public int GetCacheEntry(ManifoldPoint newPoint)
{
//float shortestDist = GetContactBreakingThreshold() * GetContactBreakingThreshold();
float shortestDist = GetContactBreakingThreshold();
shortestDist *= shortestDist;
int size = GetNumContacts();
int nearestPoint = -1;
for (int i = 0; i < size; i++)
{
IndexedVector3 diffA = m_pointCache[i].GetLocalPointA() - newPoint.GetLocalPointA();
float distToManiPoint = diffA.LengthSquared();
if (distToManiPoint < shortestDist)
{
shortestDist = distToManiPoint;
nearestPoint = i;
}
}
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugPersistentManifold)
{
BulletGlobals.g_streamWriter.WriteLine("getCacheEntry [{0}]", nearestPoint);
}
#endif
return(nearestPoint);
}
/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
public void RefreshContactPoints(ref IndexedMatrix trA, ref IndexedMatrix trB)
{
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugPersistentManifold)
{
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "refreshContactPoints trA", trA._origin);
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "refreshContactPoints trB", trB._origin);
}
#endif
/// first refresh worldspace positions and distance
int numContacts = GetNumContacts() - 1;
for (int i = numContacts; i >= 0; i--)
{
ManifoldPoint manifoldPoint = m_pointCache[i];
IndexedVector3 pointA = trA * manifoldPoint.GetLocalPointA();
IndexedVector3 pointB = trB * manifoldPoint.GetLocalPointB();
manifoldPoint.SetPositionWorldOnA(ref pointA);
manifoldPoint.SetPositionWorldOnB(ref pointB);
manifoldPoint.SetDistance(IndexedVector3.Dot((manifoldPoint.GetPositionWorldOnA() - manifoldPoint.GetPositionWorldOnB()), manifoldPoint.GetNormalWorldOnB()));
manifoldPoint.SetLifeTime(manifoldPoint.GetLifeTime() + 1);
m_pointCache[i] = manifoldPoint;
}
/// then
float distance2d;
IndexedVector3 projectedDifference, projectedPoint;
for (int i = numContacts; i >= 0; i--)
{
ManifoldPoint manifoldPoint = m_pointCache[i];
//contact becomes invalid when signed distance exceeds margin (projected on contactnormal direction)
if (!ValidContactDistance(manifoldPoint))
{
RemoveContactPoint(i);
}
else
{
//contact also becomes invalid when relative movement orthogonal to normal exceeds margin
projectedPoint = manifoldPoint.GetPositionWorldOnA() - manifoldPoint.GetNormalWorldOnB() * manifoldPoint.GetDistance();
projectedDifference = manifoldPoint.GetPositionWorldOnB() - projectedPoint;
distance2d = IndexedVector3.Dot(projectedDifference, projectedDifference);
if (distance2d > GetContactBreakingThreshold() * GetContactBreakingThreshold())
{
RemoveContactPoint(i);
}
else
{
//contact point processed callback
if (gContactProcessedCallback != null)
{
gContactProcessedCallback.Callback(manifoldPoint, m_body0, m_body1);
}
}
}
}
DebugPersistency();
}
/// sort cached points so most isolated points come first
private int SortCachedPoints(ManifoldPoint pt)
{
//calculate 4 possible cases areas, and take biggest area
//also need to keep 'deepest'
int maxPenetrationIndex = -1;
#if KEEP_DEEPEST_POINT
float maxPenetration = pt.GetDistance();
for (int i = 0; i < m_pointCache.Length; i++)
{
if (m_pointCache[i].GetDistance() < maxPenetration)
{
maxPenetrationIndex = i;
maxPenetration = m_pointCache[i].GetDistance();
}
}
#endif //KEEP_DEEPEST_POINT
float res0 = 0f, res1 = 0f, res2 = 0f, res3 = 0f;
if (maxPenetrationIndex != 0)
{
IndexedVector3 a0 = pt.GetLocalPointA() - m_pointCache[1].GetLocalPointA();
IndexedVector3 b0 = m_pointCache[3].GetLocalPointA() - m_pointCache[2].GetLocalPointA();
IndexedVector3 cross = IndexedVector3.Cross(a0, b0);
res0 = cross.LengthSquared();
}
if (maxPenetrationIndex != 1)
{
IndexedVector3 a1 = pt.GetLocalPointA() - m_pointCache[0].GetLocalPointA();
IndexedVector3 b1 = m_pointCache[3].GetLocalPointA() - m_pointCache[2].GetLocalPointA();
IndexedVector3 cross = IndexedVector3.Cross(a1, b1);
res1 = cross.LengthSquared();
}
if (maxPenetrationIndex != 2)
{
IndexedVector3 a2 = pt.GetLocalPointA() - m_pointCache[0].GetLocalPointA();
IndexedVector3 b2 = m_pointCache[3].GetLocalPointA() - m_pointCache[1].GetLocalPointA();
IndexedVector3 cross = IndexedVector3.Cross(a2, b2);
res2 = cross.LengthSquared();
}
if (maxPenetrationIndex != 3)
{
IndexedVector3 a3 = pt.GetLocalPointA() - m_pointCache[0].GetLocalPointA();
IndexedVector3 b3 = m_pointCache[2].GetLocalPointA() - m_pointCache[1].GetLocalPointA();
IndexedVector3 cross = IndexedVector3.Cross(a3, b3);
res3 = cross.LengthSquared();
}
IndexedVector4 maxvec = new IndexedVector4(res0, res1, res2, res3);
int biggestarea = MathUtil.ClosestAxis(ref maxvec);
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugPersistentManifold)
{
BulletGlobals.g_streamWriter.WriteLine("sortCachedPoints [{0}]", biggestarea);
}
#endif
return(biggestarea);
}
