public virtual void BOnTriggerStay(CollisionObject other, AlignedManifoldArray details)
{
Log.Debug("Stay with " + other.UserObject.ToString() + " fixedFrame " + BPhysicsWorld.Get.frameCount);
if (other.UserObject is Unit unit)
{
unit.needSend = true;
unit.triggerType = "TriggerStay";
}
}
public void GhostObjectPairsTest()
{
var world = _context.DiscreteDynamicsWorld;
world.StepSimulation(1.0f / 60.0f);
AlignedManifoldArray manifoldArray = new AlignedManifoldArray();
AlignedBroadphasePairArray pairArray = _ghostObject.OverlappingPairCache.OverlappingPairArray;
foreach (BroadphasePair pair in pairArray)
{
//unless we manually perform collision detection on this pair, the contacts are in the dynamics world paircache:
BroadphasePair collisionPair = world.PairCache.FindPair(pair.Proxy0, pair.Proxy1);
if (collisionPair == null)
{
continue;
}
manifoldArray.Clear();
if (collisionPair.Algorithm != null)
{
collisionPair.Algorithm.GetAllContactManifolds(manifoldArray);
}
for (int j = 0; j < manifoldArray.Count; j++)
{
PersistentManifold manifold = manifoldArray[j];
float directionSign = manifold.Body0 == _ghostObject ? -1.0f : 1.0f;
for (int p = 0; p < manifold.NumContacts; p++)
{
ManifoldPoint pt = manifold.GetContactPoint(p);
if (pt.Distance < 0.0f)
{
Vector3 ptA = pt.PositionWorldOnA;
Vector3 ptB = pt.PositionWorldOnB;
Vector3 normalOnB = pt.NormalWorldOnB;
}
}
}
}
manifoldArray.Dispose();
}
static void TestGhostObjectPairs(PairCachingGhostObject ghostObject)
{
AlignedManifoldArray manifoldArray = new AlignedManifoldArray();
AlignedBroadphasePairArray pairArray = ghostObject.OverlappingPairCache.OverlappingPairArray;
int numPairs = pairArray.Count;
for (int i = 0; i < numPairs; i++)
{
manifoldArray.Clear();
BroadphasePair pair = pairArray[i];
//unless we manually perform collision detection on this pair, the contacts are in the dynamics world paircache:
BroadphasePair collisionPair = world.PairCache.FindPair(pair.Proxy0, pair.Proxy1);
if (collisionPair == null)
{
continue;
}
if (collisionPair.Algorithm != null)
{
collisionPair.Algorithm.GetAllContactManifolds(manifoldArray);
}
for (int j = 0; j < manifoldArray.Count; j++)
{
PersistentManifold manifold = manifoldArray[j];
float directionSign = manifold.Body0 == ghostObject ? -1.0f : 1.0f;
for (int p = 0; p < manifold.NumContacts; p++)
{
ManifoldPoint pt = manifold.GetContactPoint(p);
if (pt.Distance < 0.0f)
{
Vector3 ptA = pt.PositionWorldOnA;
Vector3 ptB = pt.PositionWorldOnB;
Vector3 normalOnB = pt.NormalWorldOnB;
/// work here
}
}
}
}
}
public override void BOnTriggerEnter(CollisionObject other, AlignedManifoldArray details)
{
Debug.Log("Enter with " + other.UserObject + " fixedFrame " + GetWorld().FrameCount);
}
public override void BOnTriggerStay(CollisionObject other, AlignedManifoldArray details)
{
Debug.Log("Stay with " + other.UserObject + " fixedFrame " + BPhysicsWorld.Get().frameCount);
}
public virtual void BOnTriggerStay(CollisionObject other, AlignedManifoldArray details)
{
}
public void GetAllContactManifolds(AlignedManifoldArray manifoldArray)
{
btCollisionAlgorithm_getAllContactManifolds(_native, manifoldArray._native);
}
static void TestGhostObjectPairs(PairCachingGhostObject ghostObject)
{
AlignedManifoldArray manifoldArray = new AlignedManifoldArray();
AlignedBroadphasePairArray pairArray = ghostObject.OverlappingPairCache.OverlappingPairArray;
int numPairs = pairArray.Count;
for (int i = 0; i < numPairs; i++)
{
manifoldArray.Clear();
BroadphasePair pair = pairArray[i];
//unless we manually perform collision detection on this pair, the contacts are in the dynamics world paircache:
BroadphasePair collisionPair = world.PairCache.FindPair(pair.Proxy0, pair.Proxy1);
if (collisionPair == null)
continue;
if (collisionPair.Algorithm != null)
collisionPair.Algorithm.GetAllContactManifolds(manifoldArray);
for (int j = 0; j < manifoldArray.Count; j++)
{
PersistentManifold manifold = manifoldArray[j];
float directionSign = manifold.Body0 == ghostObject ? -1.0f : 1.0f;
for (int p = 0; p < manifold.NumContacts; p++)
{
ManifoldPoint pt = manifold.GetContactPoint(p);
if (pt.Distance < 0.0f)
{
Vector3 ptA = pt.PositionWorldOnA;
Vector3 ptB = pt.PositionWorldOnB;
Vector3 normalOnB = pt.NormalWorldOnB;
/// work here
}
}
}
}
}
public override void BOnTriggerEnter(CollisionObject other, AlignedManifoldArray manifoldArray)
{
Debug.Log("Enter with " + other.UserObject + " fixedFrame " + BPhysicsWorld.Get().frameCount);
}
public virtual void BOnTriggerEnter(CollisionObject other, AlignedManifoldArray details)
{
//Debug.LogWarning("BOnTriggerEnter: " + ((BRigidBody)other.UserObject).name);
}
public override void BOnTriggerStay(CollisionObject other, AlignedManifoldArray manifoldArray)
{
Debug.Log("Stay with " + other.UserObject + " fixedFrame " + BPhysicsWorld.Get().frameCount);
}
public override void BOnTriggerEnter(CollisionObject other, AlignedManifoldArray manifoldArray)
{
Log.Debug("Enter with " + other.UserObject + " fixedFrame " + BPhysicsWorld.Get.frameCount);
}
public override void BOnTriggerEnter(CollisionObject other, AlignedManifoldArray details)
{
Debug.LogError("Enter with "); // + other.UserObject + " fixedFrame " + BPhysicsWorld.Get().frameCount);
}
/// <summary>
/// It is from bullet_character_controller
/// </summary>
public static int GhostGetPenetrationFixVector(PairCachingGhostObject ghost, AlignedManifoldArray manifoldArray,
out Vector3 correction)
{
// 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
var ret = 0;
var pairArray = ghost.OverlappingPairCache.OverlappingPairArray;
BulletSharp.Math.Vector3 aabb_min, aabb_max, t;
ghost.CollisionShape.GetAabb(ghost.WorldTransform, out aabb_min, out aabb_max);
BtEngineDynamicsWorld.Broadphase.SetAabb(ghost.BroadphaseHandle, aabb_min, aabb_max,
BtEngineDynamicsWorld.Dispatcher);
BtEngineDynamicsWorld.Dispatcher.DispatchAllCollisionPairs(ghost.OverlappingPairCache,
BtEngineDynamicsWorld.DispatchInfo, BtEngineDynamicsWorld.Dispatcher);
correction = Vector3.Zero;
var numPairs = ghost.OverlappingPairCache.NumOverlappingPairs;
for (var i = 0; i < numPairs; i++)
{
manifoldArray.Clear();
// do not use commented code: it prevents to collision skips.
//var pair = pairArray[i];
//var collisionPair = Global.BtEngineDynamicsWorld.PairCache.FindPair(pair.Proxy0, pair.Proxy1);
var collisionPair = pairArray[i];
if(collisionPair == null)
{
continue;
}
collisionPair.Algorithm?.GetAllContactManifolds(manifoldArray);
foreach (var manifold in manifoldArray)
{
var directionSign = manifold.Body0 == ghost ? -1.0f : 1.0f;
var cont0 = (EngineContainer) manifold.Body0.UserObject;
var cont1 = (EngineContainer) manifold.Body1.UserObject;
if(cont0.CollisionType == COLLISION_TYPE.Ghost && cont1.CollisionType == COLLISION_TYPE.Ghost)
{
continue;
}
for(var k = 0; k < manifold.NumContacts; k++)
{
var pt = manifold.GetContactPoint(k);
var dist = pt.Distance;
if(dist < 0.0f)
{
t = pt.NormalWorldOnB * dist * directionSign;
correction += t.ToOpenTK();
ret++;
}
}
}
}
return ret;
}
public virtual void BOnTriggerStay(CollisionObject other, AlignedManifoldArray details)
{
}
