public override void ProcessCollision(CollisionObject body0,CollisionObject body1,DispatcherInfo dispatchInfo,ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
{
//swapped?
m_manifoldPtr = m_dispatcher.GetNewManifold(body0,body1);
m_ownManifold = true;
}
//resultOut = new ManifoldResult();
resultOut.SetPersistentManifold(m_manifoldPtr);
//comment-out next line to test multi-contact generation
//resultOut.getPersistentManifold().clearManifold();
ConvexShape min0 = (ConvexShape)(body0.GetCollisionShape());
ConvexShape min1 = (ConvexShape)(body1.GetCollisionShape());
Vector3 normalOnB = Vector3.Up;
Vector3 pointOnBWorld = Vector3.Zero;
#if !BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
if ((min0.ShapeType == BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE) && (min1.ShapeType == BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE))
{
CapsuleShape capsuleA = (CapsuleShape) min0;
CapsuleShape capsuleB = (CapsuleShape) min1;
Vector3 localScalingA = capsuleA.GetLocalScaling();
Vector3 localScalingB = capsuleB.GetLocalScaling();
float threshold = m_manifoldPtr.GetContactBreakingThreshold();
float dist = CapsuleCapsuleDistance(ref normalOnB,ref pointOnBWorld,capsuleA.getHalfHeight(),capsuleA.getRadius(),
capsuleB.getHalfHeight(),capsuleB.getRadius(),capsuleA.GetUpAxis(),capsuleB.GetUpAxis(),
body0.GetWorldTransform(),body1.GetWorldTransform(),threshold);
if (dist<threshold)
{
Debug.Assert(normalOnB.LengthSquared() >= (MathUtil.SIMD_EPSILON * MathUtil.SIMD_EPSILON));
resultOut.AddContactPoint(ref normalOnB,ref pointOnBWorld,dist);
}
resultOut.RefreshContactPoints();
return;
}
#endif //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
#if USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
m_sepDistance.updateSeparatingDistance(body0.getWorldTransform(),body1.getWorldTransform());
}
if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f)
#endif //USE_SEPDISTANCE_UTIL2
{
ClosestPointInput input = new ClosestPointInput();
GjkPairDetector gjkPairDetector = new GjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver);
//TODO: if (dispatchInfo.m_useContinuous)
gjkPairDetector.SetMinkowskiA(min0);
gjkPairDetector.SetMinkowskiB(min1);
#if USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
input.m_maximumDistanceSquared = float.MaxValue;
}
else
#endif //USE_SEPDISTANCE_UTIL2
{
input.m_maximumDistanceSquared = min0.Margin + min1.Margin + m_manifoldPtr.GetContactBreakingThreshold();
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
}
//input.m_stackAlloc = dispatchInfo.m_stackAllocator;
input.m_transformA = body0.GetWorldTransform();
input.m_transformB = body1.GetWorldTransform();
gjkPairDetector.GetClosestPoints(input,resultOut,dispatchInfo.getDebugDraw(),false);
#if USE_SEPDISTANCE_UTIL2
float sepDist = 0.f;
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
sepDist = gjkPairDetector.getCachedSeparatingDistance();
if (sepDist>MathUtil.SIMD_EPSILON)
{
sepDist += dispatchInfo.m_convexConservativeDistanceThreshold;
//now perturbe directions to get multiple contact points
}
}
#endif //USE_SEPDISTANCE_UTIL2
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
if (m_numPerturbationIterations > 0 && resultOut.GetPersistentManifold().GetNumContacts() < m_minimumPointsPerturbationThreshold)
{
Vector3 v0 = Vector3.Zero, v1 = Vector3.Zero;
Vector3 sepNormalWorldSpace = gjkPairDetector.GetCachedSeparatingAxis();
sepNormalWorldSpace.Normalize();
TransformUtil.PlaneSpace1(ref sepNormalWorldSpace, ref v0, ref v1);
bool perturbeA = true;
const float angleLimit = 0.125f * MathUtil.SIMD_PI;
float perturbeAngle;
float radiusA = min0.GetAngularMotionDisc();
float radiusB = min1.GetAngularMotionDisc();
if (radiusA < radiusB)
{
perturbeAngle = BulletGlobals.gContactBreakingThreshold /radiusA;
perturbeA = true;
}
else
{
perturbeAngle = BulletGlobals.gContactBreakingThreshold / radiusB;
perturbeA = false;
}
if (perturbeAngle > angleLimit)
{
perturbeAngle = angleLimit;
}
Matrix unPerturbedTransform = Matrix.Identity;
if (perturbeA)
{
unPerturbedTransform = input.m_transformA;
}
else
{
unPerturbedTransform = input.m_transformB;
}
for (int i=0;i<m_numPerturbationIterations;i++)
{
if (v0.LengthSquared() > MathUtil.SIMD_EPSILON)
{
Quaternion perturbeRot = Quaternion.CreateFromAxisAngle(v0, perturbeAngle);
float iterationAngle = i * (MathUtil.SIMD_2_PI / (float)m_numPerturbationIterations);
Quaternion rotq = Quaternion.CreateFromAxisAngle(sepNormalWorldSpace, iterationAngle);
if (perturbeA)
{
//input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0.getWorldTransform().getBasis());
Quaternion temp = MathUtil.QuaternionMultiply(MathUtil.QuaternionInverse(ref rotq),MathUtil.QuaternionMultiply(perturbeRot,rotq));
input.m_transformA = MathUtil.BulletMatrixMultiplyBasis(Matrix.CreateFromQuaternion(temp),body0.GetWorldTransform());
input.m_transformB = body1.GetWorldTransform();
#if DEBUG_CONTACTS
dispatchInfo.m_debugDraw.DrawTransform(ref input.m_transformA,10.0f);
#endif //DEBUG_CONTACTS
}
else
{
input.m_transformA = body0.GetWorldTransform();
//input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1.getWorldTransform().getBasis());
Quaternion temp = MathUtil.QuaternionMultiply(MathUtil.QuaternionInverse(ref rotq),MathUtil.QuaternionMultiply(perturbeRot,rotq));
input.m_transformB = MathUtil.BulletMatrixMultiplyBasis(Matrix.CreateFromQuaternion(temp),body1.GetWorldTransform());
#if DEBUG_CONTACTS
dispatchInfo.m_debugDraw.DrawTransform(ref input.m_transformB,10.0f);
#endif
}
PerturbedContactResult perturbedResultOut = new PerturbedContactResult(resultOut, ref input.m_transformA, ref input.m_transformB, ref unPerturbedTransform, perturbeA, dispatchInfo.getDebugDraw());
gjkPairDetector.GetClosestPoints(input, perturbedResultOut, dispatchInfo.getDebugDraw(), false);
}
}
}
#if USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil && (sepDist > MathUtil.SIMD_EPSILON))
{
m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0.getWorldTransform(),body1.getWorldTransform());
}
#endif //USE_SEPDISTANCE_UTIL2
}
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
}
