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);
}
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);
}
