public CompoundCollisionAlgorithm(
CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo,
CollisionObject bodyA,
CollisionObject bodyB, bool isSwapped)
: base(collisionAlgorithmConstructionInfo)
{
//Begin
_isSwapped = isSwapped;
CollisionObject collisionObject = isSwapped ? bodyB : bodyA;
CollisionObject otherObject = isSwapped ? bodyA : bodyB;
BulletDebug.Assert(collisionObject.CollisionShape.IsCompound);
CompoundShape compoundShape = collisionObject.CollisionShape as CompoundShape;
int childrenNumber = compoundShape.ChildShapeCount;
int index = 0;
_childCollisionAlgorithms = new List <CollisionAlgorithm>(childrenNumber);
for (index = 0; index < childrenNumber; index++)
{
CollisionShape childShape = compoundShape.GetChildShape(index);
CollisionShape orgShape = collisionObject.CollisionShape;
collisionObject.CollisionShape = childShape;
_childCollisionAlgorithms[index] = collisionAlgorithmConstructionInfo.Dispatcher.FindAlgorithm(collisionObject, otherObject);
collisionObject.CollisionShape = orgShape;
}
}
public CompoundCollisionAlgorithm(
CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo,
CollisionObject bodyA,
CollisionObject bodyB, bool isSwapped)
: base(collisionAlgorithmConstructionInfo)
{
//Begin
_isSwapped = isSwapped;
CollisionObject collisionObject = isSwapped ? bodyB : bodyA;
CollisionObject otherObject = isSwapped ? bodyA : bodyB;
BulletDebug.Assert(collisionObject.CollisionShape.IsCompound);
CompoundShape compoundShape = collisionObject.CollisionShape as CompoundShape;
int childrenNumber = compoundShape.ChildShapeCount;
int index = 0;
_childCollisionAlgorithms = new List<CollisionAlgorithm>(childrenNumber);
for (index = 0; index < childrenNumber; index++)
{
CollisionShape childShape = compoundShape.GetChildShape(index);
CollisionShape orgShape = collisionObject.CollisionShape;
collisionObject.CollisionShape = childShape;
_childCollisionAlgorithms[index] = collisionAlgorithmConstructionInfo.Dispatcher.FindAlgorithm(collisionObject, otherObject);
collisionObject.CollisionShape = orgShape;
}
}
public void ProcessTriangle(Vector3[] triangle, int partID, int triangleIndex)
{
//aabb filter is already applied!
CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo = new CollisionAlgorithmConstructionInfo();
collisionAlgorithmConstructionInfo.Dispatcher = _dispatcher;
CollisionObject collisionObject = _triBody;
//debug drawing of the overlapping triangles
/*if (m_dispatchInfoPtr && m_dispatchInfoPtr.m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() > 0)
* {
* Vector3 color = new Vector3(255, 255, 0);
* btTransform & tr = ob->WorldTransform;
* m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]), tr(triangle[1]), color);
* m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]), tr(triangle[2]), color);
* m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]), tr(triangle[0]), color);
* }*/
if (_convexBody.CollisionShape.IsConvex)
{
TriangleShape triangleShape = new TriangleShape(triangle[0], triangle[1], triangle[2]);
triangleShape.Margin = _collisionMarginTriangle;
CollisionShape tempShape = collisionObject.CollisionShape;
collisionObject.CollisionShape = triangleShape;
CollisionAlgorithm collisionAlgorithm = collisionAlgorithmConstructionInfo.Dispatcher.FindAlgorithm(_convexBody, _triBody, _manifold);
_resultOut.SetShapeIdentifiers(-1, -1, partID, triangleIndex);
collisionAlgorithm.ProcessCollision(_convexBody, _triBody, _dispatchInfo, _resultOut);
collisionObject.CollisionShape = tempShape;
}
}
public ConvexConvexAlgorithm(PersistentManifold manifold, CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB, ISimplexSolver simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver)
: base(collisionAlgorithmConstructionInfo)
{
_gjkPairDetector = new GjkPairDetector(null, null, simplexSolver, penetrationDepthSolver);
_ownManifold = false;
_manifold = manifold;
_lowLevelOfDetail = false;
}
public ConvexConvexAlgorithm(PersistentManifold manifold, CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB, ISimplexSolver simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver)
: base(collisionAlgorithmConstructionInfo)
{
_gjkPairDetector = new GjkPairDetector(null, null, simplexSolver, penetrationDepthSolver);
_ownManifold = false;
_manifold = manifold;
_lowLevelOfDetail = false;
}
public CollisionAlgorithm FindAlgorithm(CollisionObject bodyA, CollisionObject bodyB, PersistentManifold sharedManifold)
{
CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo = new CollisionAlgorithmConstructionInfo();
collisionAlgorithmConstructionInfo.Dispatcher = this;
collisionAlgorithmConstructionInfo.Manifold = sharedManifold;
CollisionAlgorithm collisionAlgorithm = _doubleDispatch[(int)bodyA.CollisionShape.ShapeType, (int)bodyB.CollisionShape.ShapeType].CreateCollisionAlgorithm(collisionAlgorithmConstructionInfo, bodyA, bodyB);
return(collisionAlgorithm);
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB)
{
if (!IsSwapped)
{
return(new SphereBoxCollisionAlgorithm(null, collisionAlgorithmConstructionInfo, bodyA, bodyB, false));
}
else
{
return(new SphereBoxCollisionAlgorithm(null, collisionAlgorithmConstructionInfo, bodyA, bodyB, true));
}
}
public SphereSphereCollisionAlgorithm(PersistentManifold manifold, CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB)
: base(collisionAlgorithmConstructionInfo)
{
_ownManifold = false;
_manifold = manifold;
if (_manifold == null)
{
_manifold = Dispatcher.GetNewManifold(bodyA, bodyB);
_ownManifold = true;
}
}
public SphereSphereCollisionAlgorithm(PersistentManifold manifold, CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB)
: base(collisionAlgorithmConstructionInfo)
{
_ownManifold = false;
_manifold = manifold;
if (_manifold == null)
{
_manifold = Dispatcher.GetNewManifold(bodyA, bodyB);
_ownManifold = true;
}
}
public SphereBoxCollisionAlgorithm(PersistentManifold manifold, CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject collisionObjectA, CollisionObject collisionObjectB, bool isSwapped)
: base(collisionAlgorithmConstructionInfo)
{
_ownManifold = false;
_manifold = manifold;
_isSwapped = isSwapped;
CollisionObject sphereObject = _isSwapped ? collisionObjectB : collisionObjectA;
CollisionObject boxObject = _isSwapped ? collisionObjectA : collisionObjectB;
if (_manifold == null && Dispatcher.NeedsCollision(sphereObject, boxObject))
{
_manifold = Dispatcher.GetNewManifold(sphereObject, boxObject);
_ownManifold = true;
}
}
public SphereBoxCollisionAlgorithm(PersistentManifold manifold, CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject collisionObjectA, CollisionObject collisionObjectB, bool isSwapped)
: base(collisionAlgorithmConstructionInfo)
{
_ownManifold = false;
_manifold = manifold;
_isSwapped = isSwapped;
CollisionObject sphereObject = _isSwapped ? collisionObjectB : collisionObjectA;
CollisionObject boxObject = _isSwapped ? collisionObjectA : collisionObjectB;
if (_manifold == null && Dispatcher.NeedsCollision(sphereObject, boxObject))
{
_manifold = Dispatcher.GetNewManifold(sphereObject, boxObject);
_ownManifold = true;
}
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB)
{
return new ConvexConvexAlgorithm(collisionAlgorithmConstructionInfo.Manifold, collisionAlgorithmConstructionInfo, bodyA, bodyB, _simplexSolver, _penetrationDepthSolver);
}
public void ProcessTriangle(Vector3[] triangle, int partID, int triangleIndex)
{
//aabb filter is already applied!
CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo = new CollisionAlgorithmConstructionInfo();
collisionAlgorithmConstructionInfo.Dispatcher = _dispatcher;
CollisionObject collisionObject = _triBody;
//debug drawing of the overlapping triangles
/*if (m_dispatchInfoPtr && m_dispatchInfoPtr.m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() > 0)
{
Vector3 color = new Vector3(255, 255, 0);
btTransform & tr = ob->WorldTransform;
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]), tr(triangle[1]), color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]), tr(triangle[2]), color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]), tr(triangle[0]), color);
}*/
if (_convexBody.CollisionShape.IsConvex)
{
TriangleShape triangleShape = new TriangleShape(triangle[0], triangle[1], triangle[2]);
triangleShape.Margin=_collisionMarginTriangle;
CollisionShape tempShape = collisionObject.CollisionShape;
collisionObject.CollisionShape = triangleShape;
CollisionAlgorithm collisionAlgorithm = collisionAlgorithmConstructionInfo.Dispatcher.FindAlgorithm(_convexBody, _triBody, _manifold);
_resultOut.SetShapeIdentifiers(-1, -1, partID, triangleIndex);
collisionAlgorithm.ProcessCollision(_convexBody, _triBody, _dispatchInfo, _resultOut);
collisionObject.CollisionShape = tempShape;
}
}
public CollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo)
{
_comparisonID = _globalCount++;
_dispatcher = collisionAlgorithmConstructionInfo.Dispatcher;
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB)
{
return(new ConvexConcaveCollisionAlgorithm(collisionAlgorithmConstructionInfo, bodyA, bodyB, false));
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB)
{
return(new CompoundCollisionAlgorithm(collisionAlgorithmConstructionInfo, bodyA, bodyB, true));
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB)
{
return new SphereSphereCollisionAlgorithm(null, collisionAlgorithmConstructionInfo, bodyA, bodyB);
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB)
{
return new ConvexConcaveCollisionAlgorithm(collisionAlgorithmConstructionInfo, bodyA, bodyB, true);
}
public CollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo)
{
_comparisonID = _globalCount++;
_dispatcher = collisionAlgorithmConstructionInfo.Dispatcher;
}
public CollisionAlgorithm FindAlgorithm(CollisionObject bodyA, CollisionObject bodyB, PersistentManifold sharedManifold)
{
CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo = new CollisionAlgorithmConstructionInfo();
collisionAlgorithmConstructionInfo.Dispatcher = this;
collisionAlgorithmConstructionInfo.Manifold = sharedManifold;
CollisionAlgorithm collisionAlgorithm = _doubleDispatch[(int)bodyA.CollisionShape.ShapeType, (int)bodyB.CollisionShape.ShapeType].CreateCollisionAlgorithm(collisionAlgorithmConstructionInfo, bodyA, bodyB);
return collisionAlgorithm;
}
public EmptyAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo)
: base(collisionAlgorithmConstructionInfo) { }
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB)
{
return new SphereTriangleCollisionAlgorithm(collisionAlgorithmConstructionInfo.Manifold, collisionAlgorithmConstructionInfo, bodyA, bodyB, IsSwapped);
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB)
{
return(new SphereSphereCollisionAlgorithm(null, collisionAlgorithmConstructionInfo, bodyA, bodyB));
}
public ConvexConcaveCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB, bool isSwapped)
: base(collisionAlgorithmConstructionInfo)
{
_isSwapped = isSwapped;
_convexTriangleCallback = new ConvexTriangleCallback(collisionAlgorithmConstructionInfo.Dispatcher, bodyA, bodyB, isSwapped);
}
public virtual CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
return(null);
}
public ConvexConcaveCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB, bool isSwapped)
: base(collisionAlgorithmConstructionInfo)
{
_isSwapped = isSwapped;
_convexTriangleCallback = new ConvexTriangleCallback(collisionAlgorithmConstructionInfo.Dispatcher, bodyA, bodyB, isSwapped);
}
public SphereTriangleCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo)
: base(collisionAlgorithmConstructionInfo) { }
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB)
{
return new CompoundCollisionAlgorithm(collisionAlgorithmConstructionInfo, bodyA, bodyB, false);
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB)
{
if (!IsSwapped)
return new SphereBoxCollisionAlgorithm(null, collisionAlgorithmConstructionInfo, bodyA, bodyB, false);
else
return new SphereBoxCollisionAlgorithm(null, collisionAlgorithmConstructionInfo, bodyA, bodyB, true);
}
public SphereTriangleCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo)
: base(collisionAlgorithmConstructionInfo)
{
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB)
{
return(new SphereTriangleCollisionAlgorithm(collisionAlgorithmConstructionInfo.Manifold, collisionAlgorithmConstructionInfo, bodyA, bodyB, IsSwapped));
}
public EmptyAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo)
: base(collisionAlgorithmConstructionInfo)
{
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB)
{
return new EmptyAlgorithm(collisionAlgorithmConstructionInfo);
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB)
{
return(new EmptyAlgorithm(collisionAlgorithmConstructionInfo));
}
public virtual CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
return null;
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB)
{
return(new ConvexConvexAlgorithm(collisionAlgorithmConstructionInfo.Manifold, collisionAlgorithmConstructionInfo, bodyA, bodyB, _simplexSolver, _penetrationDepthSolver));
}