 = (EngineContainer) ((CollisionObject) collisionPair.Proxy0.ClientObject).UserObject;
var r0 = c0?.Room;
var c1 = (EngineContainer) ((CollisionObject) collisionPair.Proxy1.ClientObject).UserObject;
var r1 = c1?.Room;
if (c1 != null && c1 == c0)
{
if (((CollisionObject) collisionPair.Proxy0.ClientObject).IsStaticOrKinematicObject
|| ((CollisionObject) collisionPair.Proxy1.ClientObject).IsStaticOrKinematicObject)
{
return; // No self interaction
}
CollisionDispatcher.DefaultNearCallback(collisionPair, dispatcher, dispatchInfo);
return;
}
if(r0 == null && r1 == null)
{
CollisionDispatcher.DefaultNearCallback(collisionPair, dispatcher, dispatchInfo); // Both are out of rooms
return;
}
if(r0 != null && r1 != null)
{
if(r0.IsInNearRoomsList(r1))
{
CollisionDispatcher.DefaultNearCallback(collisionPair, dispatcher, dispatchInfo);
}
}
}
