/// <summary>
/// Removes a child shape.
/// </summary>
/// <param name="shape">The shape.</param>
public void RemoveChildShape(ColliderShape shape)
{
colliderShapes.Remove(shape);
InternalCompoundShape.RemoveChildShape(shape.InternalShape);
shape.Parent = null;
}
/// <summary>
/// Counts how many objects are overlapping with a given ColliderShape. If trackObjects are true, you can
/// use OverlappedWith to check if another PhysicsComponent was part of the overlapping objects
/// </summary>
/// <param name="shape">ColliderShape to check for overlaps with</param>
/// <param name="position">Position to move the ColliderShape, in addition to its LocalOffset</param>
/// <param name="myGroup">What collision group is the ColliderShape in?</param>
/// <param name="overlapsWith">What collision groups does the ColliderShape overlap with?</param>
/// <param name="contactTest">If true, contact test overlapping objects. See ContactResults for output. Defaults to false</param>
/// <param name="stopAfterFirstContact">If contact testing, should we stop contact testing after our first contact was found?</param>
/// <returns>Number of overlapping objects</returns>
public static int PerformOverlapTest(ColliderShape shape, Xenko.Core.Mathematics.Vector3?position = null,
CollisionFilterGroups myGroup = CollisionFilterGroups.DefaultFilter,
CollisionFilterGroupFlags overlapsWith = CollisionFilterGroupFlags.AllFilter,
bool contactTest = false, bool stopAfterFirstContact = false)
{
// doesn't support multithreading
if (mySimulation.simulationLocker != null)
{
throw new InvalidOperationException("Overlap testing not supported with multithreaded physics");
}
if (ghostObject == null)
{
ghostObject = new BulletSharp.PairCachingGhostObject
{
ContactProcessingThreshold = 1e18f,
UserObject = shape
};
ghostObject.CollisionFlags |= BulletSharp.CollisionFlags.NoContactResponse;
internalResults = new OverlapCallback();
NativeOverlappingObjects = new HashSet <object>();
}
ghostObject.CollisionShape = shape.InternalShape;
ghostObject.WorldTransform = Matrix.Transformation(shape.Scaling, shape.LocalRotation, position.HasValue ? position.Value + shape.LocalOffset : shape.LocalOffset);
mySimulation.collisionWorld.AddCollisionObject(ghostObject, (BulletSharp.CollisionFilterGroups)myGroup, (BulletSharp.CollisionFilterGroups)overlapsWith);
int overlapCount = ghostObject.NumOverlappingObjects;
NativeOverlappingObjects.Clear();
for (int i = 0; i < overlapCount; i++)
{
NativeOverlappingObjects.Add(ghostObject.OverlappingPairs[i]);
}
if (contactTest)
{
internalResults.Clear();
internalResults.CollisionFilterGroup = (int)myGroup;
internalResults.CollisionFilterMask = (int)overlapsWith;
foreach (object nativeobj in NativeOverlappingObjects)
{
mySimulation.collisionWorld.ContactPairTest(ghostObject, (BulletSharp.CollisionObject)nativeobj, internalResults);
if (stopAfterFirstContact && internalResults.Contacts.Count > 0)
{
break;
}
}
}
mySimulation.collisionWorld.RemoveCollisionObject(ghostObject);
return(overlapCount);
}
/// <summary>
/// Adds a child shape.
/// </summary>
/// <param name="shape">The shape.</param>
public void AddChildShape(ColliderShape shape)
{
colliderShapes.Add(shape);
var compoundMatrix = Matrix.RotationQuaternion(shape.LocalRotation) * Matrix.Translation(shape.LocalOffset);
InternalCompoundShape.AddChildShape(compoundMatrix, shape.InternalShape);
shape.Parent = this;
}
public void Dispose()
{
if (Shape == null)
{
return;
}
var compound = Shape.Parent;
compound?.RemoveChildShape(Shape);
Shape.Dispose();
Shape = null;
}
internal static ColliderShape CreateShape(IColliderShapeDesc desc)
{
if (desc == null)
{
return(null);
}
ColliderShape shape = desc.CreateShape();
if (shape == null)
{
return(null);
}
//shape.UpdateLocalTransformations();
shape.Description = desc;
return(shape);
}
internal static ColliderShape Compose(IReadOnlyList <IAssetColliderShapeDesc> descs)
{
if (descs == null)
{
return(null);
}
ColliderShape res = null;
if (descs.Count == 1) //single shape case
{
res = CreateShape(descs[0]);
if (res == null)
{
return(null);
}
res.DoNotDispose = true;
}
else if (descs.Count > 1) //need a compound shape in this case
{
var compound = new CompoundColliderShape();
foreach (var desc in descs)
{
var subShape = CreateShape(desc);
if (subShape == null)
{
continue;
}
compound.AddChildShape(subShape);
}
res = compound;
res.DoNotDispose = true;
}
return(res);
}
internal static ColliderShape CreateShape(IColliderShapeDesc desc)
{
if (desc == null)
{
return(null);
}
ColliderShape shape = null;
var type = desc.GetType();
if (type == typeof(BoxColliderShapeDesc))
{
var boxDesc = (BoxColliderShapeDesc)desc;
shape = new BoxColliderShape(boxDesc.Is2D, boxDesc.Size)
{
LocalOffset = boxDesc.LocalOffset, LocalRotation = boxDesc.LocalRotation
};
}
else if (type == typeof(CapsuleColliderShapeDesc))
{
var capsuleDesc = (CapsuleColliderShapeDesc)desc;
shape = new CapsuleColliderShape(capsuleDesc.Is2D, capsuleDesc.Radius, capsuleDesc.Length, capsuleDesc.Orientation)
{
LocalOffset = capsuleDesc.LocalOffset, LocalRotation = capsuleDesc.LocalRotation
};
}
else if (type == typeof(CylinderColliderShapeDesc))
{
var cylinderDesc = (CylinderColliderShapeDesc)desc;
shape = new CylinderColliderShape(cylinderDesc.Height, cylinderDesc.Radius, cylinderDesc.Orientation)
{
LocalOffset = cylinderDesc.LocalOffset, LocalRotation = cylinderDesc.LocalRotation
};
}
else if (type == typeof(ConeColliderShapeDesc))
{
var coneDesc = (ConeColliderShapeDesc)desc;
shape = new ConeColliderShape(coneDesc.Height, coneDesc.Radius, coneDesc.Orientation)
{
LocalOffset = coneDesc.LocalOffset, LocalRotation = coneDesc.LocalRotation
};
}
else if (type == typeof(SphereColliderShapeDesc))
{
var sphereDesc = (SphereColliderShapeDesc)desc;
shape = new SphereColliderShape(sphereDesc.Is2D, sphereDesc.Radius)
{
LocalOffset = sphereDesc.LocalOffset
};
}
else if (type == typeof(StaticPlaneColliderShapeDesc))
{
var planeDesc = (StaticPlaneColliderShapeDesc)desc;
shape = new StaticPlaneColliderShape(planeDesc.Normal, planeDesc.Offset);
}
else if (type == typeof(ConvexHullColliderShapeDesc))
{
var convexDesc = (ConvexHullColliderShapeDesc)desc;
if (convexDesc.ConvexHulls == null)
{
return(null);
}
//Optimize performance and focus on less shapes creation since this shape could be nested
if (convexDesc.ConvexHulls.Count == 1)
{
if (convexDesc.ConvexHulls[0].Count == 1 && convexDesc.ConvexHullsIndices[0][0].Count > 0)
{
shape = new ConvexHullColliderShape(convexDesc.ConvexHulls[0][0], convexDesc.ConvexHullsIndices[0][0], convexDesc.Scaling)
{
NeedsCustomCollisionCallback = true,
};
//shape.UpdateLocalTransformations();
shape.Description = desc;
return(shape);
}
if (convexDesc.ConvexHulls[0].Count <= 1)
{
return(null);
}
var subCompound = new CompoundColliderShape
{
NeedsCustomCollisionCallback = true,
};
for (var i = 0; i < convexDesc.ConvexHulls[0].Count; i++)
{
var verts = convexDesc.ConvexHulls[0][i];
var indices = convexDesc.ConvexHullsIndices[0][i];
if (indices.Count == 0)
{
continue;
}
var subHull = new ConvexHullColliderShape(verts, indices, convexDesc.Scaling);
//subHull.UpdateLocalTransformations();
subCompound.AddChildShape(subHull);
}
//subCompound.UpdateLocalTransformations();
subCompound.Description = desc;
return(subCompound);
}
if (convexDesc.ConvexHulls.Count <= 1)
{
return(null);
}
var compound = new CompoundColliderShape
{
NeedsCustomCollisionCallback = true,
};
for (var i = 0; i < convexDesc.ConvexHulls.Count; i++)
{
var verts = convexDesc.ConvexHulls[i];
var indices = convexDesc.ConvexHullsIndices[i];
if (verts.Count == 1)
{
if (indices[0].Count == 0)
{
continue;
}
var subHull = new ConvexHullColliderShape(verts[0], indices[0], convexDesc.Scaling);
//subHull.UpdateLocalTransformations();
compound.AddChildShape(subHull);
}
else if (verts.Count > 1)
{
var subCompound = new CompoundColliderShape();
for (var b = 0; b < verts.Count; b++)
{
var subVerts = verts[b];
var subIndex = indices[b];
if (subIndex.Count == 0)
{
continue;
}
var subHull = new ConvexHullColliderShape(subVerts, subIndex, convexDesc.Scaling);
//subHull.UpdateLocalTransformations();
subCompound.AddChildShape(subHull);
}
//subCompound.UpdateLocalTransformations();
compound.AddChildShape(subCompound);
}
}
//compound.UpdateLocalTransformations();
compound.Description = desc;
return(compound);
}
else if (type == typeof(ColliderShapeAssetDesc))
{
var assetDesc = (ColliderShapeAssetDesc)desc;
if (assetDesc.Shape == null)
{
return(null);
}
if (assetDesc.Shape.Shape == null)
{
assetDesc.Shape.Shape = Compose(assetDesc.Shape.Descriptions);
}
shape = assetDesc.Shape.Shape;
}
if (shape == null)
{
return(shape);
}
//shape.UpdateLocalTransformations();
shape.Description = desc;
return(shape);
}
