//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;
}
}
}
}
}
//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;
}
}
}
}