public void AddChildShape(ref IndexedMatrix localTransform, CollisionShape shape)
{
m_updateRevision++;
//m_childTransforms.push_back(localTransform);
//m_childShapes.push_back(shape);
CompoundShapeChild child = new CompoundShapeChild();
child.m_transform = localTransform;
child.m_childShape = shape;
child.m_childShapeType = shape.GetShapeType();
child.m_childMargin = shape.GetMargin();
//extend the local aabbMin/aabbMax
IndexedVector3 localAabbMin;
IndexedVector3 localAabbMax;
shape.GetAabb(ref localTransform, out localAabbMin, out localAabbMax);
MathUtil.VectorMin(ref localAabbMin, ref m_localAabbMin);
MathUtil.VectorMax(ref localAabbMax, ref m_localAabbMax);
if (m_dynamicAabbTree != null)
{
DbvtAabbMm bounds = DbvtAabbMm.FromMM(ref localAabbMin, ref localAabbMax);
int index = m_children.Count;
child.m_treeNode = m_dynamicAabbTree.Insert(ref bounds, (object)index);
}
m_children.Add(child);
}
public void AddChildShape(ref IndexedMatrix localTransform, CollisionShape shape)
{
m_updateRevision++;
//m_childTransforms.push_back(localTransform);
//m_childShapes.push_back(shape);
CompoundShapeChild child = new CompoundShapeChild();
child.m_transform = localTransform;
child.m_childShape = shape;
child.m_childShapeType = shape.GetShapeType();
child.m_childMargin = shape.GetMargin();
//extend the local aabbMin/aabbMax
IndexedVector3 localAabbMin;
IndexedVector3 localAabbMax;
shape.GetAabb(ref localTransform, out localAabbMin, out localAabbMax);
MathUtil.VectorMin(ref localAabbMin, ref m_localAabbMin);
MathUtil.VectorMax(ref localAabbMax, ref m_localAabbMax);
if (m_dynamicAabbTree != null)
{
DbvtAabbMm bounds = DbvtAabbMm.FromMM(ref localAabbMin, ref localAabbMax);
int index = m_children.Count;
child.m_treeNode = m_dynamicAabbTree.Insert(ref bounds, (object)index);
}
m_children.Add(child);
}
public override bool Equals(object obj)
{
CompoundShapeChild other = (CompoundShapeChild)obj;
return(m_transform == other.m_transform &&
m_childShape == other.m_childShape &&
m_childShapeType == other.m_childShapeType &&
m_childMargin == other.m_childMargin);
}
public void CreateAabbTreeFromChildren()
{
if (m_dynamicAabbTree == null)
{
m_dynamicAabbTree = new Dbvt();
for (int index = 0; index < m_children.Count; index++)
{
CompoundShapeChild child = m_children[index];
//extend the local aabbMin/aabbMax
IndexedVector3 localAabbMin, localAabbMax;
child.m_childShape.GetAabb(ref child.m_transform, out localAabbMin, out localAabbMax);
DbvtAabbMm bounds = DbvtAabbMm.FromMM(ref localAabbMin, ref localAabbMax);
child.m_treeNode = m_dynamicAabbTree.Insert(ref bounds, (object)index);
}
}
}