public override void ProcessCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
{
//swapped?
m_manifoldPtr = m_dispatcher.GetNewManifold(body0, body1);
m_ownManifold = true;
}
resultOut.SetPersistentManifold(m_manifoldPtr);
//comment-out next line to test multi-contact generation
//resultOut.getPersistentManifold().clearManifold();
ConvexShape min0 = body0.GetCollisionShape() as ConvexShape;
ConvexShape min1 = body1.GetCollisionShape() as ConvexShape;
IndexedVector3 normalOnB = IndexedVector3.Zero;
IndexedVector3 pointOnBWorld = IndexedVector3.Zero;
{
ClosestPointInput input = ClosestPointInput.Default();
using (GjkPairDetector gjkPairDetector = BulletGlobals.GjkPairDetectorPool.Get())
{
gjkPairDetector.Initialize(min0, min1, m_simplexSolver, m_pdSolver);
//TODO: if (dispatchInfo.m_useContinuous)
gjkPairDetector.SetMinkowskiA(min0);
gjkPairDetector.SetMinkowskiB(min1);
{
input.m_maximumDistanceSquared = min0.GetMargin() + min1.GetMargin() + m_manifoldPtr.GetContactBreakingThreshold();
input.m_maximumDistanceSquared *= input.m_maximumDistanceSquared;
}
input.m_transformA = body0.GetWorldTransform();
input.m_transformB = body1.GetWorldTransform();
gjkPairDetector.GetClosestPoints(ref input, resultOut, dispatchInfo.getDebugDraw(), false);
#if DEBUG
if (BulletGlobals.g_streamWriter != null)
{
BulletGlobals.g_streamWriter.WriteLine("c2dc2d processCollision");
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "transformA", input.m_transformA);
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "transformB", input.m_transformB);
}
#endif
}
//BulletGlobals.GjkPairDetectorPool.Free(gjkPairDetector);
//btVector3 v0,v1;
//btVector3 sepNormalWorldSpace;
}
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
}
private void PreallocateChildAlgorithms(CollisionObject body0, CollisionObject body1)
{
CollisionObject colObj = m_isSwapped ? body1 : body0;
CollisionObject otherObj = m_isSwapped ? body0 : body1;
Debug.Assert(colObj.GetCollisionShape().IsCompound());
CompoundShape compoundShape = (CompoundShape)(colObj.GetCollisionShape());
int numChildren = compoundShape.GetNumChildShapes();
int i;
//m_childCollisionAlgorithms.resize(numChildren);
m_childCollisionAlgorithms.Clear();
for (i = 0; i < numChildren; i++)
{
if (compoundShape.GetDynamicAabbTree() != null)
{
m_childCollisionAlgorithms.Add(null);
}
else
{
CollisionShape tmpShape = colObj.GetCollisionShape();
CollisionShape childShape = compoundShape.GetChildShape(i);
colObj.InternalSetTemporaryCollisionShape(childShape);
CollisionAlgorithm ca = m_dispatcher.FindAlgorithm(colObj, otherObj, m_sharedManifold);
m_childCollisionAlgorithms.Add(ca);
colObj.InternalSetTemporaryCollisionShape(tmpShape);
}
}
}
public virtual PersistentManifold GetNewManifold(CollisionObject b0, CollisionObject b1)
{
gNumManifold++;
CollisionObject body0 = b0;
CollisionObject body1 = b1;
//optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
float contactBreakingThreshold = ((m_dispatcherFlags & DispatcherFlags.CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD) > 0) ?
Math.Min(body0.GetCollisionShape().GetContactBreakingThreshold(BulletGlobals.gContactBreakingThreshold), body1.GetCollisionShape().GetContactBreakingThreshold(BulletGlobals.gContactBreakingThreshold))
: BulletGlobals.gContactBreakingThreshold;
float contactProcessingThreshold = Math.Min(body0.GetContactProcessingThreshold(), body1.GetContactProcessingThreshold());
// nothing in our pool so create a new one and return it.
// need a way to flush the pool ideally
PersistentManifold manifold = BulletGlobals.PersistentManifoldPool.Get();
manifold.Initialise(body0, body1, 0, contactBreakingThreshold, contactProcessingThreshold);
manifold.m_index1a = m_manifoldsPtr.Count;
m_manifoldsPtr.Add(manifold);
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugDispatcher)
{
BulletGlobals.g_streamWriter.WriteLine("GetNewManifold[{0}][{1}]", manifold.m_index1a,m_manifoldsPtr.Count);
}
#endif
return manifold;
}
public SphereTriangleCollisionAlgorithm() { } // for pool
public SphereTriangleCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, bool swapped)
: base(ci, body0, body1)
{
m_ownManifold = false;
m_manifoldPtr = mf;
m_swapped = swapped;
}
public virtual void Initialize(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, bool swapped)
{
base.Initialize(ci, body0, body1);
m_ownManifold = false;
m_manifoldPtr = mf;
m_swapped = swapped;
}
public override void ProcessCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
//resultOut = new ManifoldResult();
if (m_manifoldPtr == null)
{
return;
}
CollisionObject sphereObj = m_swapped ? body1 : body0;
CollisionObject triObj = m_swapped ? body0 : body1;
SphereShape sphere = sphereObj.GetCollisionShape() as SphereShape;
TriangleShape triangle = triObj.GetCollisionShape() as TriangleShape;
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut.SetPersistentManifold(m_manifoldPtr);
using (SphereTriangleDetector detector = BulletGlobals.SphereTriangleDetectorPool.Get())
{
detector.Initialize(sphere, triangle, m_manifoldPtr.GetContactBreakingThreshold());
ClosestPointInput input = ClosestPointInput.Default();
input.m_maximumDistanceSquared = float.MaxValue;
sphereObj.GetWorldTransform(out input.m_transformA);
triObj.GetWorldTransform(out input.m_transformB);
bool swapResults = m_swapped;
detector.GetClosestPoints(ref input, resultOut, dispatchInfo.getDebugDraw(), swapResults);
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
}
}
public void Initialise(CollisionObject body0, CollisionObject body1)
{
m_body0 = body0;
m_body1 = body1;
m_rootTransA = body0.GetWorldTransform();
m_rootTransB = body1.GetWorldTransform();
m_manifoldPtr = null;
}
public Convex2dConvex2dAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: base(ci, body0, body1)
{
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
m_ownManifold = false;
m_manifoldPtr = mf;
m_lowLevelOfDetail = false;
m_numPerturbationIterations = numPerturbationIterations;
m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
}
public Box2dBox2dCollisionAlgorithm(PersistentManifold mf,CollisionAlgorithmConstructionInfo ci,CollisionObject body0,CollisionObject body1) :
base(ci,body0,body1)
{
m_ownManifold = false;
m_manifoldPtr = mf;
if (m_manifoldPtr == null && m_dispatcher.NeedsCollision(body0, body1))
{
m_manifoldPtr = m_dispatcher.GetNewManifold(body0, body1);
m_ownManifold = true;
}
}
public virtual void Initialize(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, bool isSwapped)
{
base.Initialize(ci, body0, body1);
m_isSwapped = isSwapped;
m_sharedManifold = ci.GetManifold();
m_ownsManifold = false;
CollisionObject colObj = m_isSwapped ? body1 : body0;
Debug.Assert(colObj.GetCollisionShape().IsCompound());
CompoundShape compoundShape = (CompoundShape)(colObj.GetCollisionShape());
m_compoundShapeRevision = compoundShape.GetUpdateRevision();
PreallocateChildAlgorithms(body0, body1);
}
public void UpdateSingleAabb(CollisionObject colObj)
{
IndexedVector3 minAabb;
IndexedVector3 maxAabb;
IndexedMatrix wt = colObj.GetWorldTransform();
colObj.GetCollisionShape().GetAabb(ref wt, out minAabb, out maxAabb);
//need to increase the aabb for contact thresholds
IndexedVector3 contactThreshold = new IndexedVector3(BulletGlobals.gContactBreakingThreshold);
minAabb -= contactThreshold;
maxAabb += contactThreshold;
if (GetDispatchInfo().m_useContinuous && colObj.GetInternalType() == CollisionObjectTypes.CO_RIGID_BODY && !colObj.IsStaticOrKinematicObject())
{
IndexedVector3 minAabb2,maxAabb2;
colObj.GetCollisionShape().GetAabb(colObj.GetInterpolationWorldTransform(),out minAabb2 ,out maxAabb2);
minAabb2 -= contactThreshold;
maxAabb2 += contactThreshold;
MathUtil.VectorMin(ref minAabb2,ref minAabb);
MathUtil.VectorMax(ref maxAabb2, ref maxAabb);
}
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugCollisionWorld)
{
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "updateSingleAabbMin", minAabb);
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "updateSingleAabbMax", maxAabb);
}
#endif
IBroadphaseInterface bp = m_broadphasePairCache as IBroadphaseInterface;
//moving objects should be moderately sized, probably something wrong if not
if (colObj.IsStaticObject() || ((maxAabb - minAabb).LengthSquared() < 1e12f))
{
bp.SetAabb(colObj.GetBroadphaseHandle(), ref minAabb, ref maxAabb, m_dispatcher1);
}
else
{
//something went wrong, investigate
//this assert is unwanted in 3D modelers (danger of loosing work)
colObj.SetActivationState(ActivationState.DISABLE_SIMULATION);
//static bool reportMe = true;
bool reportMe = true;
if (reportMe && m_debugDrawer != null)
{
reportMe = false;
m_debugDrawer.ReportErrorWarning("Overflow in AABB, object removed from simulation");
m_debugDrawer.ReportErrorWarning("If you can reproduce this, please email [email protected]\n");
m_debugDrawer.ReportErrorWarning("Please include above information, your Platform, version of OS.\n");
m_debugDrawer.ReportErrorWarning("Thanks.\n");
}
}
}
public override void ProcessCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
{
return;
}
resultOut.SetPersistentManifold(m_manifoldPtr);
SphereShape sphere0 = body0.GetCollisionShape() as SphereShape;
SphereShape sphere1 = body1.GetCollisionShape() as SphereShape;
IndexedVector3 diff = body0.GetWorldTransform()._origin - body1.GetWorldTransform()._origin;
float len = diff.Length();
float radius0 = sphere0.GetRadius();
float radius1 = sphere1.GetRadius();
#if CLEAR_MANIFOLD
m_manifoldPtr.clearManifold(); //don't do this, it disables warmstarting
#endif
///iff distance positive, don't generate a new contact
if (len > (radius0 + radius1))
{
#if !CLEAR_MANIFOLD
resultOut.RefreshContactPoints();
#endif //CLEAR_MANIFOLD
return;
}
///distance (negative means penetration)
float dist = len - (radius0 + radius1);
IndexedVector3 normalOnSurfaceB = new IndexedVector3(1, 0, 0);
if (len > MathUtil.SIMD_EPSILON)
{
normalOnSurfaceB = diff / len;
}
///point on A (worldspace)
///btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
///point on B (worldspace)
IndexedVector3 pos1 = body1.GetWorldTransform()._origin + radius1 * normalOnSurfaceB;
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut.AddContactPoint(ref normalOnSurfaceB, ref pos1, dist);
#if !CLEAR_MANIFOLD
resultOut.RefreshContactPoints();
#endif //CLEAR_MANIFOLD
}
public virtual void Initialize(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject colObj0, CollisionObject colObj1)
{
base.Initialize(ci, colObj0, colObj1);
m_ownManifold = false;
m_manifoldPtr = mf;
if (m_manifoldPtr == null)
{
m_manifoldPtr = m_dispatcher.GetNewManifold(colObj0, colObj1);
m_ownManifold = true;
}
}
public void Inititialize(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, bool isSwapped)
{
base.Initialize(ci, body0, body1);
m_isSwapped = isSwapped;
if (m_convexTriangleCallback == null)
{
m_convexTriangleCallback = new ConvexTriangleCallback(m_dispatcher, body0, body1, isSwapped);
}
else
{
m_convexTriangleCallback.Initialize(m_dispatcher, body0, body1, isSwapped);
}
}
public SphereSphereCollisionAlgorithm() { } // for pool
public SphereSphereCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
: base(ci, body0, body1)
{
m_ownManifold = false;
m_manifoldPtr = mf;
// for some reason theres no check in 2.76 or 2.78 for a needs collision, just a check on pointer being null.
if (m_manifoldPtr == null)
{
m_manifoldPtr = m_dispatcher.GetNewManifold(body0, body1);
m_ownManifold = true;
}
}
public ConvexConvexAlgorithm() { } // for pool
public ConvexConvexAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: base(ci, body0, body1)
{
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
m_ownManifold = false;
m_manifoldPtr = mf;
m_lowLevelOfDetail = false;
#if USE_SEPDISTANCE_UTIL2
m_sepDistance ((static_cast<btConvexShape*>(body0.getCollisionShape())).getAngularMotionDisc(),
(static_cast<btConvexShape*>(body1.getCollisionShape())).getAngularMotionDisc()),
#endif
m_numPerturbationIterations = numPerturbationIterations;
m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
}
public SphereBoxCollisionAlgorithm() { } // for pool
public SphereBoxCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject col0, CollisionObject col1, bool isSwapped)
: base(ci, col0, col1)
{
m_isSwapped = isSwapped;
m_ownManifold = false;
m_manifoldPtr = mf;
CollisionObject sphereObj = m_isSwapped ? col1 : col0;
CollisionObject boxObj = m_isSwapped ? col0 : col1;
if (m_manifoldPtr == null && m_dispatcher.NeedsCollision(sphereObj, boxObj))
{
m_manifoldPtr = m_dispatcher.GetNewManifold(sphereObj, boxObj);
m_ownManifold = true;
}
}
//response between two dynamic objects without friction, assuming 0 penetration depth
public static float ResolveSingleCollision(
RigidBody body1,
CollisionObject colObj2,
ref IndexedVector3 contactPositionWorld,
ref IndexedVector3 contactNormalOnB,
ContactSolverInfo solverInfo,
float distance)
{
RigidBody body2 = RigidBody.Upcast(colObj2);
IndexedVector3 normal = contactNormalOnB;
IndexedVector3 rel_pos1 = contactPositionWorld - body1.GetWorldTransform()._origin;
IndexedVector3 rel_pos2 = contactPositionWorld - colObj2.GetWorldTransform()._origin;
IndexedVector3 vel1 = body1.GetVelocityInLocalPoint(ref rel_pos1);
IndexedVector3 vel2 = body2 != null ? body2.GetVelocityInLocalPoint(ref rel_pos2) : IndexedVector3.Zero;
IndexedVector3 vel = vel1 - vel2;
float rel_vel = normal.Dot(ref vel);
float combinedRestitution = body1.GetRestitution() * colObj2.GetRestitution();
float restitution = combinedRestitution * -rel_vel;
float positionalError = solverInfo.m_erp * -distance / solverInfo.m_timeStep;
float velocityError = -(1.0f + restitution) * rel_vel;// * damping;
float denom0 = body1.ComputeImpulseDenominator(ref contactPositionWorld, ref normal);
float denom1 = body2 != null ? body2.ComputeImpulseDenominator(ref contactPositionWorld, ref normal) : 0.0f;
float relaxation = 1.0f;
float jacDiagABInv = relaxation / (denom0 + denom1);
float penetrationImpulse = positionalError * jacDiagABInv;
float velocityImpulse = velocityError * jacDiagABInv;
float normalImpulse = penetrationImpulse + velocityImpulse;
normalImpulse = 0.0f > normalImpulse ? 0.0f : normalImpulse;
body1.ApplyImpulse(normal * (normalImpulse), rel_pos1);
if (body2 != null)
{
body2.ApplyImpulse(-normal * (normalImpulse), rel_pos2);
}
return normalImpulse;
}
public void Initialize(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject col0, CollisionObject col1, bool isSwapped, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
{
base.Initialize(ci);
m_manifoldPtr = mf;
m_ownManifold = false;
m_isSwapped = isSwapped;
m_numPerturbationIterations = numPerturbationIterations;
m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
CollisionObject convexObj = m_isSwapped ? col1 : col0;
CollisionObject planeObj = m_isSwapped ? col0 : col1;
if (m_manifoldPtr == null && m_dispatcher.NeedsCollision(convexObj, planeObj))
{
m_manifoldPtr = m_dispatcher.GetNewManifold(convexObj, planeObj);
m_ownManifold = true;
}
}
public override void ProcessCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
{
return;
}
CollisionObject col0 = body0;
CollisionObject col1 = body1;
Box2dShape box0 = (Box2dShape)col0.GetCollisionShape();
Box2dShape box1 = (Box2dShape)col1.GetCollisionShape();
resultOut.SetPersistentManifold(m_manifoldPtr);
B2CollidePolygons(ref resultOut, box0, col0.GetWorldTransform(), box1, col1.GetWorldTransform());
// refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
}
public override void ProcessCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
//(void)dispatchInfo;
//(void)resultOut;
if (m_manifoldPtr == null)
{
return;
}
CollisionObject sphereObj = m_isSwapped ? body1 : body0;
CollisionObject boxObj = m_isSwapped ? body0 : body1;
IndexedVector3 pOnBox = new IndexedVector3(); ;
IndexedVector3 normalOnSurfaceB = new IndexedVector3();
float penetrationDepth = 0f;
IndexedVector3 sphereCenter = sphereObj.GetWorldTransform()._origin;
SphereShape sphere0 = sphereObj.GetCollisionShape() as SphereShape;
float radius = sphere0.GetRadius();
float maxContactDistance = m_manifoldPtr.GetContactBreakingThreshold();
resultOut.SetPersistentManifold(m_manifoldPtr);
if (GetSphereDistance(boxObj, ref pOnBox, ref normalOnSurfaceB, ref penetrationDepth, sphereCenter, radius, maxContactDistance))
{
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut.AddContactPoint(normalOnSurfaceB, pOnBox, penetrationDepth);
}
if (m_ownManifold)
{
if (m_manifoldPtr.GetNumContacts() > 0)
{
resultOut.RefreshContactPoints();
}
}
}
public override float CalculateTimeOfImpact(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
//(void)resultOut;
//(void)dispatchInfo;
///Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold
///Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold
///body0.m_worldTransform,
float resultFraction = 1.0f;
float squareMot0 = (body0.GetInterpolationWorldTransform()._origin - body0.GetWorldTransform()._origin).LengthSquared();
float squareMot1 = (body1.GetInterpolationWorldTransform()._origin - body1.GetWorldTransform()._origin).LengthSquared();
if (squareMot0 < body0.GetCcdSquareMotionThreshold() &&
squareMot1 < body1.GetCcdSquareMotionThreshold())
{
return resultFraction;
}
if (disableCcd)
{
return 1f;
}
//An adhoc way of testing the Continuous Collision Detection algorithms
//One object is approximated as a sphere, to simplify things
//Starting in penetration should report no time of impact
//For proper CCD, better accuracy and handling of 'allowed' penetration should be added
//also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
/// Convex0 against sphere for Convex1
{
ConvexShape convex0 = body0.GetCollisionShape() as ConvexShape;
SphereShape sphere1 = BulletGlobals.SphereShapePool.Get();
sphere1.Initialize(body1.GetCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
CastResult result = BulletGlobals.CastResultPool.Get();
VoronoiSimplexSolver voronoiSimplex = BulletGlobals.VoronoiSimplexSolverPool.Get();
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
///Simplification, one object is simplified as a sphere
using (GjkConvexCast ccd1 = BulletGlobals.GjkConvexCastPool.Get())
{
ccd1.Initialize(convex0, sphere1, voronoiSimplex);
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
if (ccd1.CalcTimeOfImpact(body0.GetWorldTransform(), body0.GetInterpolationWorldTransform(),
body1.GetWorldTransform(), body1.GetInterpolationWorldTransform(), result))
{
//store result.m_fraction in both bodies
if (body0.GetHitFraction() > result.m_fraction)
{
body0.SetHitFraction(result.m_fraction);
}
if (body1.GetHitFraction() > result.m_fraction)
{
body1.SetHitFraction(result.m_fraction);
}
if (resultFraction > result.m_fraction)
{
resultFraction = result.m_fraction;
}
}
BulletGlobals.VoronoiSimplexSolverPool.Free(voronoiSimplex);
BulletGlobals.SphereShapePool.Free(sphere1);
result.Cleanup();
}
}
/// Sphere (for convex0) against Convex1
{
ConvexShape convex1 = body1.GetCollisionShape() as ConvexShape;
SphereShape sphere0 = BulletGlobals.SphereShapePool.Get();
sphere0.Initialize(body0.GetCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
CastResult result = BulletGlobals.CastResultPool.Get();
VoronoiSimplexSolver voronoiSimplex = BulletGlobals.VoronoiSimplexSolverPool.Get();
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
///Simplification, one object is simplified as a sphere
using (GjkConvexCast ccd1 = BulletGlobals.GjkConvexCastPool.Get())
{
ccd1.Initialize(sphere0, convex1, voronoiSimplex);
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
if (ccd1.CalcTimeOfImpact(body0.GetWorldTransform(), body0.GetInterpolationWorldTransform(),
body1.GetWorldTransform(), body1.GetInterpolationWorldTransform(), result))
{
//store result.m_fraction in both bodies
if (body0.GetHitFraction() > result.m_fraction)
{
body0.SetHitFraction(result.m_fraction);
}
if (body1.GetHitFraction() > result.m_fraction)
{
body1.SetHitFraction(result.m_fraction);
}
if (resultFraction > result.m_fraction)
{
resultFraction = result.m_fraction;
}
}
BulletGlobals.VoronoiSimplexSolverPool.Free(voronoiSimplex);
BulletGlobals.SphereShapePool.Free(sphere0);
result.Cleanup();
}
}
return resultFraction;
}
public virtual bool CheckCollideWithOverride(CollisionObject obj)
{
return true;
}
public override void ProcessCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
{
//swapped?
m_manifoldPtr = m_dispatcher.GetNewManifold(body0, body1);
m_ownManifold = true;
}
//resultOut = new ManifoldResult();
resultOut.SetPersistentManifold(m_manifoldPtr);
//comment-out next line to test multi-contact generation
//resultOut.GetPersistentManifold().ClearManifold();
ConvexShape min0 = body0.GetCollisionShape() as ConvexShape;
ConvexShape min1 = body1.GetCollisionShape() as ConvexShape;
IndexedVector3 normalOnB;
IndexedVector3 pointOnBWorld;
#if !BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
if ((min0.GetShapeType() == BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE) && (min1.GetShapeType() == BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE))
{
CapsuleShape capsuleA = min0 as CapsuleShape;
CapsuleShape capsuleB = min1 as CapsuleShape;
//IndexedVector3 localScalingA = capsuleA.GetLocalScaling();
//IndexedVector3 localScalingB = capsuleB.GetLocalScaling();
float threshold = m_manifoldPtr.GetContactBreakingThreshold();
float dist = CapsuleCapsuleDistance(out normalOnB, out pointOnBWorld, capsuleA.GetHalfHeight(), capsuleA.GetRadius(),
capsuleB.GetHalfHeight(), capsuleB.GetRadius(), capsuleA.GetUpAxis(), capsuleB.GetUpAxis(),
body0.GetWorldTransform(), body1.GetWorldTransform(), threshold);
if (dist < threshold)
{
Debug.Assert(normalOnB.LengthSquared() >= (MathUtil.SIMD_EPSILON * MathUtil.SIMD_EPSILON));
resultOut.AddContactPoint(ref normalOnB, ref pointOnBWorld, dist);
}
resultOut.RefreshContactPoints();
return;
}
#endif //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
#if USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
m_sepDistance.updateSeparatingDistance(body0.getWorldTransform(),body1.getWorldTransform());
}
if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f)
#endif //USE_SEPDISTANCE_UTIL2
{
ClosestPointInput input = ClosestPointInput.Default();
using (GjkPairDetector gjkPairDetector = BulletGlobals.GjkPairDetectorPool.Get())
{
gjkPairDetector.Initialize(min0, min1, m_simplexSolver, m_pdSolver);
//TODO: if (dispatchInfo.m_useContinuous)
gjkPairDetector.SetMinkowskiA(min0);
gjkPairDetector.SetMinkowskiB(min1);
#if USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
input.m_maximumDistanceSquared = float.MaxValue;
}
else
#endif //USE_SEPDISTANCE_UTIL2
{
input.m_maximumDistanceSquared = min0.GetMargin() + min1.GetMargin() + m_manifoldPtr.GetContactBreakingThreshold();
input.m_maximumDistanceSquared *= input.m_maximumDistanceSquared;
}
//input.m_stackAlloc = dispatchInfo.m_stackAllocator;
input.m_transformA = body0.GetWorldTransform();
input.m_transformB = body1.GetWorldTransform();
if (min0.IsPolyhedral() && min1.IsPolyhedral())
{
DummyResult dummy = new DummyResult();
PolyhedralConvexShape polyhedronA = min0 as PolyhedralConvexShape;
PolyhedralConvexShape polyhedronB = min1 as PolyhedralConvexShape;
if (polyhedronA.GetConvexPolyhedron() != null && polyhedronB.GetConvexPolyhedron() != null)
{
float threshold = m_manifoldPtr.GetContactBreakingThreshold();
float minDist = float.MinValue;
IndexedVector3 sepNormalWorldSpace = new IndexedVector3(0, 1, 0);
bool foundSepAxis = true;
if (dispatchInfo.m_enableSatConvex)
{
foundSepAxis = PolyhedralContactClipping.FindSeparatingAxis(
polyhedronA.GetConvexPolyhedron(), polyhedronB.GetConvexPolyhedron(),
body0.GetWorldTransform(),
body1.GetWorldTransform(),
out sepNormalWorldSpace);
}
else
{
#if ZERO_MARGIN
gjkPairDetector.SetIgnoreMargin(true);
gjkPairDetector.GetClosestPoints(input,resultOut,dispatchInfo.m_debugDraw);
#else
gjkPairDetector.GetClosestPoints(ref input, dummy, dispatchInfo.m_debugDraw);
#endif
float l2 = gjkPairDetector.GetCachedSeparatingAxis().LengthSquared();
if (l2 > MathUtil.SIMD_EPSILON)
{
sepNormalWorldSpace = gjkPairDetector.GetCachedSeparatingAxis() * (1.0f / l2);
//minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance();
minDist = gjkPairDetector.GetCachedSeparatingDistance() - min0.GetMargin() - min1.GetMargin();
#if ZERO_MARGIN
foundSepAxis = true;//gjkPairDetector.getCachedSeparatingDistance()<0.f;
#else
foundSepAxis = gjkPairDetector.GetCachedSeparatingDistance() < (min0.GetMargin() + min1.GetMargin());
#endif
}
}
if (foundSepAxis)
{
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
PolyhedralContactClipping.ClipHullAgainstHull(sepNormalWorldSpace, polyhedronA.GetConvexPolyhedron(), polyhedronB.GetConvexPolyhedron(),
body0.GetWorldTransform(),
body1.GetWorldTransform(), minDist - threshold, threshold, resultOut);
}
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
return;
}
else
{
//we can also deal with convex versus triangle (without connectivity data)
if (polyhedronA.GetConvexPolyhedron() != null && polyhedronB.GetShapeType() == BroadphaseNativeTypes.TRIANGLE_SHAPE_PROXYTYPE)
{
m_vertices.Clear();
TriangleShape tri = polyhedronB as TriangleShape;
m_vertices.Add(body1.GetWorldTransform() * tri.m_vertices1[0]);
m_vertices.Add(body1.GetWorldTransform() * tri.m_vertices1[1]);
m_vertices.Add(body1.GetWorldTransform() * tri.m_vertices1[2]);
float threshold = m_manifoldPtr.GetContactBreakingThreshold();
IndexedVector3 sepNormalWorldSpace = new IndexedVector3(0, 1, 0); ;
float minDist = float.MinValue;
float maxDist = threshold;
bool foundSepAxis = false;
if (false)
{
polyhedronB.InitializePolyhedralFeatures();
foundSepAxis = PolyhedralContactClipping.FindSeparatingAxis(
polyhedronA.GetConvexPolyhedron(), polyhedronB.GetConvexPolyhedron(),
body0.GetWorldTransform(),
body1.GetWorldTransform(),
out sepNormalWorldSpace);
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
}
else
{
#if ZERO_MARGIN
gjkPairDetector.SetIgnoreMargin(true);
gjkPairDetector.GetClosestPoints(input,resultOut,dispatchInfo.m_debugDraw);
#else
gjkPairDetector.GetClosestPoints(ref input, dummy, dispatchInfo.m_debugDraw);
#endif//ZERO_MARGIN
float l2 = gjkPairDetector.GetCachedSeparatingAxis().LengthSquared();
if (l2 > MathUtil.SIMD_EPSILON)
{
sepNormalWorldSpace = gjkPairDetector.GetCachedSeparatingAxis() * (1.0f / l2);
//minDist = gjkPairDetector.getCachedSeparatingDistance();
//maxDist = threshold;
minDist = gjkPairDetector.GetCachedSeparatingDistance() - min0.GetMargin() - min1.GetMargin();
foundSepAxis = true;
}
}
if (foundSepAxis)
{
PolyhedralContactClipping.ClipFaceAgainstHull(sepNormalWorldSpace, polyhedronA.GetConvexPolyhedron(),
body0.GetWorldTransform(), m_vertices, minDist - threshold, maxDist, resultOut);
}
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
return;
}
}
}
gjkPairDetector.GetClosestPoints(ref input, resultOut, dispatchInfo.getDebugDraw(), false);
#if USE_SEPDISTANCE_UTIL2
float sepDist = 0.f;
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
sepDist = gjkPairDetector.getCachedSeparatingDistance();
if (sepDist>MathUtil.SIMD_EPSILON)
{
sepDist += dispatchInfo.m_convexConservativeDistanceThreshold;
//now perturbe directions to get multiple contact points
}
}
#endif //USE_SEPDISTANCE_UTIL2
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
if (m_numPerturbationIterations > 0 && resultOut.GetPersistentManifold().GetNumContacts() < m_minimumPointsPerturbationThreshold)
{
IndexedVector3 v0, v1;
IndexedVector3 sepNormalWorldSpace = gjkPairDetector.GetCachedSeparatingAxis();
sepNormalWorldSpace.Normalize();
TransformUtil.PlaneSpace1(ref sepNormalWorldSpace, out v0, out v1);
bool perturbeA = true;
const float angleLimit = 0.125f * MathUtil.SIMD_PI;
float perturbeAngle;
float radiusA = min0.GetAngularMotionDisc();
float radiusB = min1.GetAngularMotionDisc();
if (radiusA < radiusB)
{
perturbeAngle = BulletGlobals.gContactBreakingThreshold / radiusA;
perturbeA = true;
}
else
{
perturbeAngle = BulletGlobals.gContactBreakingThreshold / radiusB;
perturbeA = false;
}
if (perturbeAngle > angleLimit)
{
perturbeAngle = angleLimit;
}
IndexedMatrix unPerturbedTransform;
if (perturbeA)
{
unPerturbedTransform = input.m_transformA;
}
else
{
unPerturbedTransform = input.m_transformB;
}
for (int i = 0; i < m_numPerturbationIterations; i++)
{
if (v0.LengthSquared() > MathUtil.SIMD_EPSILON)
{
IndexedQuaternion perturbeRot = new IndexedQuaternion(v0, perturbeAngle);
float iterationAngle = i * (MathUtil.SIMD_2_PI / (float)m_numPerturbationIterations);
IndexedQuaternion rotq = new IndexedQuaternion(sepNormalWorldSpace, iterationAngle);
if (perturbeA)
{
input.m_transformA._basis = (new IndexedBasisMatrix(MathUtil.QuaternionInverse(rotq) * perturbeRot * rotq) * body0.GetWorldTransform()._basis);
input.m_transformB = body1.GetWorldTransform();
input.m_transformB = body1.GetWorldTransform();
#if DEBUG_CONTACTS
dispatchInfo.m_debugDraw.DrawTransform(ref input.m_transformA, 10.0f);
#endif //DEBUG_CONTACTS
}
else
{
input.m_transformA = body0.GetWorldTransform();
input.m_transformB._basis = (new IndexedBasisMatrix(MathUtil.QuaternionInverse(rotq) * perturbeRot * rotq) * body1.GetWorldTransform()._basis);
#if DEBUG_CONTACTS
dispatchInfo.m_debugDraw.DrawTransform(ref input.m_transformB, 10.0f);
#endif
}
PerturbedContactResult perturbedResultOut = new PerturbedContactResult(resultOut, ref input.m_transformA, ref input.m_transformB, ref unPerturbedTransform, perturbeA, dispatchInfo.getDebugDraw());
gjkPairDetector.GetClosestPoints(ref input, perturbedResultOut, dispatchInfo.getDebugDraw(), false);
}
}
}
#if USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil && (sepDist > MathUtil.SIMD_EPSILON))
{
m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0.getWorldTransform(),body1.getWorldTransform());
}
#endif //USE_SEPDISTANCE_UTIL2
}
}
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
}
public bool Callback(ref ManifoldPoint cp, CollisionObject colObj0, int partId0, int index0, CollisionObject colObj1, int partId1, int index1)
{
bool enable = true;
if (enable)
{
InternalEdgeUtility.AdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1,BulletXNA.BulletCollision.CollisionDispatch.InternalEdgeUtility.InternalEdgeAdjustFlags.BT_TRIANGLE_CONVEX_BACKFACE_NONE);
//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_BACKFACE_MODE);
//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_DOUBLE_SIDED+BT_TRIANGLE_CONCAVE_DOUBLE_SIDED);
}
float friction0 = colObj0.GetFriction();
float friction1 = colObj1.GetFriction();
float restitution0 = colObj0.GetRestitution();
float restitution1 = colObj1.GetRestitution();
if ((colObj0.GetCollisionFlags() & CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK) != 0)
{
friction0 = 1.0f;//partId0,index0
restitution0 = 0.0f;
}
if ((colObj1.GetCollisionFlags() & CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK) != 0)
{
if ((index1&1) != 0)
{
friction1 = 1.0f;//partId1,index1
}
else
{
friction1 = 0.0f;
}
restitution1 = 0.0f;
}
cp.m_combinedFriction = CalculateCombinedFriction(friction0,friction1);
cp.m_combinedRestitution = CalculateCombinedRestitution(restitution0,restitution1);
//this return value is currently ignored, but to be on the safe side: return false if you don't calculate friction
return true;
}
public bool CheckCollideWith(CollisionObject co)
{
if (m_checkCollideWith)
{
return CheckCollideWithOverride(co);
}
return true;
}
public override void Clear()
{
body = null;
}
public BulletBodyXNA(uint id, CollisionObject xx)
: base(id)
{
body = xx;
}
private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration)
{
IndexedVector3 contactNormal = norm;
if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 &&
(objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0)
{
return;
}
uint idA = (uint)objA.GetUserPointer();
uint idB = (uint)objB.GetUserPointer();
if (idA > idB)
{
uint temp = idA;
idA = idB;
idB = temp;
contactNormal = -contactNormal;
}
//ulong collisionID = ((ulong) idA << 32) | idB;
CollisionDesc cDesc = new CollisionDesc()
{
aID = idA,
bID = idB,
point = new Vector3(contact.X,contact.Y,contact.Z),
normal = new Vector3(contactNormal.X,contactNormal.Y,contactNormal.Z),
penetration = penetration
};
if (world.LastCollisionDesc < world.UpdatedCollisions.Length)
world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc);
m_collisionsThisFrame++;
}
public abstract void ProcessCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut);
public virtual bool CheckCollideWithOverride(CollisionObject obj)
{
return(true);
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
ConvexConvexAlgorithm cca = BulletGlobals.ConvexConvexAlgorithmPool.Get();
cca.Initialize(ci.GetManifold(), ci, body0, body1, m_simplexSolver, m_pdSolver, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
return cca;
}
public CollisionAlgorithm FindAlgorithm(CollisionObject body0, CollisionObject body1)
{
return(FindAlgorithm(body0, body1, null));
}
