/// Perform a ray-hit test with the collision models.
public override bool RayHit(ChVector from,
ChVector to,
ChCollisionModel model,
ref ChRayhitResult mresult)
{
return(RayHit(from, to, model, ref mresult, CollisionFilterGroups.DefaultFilter, CollisionFilterGroups.AllFilter));
}
/// Removes a collision model from the collision
/// engine (custom data may be deallocated).
public override void Remove(ChCollisionModel model)
{
if (((ChModelBullet)model).GetBulletModel().GetCollisionShape() != null)
{
bt_collision_world.RemoveCollisionObject(((ChModelBullet)model).GetBulletModel());
}
}
/// Adds a collision model to the collision
/// engine (custom data may be allocated).
public override void Add(ChCollisionModel model)
{
if (((ChModelBullet)model).GetBulletModel().GetCollisionShape() != null)
{
model.SyncPosition();
bt_collision_world.AddCollisionObject(((ChModelBullet)model).GetBulletModel(),
(CollisionFilterGroups)((ChModelBullet)model).GetFamilyGroup(),
(CollisionFilterGroups)((ChModelBullet)model).GetFamilyMask());
}
}
public float[] reaction_cache; //< pointer to some persistent user cache of reactions
/// Basic default constructor.
public ChCollisionInfo()
{
modelA = null;
modelB = null;
vpA = new ChVector(0, 0, 0);
vpB = new ChVector(0, 0, 0);
vN = new ChVector(1, 0, 0);
distance = 0;
eff_radius = default_eff_radius;
reaction_cache = null;
}
/// Perform a ray-hit test with the specified collision model.
public override bool RayHit(ChVector from,
ChVector to,
ChCollisionModel model,
ref ChRayhitResult mresult,
CollisionFilterGroups filter_group,
CollisionFilterGroups filter_mask)
{
IndexedVector3 btfrom = new IndexedVector3((float)from.x, (float)from.y, (float)from.z);
IndexedVector3 btto = new IndexedVector3((float)to.x, (float)to.y, (float)to.z);
BulletXNA.BulletCollision.AllHitsRayResultCallback rayCallback = new AllHitsRayResultCallback(btfrom, btto);
rayCallback.m_collisionFilterGroup = filter_group;
rayCallback.m_collisionFilterMask = filter_mask;
this.bt_collision_world.rayTest(btfrom, btto, rayCallback);
// Find the closest hit result on the specified model (if any)
int hit = -1;
float fraction = 1;
for (int i = 0; i < rayCallback.m_collisionObjects.Count; ++i)
{
if (rayCallback.m_collisionObjects[i].GetUserPointer() == model && rayCallback.m_hitFractions[i] < fraction)
{
hit = i;
fraction = rayCallback.m_hitFractions[i];
}
}
// Ray does not hit specified model
if (hit == -1)
{
mresult.hit = false;
return(false);
}
// Return the closest hit on the specified model
mresult.hit = true;
mresult.hitModel = (ChCollisionModel)(rayCallback.m_collisionObjects[hit].GetUserPointer());
mresult.abs_hitPoint.Set(rayCallback.m_hitPointWorld[hit].X, rayCallback.m_hitPointWorld[hit].Y,
rayCallback.m_hitPointWorld[hit].Z);
mresult.abs_hitNormal.Set(rayCallback.m_hitNormalWorld[hit].X, rayCallback.m_hitNormalWorld[hit].Y,
rayCallback.m_hitNormalWorld[hit].Z);
mresult.abs_hitNormal.Normalize();
mresult.dist_factor = fraction;
mresult.abs_hitPoint = mresult.abs_hitPoint - mresult.abs_hitNormal * mresult.hitModel.GetEnvelope();
return(true);
}
/// Copy from other.
public ChCollisionInfo(ChCollisionInfo other, bool swap = false)
{
if (!swap)
{
modelA = other.modelA;
modelB = other.modelB;
vpA = other.vpA;
vpB = other.vpB;
vN = other.vN;
}
else
{
// copy by swapping models
modelA = other.modelB;
modelB = other.modelA;
vpA = other.vpB;
vpB = other.vpA;
vN = -other.vN;
}
distance = other.distance;
eff_radius = other.eff_radius;
reaction_cache = other.reaction_cache;
}
public override void ReportProximities(ChProximityContainer mproximitycontainer)
{
mproximitycontainer.BeginAddProximities();
/*
* int numManifolds = bt_collision_world->getDispatcher()->getNumManifolds();
* for (int i = 0; i < numManifolds; i++) {
* btPersistentManifold* contactManifold = bt_collision_world->getDispatcher()->getManifoldByIndexInternal(i);
* btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
* btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
* contactManifold->refreshContactPoints(obA->getWorldTransform(), obB->getWorldTransform());
*
* ChCollisionModel* modelA = (ChCollisionModel*)obA->getUserPointer();
* ChCollisionModel* modelB = (ChCollisionModel*)obB->getUserPointer();
*
* // Add to proximity container
* mproximitycontainer->AddProximity(modelA, modelB);
* }
*/
int numPairs = bt_collision_world.GetBroadphase().GetOverlappingPairCache().GetNumOverlappingPairs();
for (int i = 0; i < numPairs; i++)
{
BroadphasePair mp = bt_collision_world.GetBroadphase().GetOverlappingPairCache().GetOverlappingPairArray()[i];
CollisionObject obA = (CollisionObject)(mp.m_pProxy0.GetClientObject());
CollisionObject obB = (CollisionObject)(mp.m_pProxy1.GetClientObject());
ChCollisionModel modelA = (ChCollisionModel)obA.GetUserPointer();
ChCollisionModel modelB = (ChCollisionModel)obB.GetUserPointer();
// Add to proximity container
mproximitycontainer.AddProximity(modelA, modelB);
}
mproximitycontainer.EndAddProximities();
}
/// Callback used to process 'near enough' pairs of collision models found by the
/// broad-phase collision algorithm.
/// Return false to skip narrow-phase contact generation for this pair of bodies.
public abstract bool OnBroadphase(ChCollisionModel modelA, ///< 1st model
ChCollisionModel modelB ///< 2nd model
);
/// Removes a collision model from the collision /// engine (custom data may be deallocated). public abstract void Remove(ChCollisionModel model);
/// Adds a collision model to the collision /// engine (custom data may be allocated). public abstract void Add(ChCollisionModel model);
/// Perform a ray-hit test with the specified collision model.
public abstract bool RayHit(ChVector from,
ChVector to,
ChCollisionModel model,
ref ChRayhitResult mresult,
CollisionFilterGroups filter_group,
CollisionFilterGroups filter_mask);
/// Perform a ray-hit test with the collision models. public abstract bool RayHit(ChVector from, ChVector to, ChCollisionModel model, ref ChRayhitResult mresult);
