public CollisionPairCallback(DispatcherInfo dispatchInfo, CollisionDispatcher dispatcher)
{
_dispatchInfo = dispatchInfo;
_dispatcher = dispatcher;
}
//by default, Bullet will use this near callback
public static void DefaultNearCallback(ref BroadphasePair collisionPair, CollisionDispatcher dispatcher, DispatcherInfo dispatchInfo)
{
CollisionObject collisionObjectA = collisionPair.ProxyA.ClientData as CollisionObject;
CollisionObject collisionObjectB = collisionPair.ProxyB.ClientData as CollisionObject;
if (dispatcher.NeedsCollision(collisionObjectA, collisionObjectB))
{
//dispatcher will keep algorithms persistent in the collision pair
if (collisionPair.CollisionAlgorithm == null)
{
collisionPair.CollisionAlgorithm = dispatcher.FindAlgorithm(collisionObjectA, collisionObjectB);
}
if (collisionPair.CollisionAlgorithm != null)
{
ManifoldResult contactPointResult = new ManifoldResult(collisionObjectA, collisionObjectB);
if (dispatchInfo.DispatchFunction == DispatchFunction.Discrete)
{
//discrete collision detection query
collisionPair.CollisionAlgorithm.ProcessCollision(collisionObjectA, collisionObjectB, dispatchInfo, contactPointResult);
}
else
{
//continuous collision detection query, time of impact (toi)
float timeOfImpact = collisionPair.CollisionAlgorithm.CalculateTimeOfImpact(collisionObjectA, collisionObjectB, dispatchInfo, contactPointResult);
if (dispatchInfo.TimeOfImpact > timeOfImpact)
dispatchInfo.TimeOfImpact = timeOfImpact;
}
}
}
}
public BulletXScene()
{
cDispatcher = new CollisionDispatcherLocal(this);
Vector3 worldMinDim = new Vector3((float) minXY, (float) minXY, (float) minZ);
Vector3 worldMaxDim = new Vector3((float) maxXY, (float) maxXY, (float) maxZ);
opCache = new AxisSweep3(worldMinDim, worldMaxDim, maxHandles);
sicSolver = new SequentialImpulseConstraintSolver();
lock (BulletXLock)
{
ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver);
ddWorld.Gravity = new Vector3(0, 0, -gravity);
}
//this._heightmap = new float[65536];
}
public CollisionPairCallback(DispatcherInfo dispatchInfo, CollisionDispatcher dispatcher)
{
_dispatchInfo = dispatchInfo;
_dispatcher = dispatcher;
}
/// <summary>
/// Reinitializes physics.
/// </summary>
public void ResetPhysics()
{
_collisionDispatcher = new CollisionDispatcher();
if (_useSweepAndPrune)
{
Vector3 worldAabbMin = new Vector3(-10000, -10000, -10000);
Vector3 worldAabbMax = new Vector3(10000, 10000, 10000);
const int maxProxies = 32766;
_broadphase = new AxisSweep3(worldAabbMin, worldAabbMax, maxProxies);
}
else
_broadphase = new SimpleBroadphase();
_solver = new SequentialImpulseConstraintSolver();
_world = new DiscreteDynamicsWorld(_collisionDispatcher, _broadphase, _solver);
//world.setConstraintSolver(solver);
_world.Gravity = new Vector3(0, -10, 0);
_shapePtr = new CollisionShape[4];
_shapePtr[0] = new BoxShape(new Vector3(50, 10, 50));
_shapePtr[1] = new CylinderShape(new Vector3(_cubeHalfExtent - _collisionMargin, _cubeHalfExtent - _collisionMargin, _cubeHalfExtent - _collisionMargin));
_shapePtr[2] = new SphereShape(_cubeHalfExtent);
_shapePtr[3] = new BoxShape(new Vector3(_cubeHalfExtent, _cubeHalfExtent, _cubeHalfExtent));
_shapeIndex = new int[_maxNumObjects];
Matrix tr = Matrix.Identity;
for (int i = 0; i < _numObjects; i++)
{
if (i > 0)
// set shape
_shapeIndex[i] = 1;
else
_shapeIndex[i] = 0;
}
GC.Collect();
}
