public virtual void ProcessTriangle(IndexedVector3[] triangle, int partId, int triangleIndex)
{
TriangleShape triangleShape = new TriangleShape(ref triangle[0], ref triangle[1], ref triangle[2]);
triangleShape.SetMargin(m_triangleCollisionMargin);
VoronoiSimplexSolver simplexSolver = BulletGlobals.VoronoiSimplexSolverPool.Get();
GjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver = new GjkEpaPenetrationDepthSolver();
//#define USE_SUBSIMPLEX_CONVEX_CAST 1
//if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented ref code below
#if USE_SUBSIMPLEX_CONVEX_CAST
SubsimplexConvexCast convexCaster = new SubsimplexConvexCast(m_convexShape, triangleShape, simplexSolver);
#else
//btGjkConvexCast convexCaster(m_convexShape,&triangleShape,&simplexSolver);
ContinuousConvexCollision convexCaster = BulletGlobals.ContinuousConvexCollisionPool.Get();
convexCaster.Initialize(m_convexShape, triangleShape, simplexSolver, gjkEpaPenetrationSolver);
#endif //#USE_SUBSIMPLEX_CONVEX_CAST
CastResult castResult = BulletGlobals.CastResultPool.Get();
castResult.m_fraction = 1f;
if (convexCaster.CalcTimeOfImpact(ref m_convexShapeFrom, ref m_convexShapeTo, ref m_triangleToWorld, ref m_triangleToWorld, castResult))
{
//add hit
if (castResult.m_normal.LengthSquared() > 0.0001f)
{
if (castResult.m_fraction < m_hitFraction)
{
/* btContinuousConvexCast's normal is already in world space */
/*
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
* //rotate normal into worldspace
* castResult.m_normal = m_convexShapeFrom.getBasis() * castResult.m_normal;
#endif //USE_SUBSIMPLEX_CONVEX_CAST
*/
castResult.m_normal.Normalize();
ReportHit(ref castResult.m_normal, ref castResult.m_hitPoint, castResult.m_fraction, partId, triangleIndex);
}
}
}
BulletGlobals.ContinuousConvexCollisionPool.Free(convexCaster);
BulletGlobals.VoronoiSimplexSolverPool.Free(simplexSolver);
castResult.Cleanup();
}
public virtual void ProcessTriangle(IndexedVector3[] triangle, int partId, int triangleIndex)
{
TriangleShape triangleShape = new TriangleShape(ref triangle[0], ref triangle[1], ref triangle[2]);
triangleShape.SetMargin(m_triangleCollisionMargin);
VoronoiSimplexSolver simplexSolver = BulletGlobals.VoronoiSimplexSolverPool.Get();
GjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver = new GjkEpaPenetrationDepthSolver();
//#define USE_SUBSIMPLEX_CONVEX_CAST 1
//if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented ref code below
#if USE_SUBSIMPLEX_CONVEX_CAST
SubsimplexConvexCast convexCaster = new SubsimplexConvexCast(m_convexShape, triangleShape, simplexSolver);
#else
//btGjkConvexCast convexCaster(m_convexShape,&triangleShape,&simplexSolver);
ContinuousConvexCollision convexCaster = BulletGlobals.ContinuousConvexCollisionPool.Get();
convexCaster.Initialize(m_convexShape, triangleShape, simplexSolver, gjkEpaPenetrationSolver);
#endif //#USE_SUBSIMPLEX_CONVEX_CAST
CastResult castResult = BulletGlobals.CastResultPool.Get();
castResult.m_fraction = 1f;
if (convexCaster.CalcTimeOfImpact(ref m_convexShapeFrom, ref m_convexShapeTo, ref m_triangleToWorld, ref m_triangleToWorld, castResult))
{
//add hit
if (castResult.m_normal.LengthSquared() > 0.0001f)
{
if (castResult.m_fraction < m_hitFraction)
{
/* btContinuousConvexCast's normal is already in world space */
/*
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
//rotate normal into worldspace
castResult.m_normal = m_convexShapeFrom.getBasis() * castResult.m_normal;
#endif //USE_SUBSIMPLEX_CONVEX_CAST
*/
castResult.m_normal.Normalize();
ReportHit(ref castResult.m_normal, ref castResult.m_hitPoint, castResult.m_fraction, partId, triangleIndex);
}
}
}
BulletGlobals.ContinuousConvexCollisionPool.Free(convexCaster);
BulletGlobals.VoronoiSimplexSolverPool.Free(simplexSolver);
castResult.Cleanup();
}
