public ConvexPlaneCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
CollisionObjectWrapper body0Wrap, CollisionObjectWrapper body1Wrap, bool isSwapped,
int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: base(btConvexPlaneCollisionAlgorithm_new(mf._native, ci._native, body0Wrap._native,
body1Wrap._native, isSwapped, numPerturbationIterations, minimumPointsPerturbationThreshold))
{
}
public ConvexPlaneCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
CollisionObjectWrapper body0Wrap, CollisionObjectWrapper body1Wrap, bool isSwapped,
int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: base(btConvexPlaneCollisionAlgorithm_new(mf._native, ci._native, body0Wrap._native,
body1Wrap._native, isSwapped, numPerturbationIterations, minimumPointsPerturbationThreshold))
{
}
public SphereTriangleCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
CollisionObjectWrapper body0Wrap, CollisionObjectWrapper body1Wrap, bool swapped)
{
IntPtr native = btSphereTriangleCollisionAlgorithm_new(mf.Native, ci.Native,
body0Wrap.Native, body1Wrap.Native, swapped);
InitializeUserOwned(native);
}
public SoftRigidCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
CollisionObjectWrapper col0, CollisionObjectWrapper col1Wrap, bool isSwapped)
{
IntPtr native = btSoftRigidCollisionAlgorithm_new(mf.Native, ci.Native, col0.Native,
col1Wrap.Native, isSwapped);
InitializeUserOwned(native);
}
public Convex2DConvex2DAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
CollisionObjectWrapper body0Wrap, CollisionObjectWrapper body1Wrap, VoronoiSimplexSolver simplexSolver,
ConvexPenetrationDepthSolver pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: base(btConvex2dConvex2dAlgorithm_new(mf._native, ci._native, body0Wrap._native,
body1Wrap._native, simplexSolver._native, pdSolver._native, numPerturbationIterations,
minimumPointsPerturbationThreshold))
{
}
public SphereSphereCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
CollisionObjectWrapper col0Wrap, CollisionObjectWrapper col1Wrap)
{
IntPtr native = btSphereSphereCollisionAlgorithm_new(mf.Native, ci.Native, col0Wrap.Native,
col1Wrap.Native);
InitializeUserOwned(native);
}
public SoftSoftCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
CollisionObjectWrapper body0Wrap, CollisionObjectWrapper body1Wrap)
{
IntPtr native = btSoftSoftCollisionAlgorithm_new2(mf.Native, ci.Native, body0Wrap.Native,
body1Wrap.Native);
InitializeUserOwned(native);
}
public Convex2DConvex2DAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
CollisionObjectWrapper body0Wrap, CollisionObjectWrapper body1Wrap, VoronoiSimplexSolver simplexSolver,
ConvexPenetrationDepthSolver pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: base(btConvex2dConvex2dAlgorithm_new(mf._native, ci._native, body0Wrap._native,
body1Wrap._native, simplexSolver._native, pdSolver._native, numPerturbationIterations,
minimumPointsPerturbationThreshold))
{
}
public unsafe static void RefreshContactPoints(this PersistentManifold obj, ref OpenTK.Matrix4 trA, ref OpenTK.Matrix4 trB)
{
fixed(OpenTK.Matrix4 *trAPtr = &trA)
{
fixed(OpenTK.Matrix4 *trBPtr = &trB)
{
obj.RefreshContactPoints(ref *(BulletSharp.Math.Matrix *)trAPtr, ref *(BulletSharp.Math.Matrix *)trBPtr);
}
}
}
protected bool RecoverFromPenetration(CollisionWorld collisionWorld)
{
// 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
Vector3 minAabb, maxAabb;
m_convexShape.GetAabb(m_ghostObject.WorldTransform, out minAabb, out maxAabb);
collisionWorld.Broadphase.SetAabbRef(m_ghostObject.BroadphaseHandle,
ref minAabb,
ref maxAabb,
collisionWorld.Dispatcher);
bool penetration = false;
collisionWorld.Dispatcher.DispatchAllCollisionPairs(m_ghostObject.OverlappingPairCache, collisionWorld.DispatchInfo, collisionWorld.Dispatcher);
m_currentPosition = m_ghostObject.WorldTransform.Origin;
// btScalar maxPen = btScalar(0.0);
for (int i = 0; i < m_ghostObject.OverlappingPairCache.NumOverlappingPairs; i++)
{
m_manifoldArray.Clear();
BroadphasePair collisionPair = m_ghostObject.OverlappingPairCache.OverlappingPairArray[i];
CollisionObject obj0 = collisionPair.Proxy0.ClientObject as CollisionObject;
CollisionObject obj1 = collisionPair.Proxy1.ClientObject as CollisionObject;
if ((obj0 != null && !obj0.HasContactResponse) || (obj1 != null && !obj1.HasContactResponse))
{
continue;
}
if (!NeedsCollision(obj0, obj1))
{
continue;
}
if (collisionPair.Algorithm != null)
{
collisionPair.Algorithm.GetAllContactManifolds(m_manifoldArray);
}
for (int j = 0; j < m_manifoldArray.Count; j++)
{
PersistentManifold manifold = m_manifoldArray[j];
float directionSign = manifold.Body0 == m_ghostObject ? -1.0f : 1.0f;
for (int p = 0; p < manifold.NumContacts; p++)
{
ManifoldPoint pt = manifold.GetContactPoint(p);
float dist = pt.Distance;
if (dist < -m_maxPenetrationDepth)
{
// to do: cause problems on slopes, not sure if it is needed
//if (dist < maxPen)
//{
// maxPen = dist;
// m_touchingNormal = pt.m_normalWorldOnB * directionSign;//??
//}
m_currentPosition += pt.NormalWorldOnB * directionSign * dist * 0.2f;
penetration = true;
}
else
{
//System.Console.WriteLine("touching " + dist);
}
}
//manifold.ClearManifold();
}
}
Matrix newTrans = m_ghostObject.WorldTransform;
newTrans.Origin = m_currentPosition;
m_ghostObject.WorldTransform = newTrans;
//System.Console.WriteLine("m_touchingNormal = " + m_touchingNormal);
return(penetration);
}
public SphereTriangleCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
CollisionObjectWrapper body0Wrap, CollisionObjectWrapper body1Wrap, bool swapped)
: base(btSphereTriangleCollisionAlgorithm_new(mf._native, ci._native,
body0Wrap._native, body1Wrap._native, swapped))
{
}
public SoftSoftCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
CollisionObjectWrapper body0Wrap, CollisionObjectWrapper body1Wrap)
: base(btSoftSoftCollisionAlgorithm_new2(mf.Native, ci.Native, body0Wrap.Native,
body1Wrap.Native))
{
}
public SphereSphereCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObjectWrapper col0Wrap, CollisionObjectWrapper col1Wrap)
: base(btSphereSphereCollisionAlgorithm_new(mf._native, ci._native, col0Wrap._native, col1Wrap._native))
{
}
public void ReleaseManifold(PersistentManifold manifold)
{
btDispatcher_releaseManifold(_native, manifold._native);
}
public void ClearManifold(PersistentManifold manifold)
{
btDispatcher_clearManifold(_native, manifold._native);
}
public abstract void OnVisitPersistentManifold(PersistentManifold pm);
public SoftRigidCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
CollisionObjectWrapper col0, CollisionObjectWrapper col1Wrap, bool isSwapped)
: base(btSoftRigidCollisionAlgorithm_new(mf.Native, ci.Native, col0.Native,
col1Wrap.Native, isSwapped))
{
}
public SphereTriangleCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
CollisionObjectWrapper body0Wrap, CollisionObjectWrapper body1Wrap, bool swapped)
: base(btSphereTriangleCollisionAlgorithm_new(mf._native, ci._native,
body0Wrap._native, body1Wrap._native, swapped))
{
}
protected bool RecoverFromPenetration(CollisionWorld collisionWorld)
{
Vector3 minAabb, maxAabb;
m_convexShape.GetAabb(m_ghostObject.WorldTransform, out minAabb, out maxAabb);
collisionWorld.Broadphase.SetAabbRef(m_ghostObject.BroadphaseHandle,
ref minAabb,
ref maxAabb,
collisionWorld.Dispatcher);
bool penetration = false;
collisionWorld.Dispatcher.DispatchAllCollisionPairs(m_ghostObject.OverlappingPairCache, collisionWorld.DispatchInfo, collisionWorld.Dispatcher);
m_currentPosition = m_ghostObject.WorldTransform.Origin;
float maxPen = 0f;
for (int i = 0; i < m_ghostObject.OverlappingPairCache.NumOverlappingPairs; i++)
{
m_manifoldArray.Clear();
BroadphasePair collisionPair = m_ghostObject.OverlappingPairCache.OverlappingPairArray[i];
CollisionObject obj0 = collisionPair.Proxy0.ClientObject as CollisionObject;
CollisionObject obj1 = collisionPair.Proxy1.ClientObject as CollisionObject;
if ((obj0 != null && !obj0.HasContactResponse) || (obj1 != null && !obj1.HasContactResponse))
{
continue;
}
if (collisionPair.Algorithm != null)
{
collisionPair.Algorithm.GetAllContactManifolds(m_manifoldArray);
}
for (int j = 0; j < m_manifoldArray.Count; j++)
{
PersistentManifold manifold = m_manifoldArray[j];
float directionSign = manifold.Body0 == m_ghostObject ? -1f : 1f;
for (int p = 0; p < manifold.NumContacts; p++)
{
ManifoldPoint pt = manifold.GetContactPoint(p);
float dist = pt.Distance;
if (dist < 0.0f)
{
if (dist < maxPen)
{
maxPen = dist;
m_touchingNormal = pt.NormalWorldOnB * directionSign;//??
}
m_currentPosition += pt.NormalWorldOnB * directionSign * dist * 0.2f;
penetration = true;
}
else
{
//printf("touching %f\n", dist);
}
}
//manifold.ClearManifold();
}
}
Matrix newTrans = m_ghostObject.WorldTransform;
newTrans.Origin = m_currentPosition;
m_ghostObject.WorldTransform = newTrans;
// printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);
return(penetration);
}
protected bool RecoverFromPenetration(CollisionWorld collisionWorld)
{
Vector3 minAabb, maxAabb;
m_convexShape.GetAabb(m_ghostObject.WorldTransform, out minAabb, out maxAabb);
collisionWorld.Broadphase.SetAabbRef(m_ghostObject.BroadphaseHandle,
ref minAabb,
ref maxAabb,
collisionWorld.Dispatcher);
bool penetration = false;
collisionWorld.Dispatcher.DispatchAllCollisionPairs(m_ghostObject.OverlappingPairCache, collisionWorld.DispatchInfo, collisionWorld.Dispatcher);
m_currentPosition = m_ghostObject.WorldTransform.Origin;
float maxPen = 0f;
for (int i = 0; i < m_ghostObject.OverlappingPairCache.NumOverlappingPairs; i++)
{
m_manifoldArray.Clear();
BroadphasePair collisionPair = m_ghostObject.OverlappingPairCache.OverlappingPairArray[i];
CollisionObject obj0 = collisionPair.Proxy0.ClientObject as CollisionObject;
CollisionObject obj1 = collisionPair.Proxy1.ClientObject as CollisionObject;
if ((obj0 != null && !obj0.HasContactResponse) || (obj1 != null && !obj1.HasContactResponse))
{
continue;
}
collisionPair.GetAllContactManifolds(m_manifoldArray);
for (int j = 0; j < m_manifoldArray.Count; j++)
{
var manifoldId = AlignedManifoldArray.btAlignedManifoldArray_at(m_manifoldArray._native, j);
var bodyId = PersistentManifold.btPersistentManifold_getBody0(manifoldId);
var numContacts = PersistentManifold.btPersistentManifold_getNumContacts(manifoldId);
float directionSign = bodyId == m_ghostObject._native ? -1f : 1f;
for (int p = 0; p < numContacts; p++)
{
var manifoldPointId = PersistentManifold.btPersistentManifold_getContactPoint(manifoldId, p);
float dist = ManifoldPoint.btManifoldPoint_getDistance(manifoldPointId);
if (dist < 0.0f)
{
Vector3 normalWorldOnB;
ManifoldPoint.btManifoldPoint_getNormalWorldOnB(manifoldPointId, out normalWorldOnB);
if (dist < maxPen)
{
maxPen = dist;
}
var counterPenDir = normalWorldOnB * directionSign;;
m_currentPosition += counterPenDir * dist;
penetration = true;
if (counterPenDir.Dot(Vector3.UnitY) > 0)
{
m_verticalVelocity = 0;
}
}
}
}
}
Matrix newTrans = m_ghostObject.WorldTransform;
newTrans.Origin = m_currentPosition;
m_ghostObject.WorldTransform = newTrans;
return(penetration);
}
public SphereSphereCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
CollisionObjectWrapper col0Wrap, CollisionObjectWrapper col1Wrap)
: base(btSphereSphereCollisionAlgorithm_new(mf._native, ci._native, col0Wrap._native,
col1Wrap._native))
{
}
public override void OnVisitPersistentManifold(PersistentManifold pm)
{
CollisionObject other;
if (pm.Body0 == myCollisionObject)
{
other = pm.Body1;
} else
{
other = pm.Body0;
}
PersistentManifoldList pml;
if (!otherObjs2ManifoldMap.TryGetValue(other,out pml))
{
//todo get from object pool
pml = new PersistentManifoldList();
newContacts.Add(pml);
}
pml.manifolds.Add(pm);
}
public SphereBoxCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
CollisionObjectWrapper body0Wrap, CollisionObjectWrapper body1Wrap, bool isSwapped)
: base(btSphereBoxCollisionAlgorithm_new(mf.Native, ci.Native, body0Wrap.Native,
body1Wrap.Native, isSwapped))
{
}
public void ReleaseManifold(PersistentManifold manifold)
{
btDispatcher_releaseManifold(_native, manifold._native);
}
public SoftSoftCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObjectWrapper body0Wrap, CollisionObjectWrapper body1Wrap)
: base(btSoftSoftCollisionAlgorithm_new2(mf._native, ci._native, body0Wrap._native, body1Wrap._native))
{
}
public void ClearManifold(PersistentManifold manifold)
{
btDispatcher_clearManifold(_native, manifold._native);
}
public CollisionAlgorithm FindAlgorithm(CollisionObjectWrapper body0Wrap,
CollisionObjectWrapper body1Wrap, PersistentManifold sharedManifold)
{
return(new CollisionAlgorithm(btDispatcher_findAlgorithm2(_native, body0Wrap._native, body1Wrap._native, sharedManifold._native)));
}
public CollisionAlgorithm FindAlgorithm(CollisionObjectWrapper body0Wrap, CollisionObjectWrapper body1Wrap, PersistentManifold sharedManifold)
{
return new CollisionAlgorithm(btDispatcher_findAlgorithm2(_native, body0Wrap._native, body1Wrap._native, sharedManifold._native));
}
public SoftRigidCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObjectWrapper col0, CollisionObjectWrapper col1Wrap, bool isSwapped)
: base(btSoftRigidCollisionAlgorithm_new(mf._native, ci._native, col0._native, col1Wrap._native, isSwapped))
{
}
public Box2DBox2DCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
CollisionObjectWrapper body0Wrap, CollisionObjectWrapper body1Wrap)
: base(btBox2dBox2dCollisionAlgorithm_new2(mf._native, ci._native, body0Wrap._native,
body1Wrap._native))
{
}
