private void PreallocateChildAlgorithms(CollisionObject body0, CollisionObject body1)
{
CollisionObject colObj = m_isSwapped ? body1 : body0;
CollisionObject otherObj = m_isSwapped ? body0 : body1;
System.Diagnostics.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);
m_childCollisionAlgorithms.Add(m_dispatcher.FindAlgorithm(colObj, otherObj, m_sharedManifold));
colObj.InternalSetTemporaryCollisionShape(tmpShape);
}
}
}
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 = (SphereShape)sphereObj.GetCollisionShape();
TriangleShape triangle = (TriangleShape)triObj.GetCollisionShape();
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut.SetPersistentManifold(m_manifoldPtr);
SphereTriangleDetector detector = new SphereTriangleDetector(sphere,triangle, m_manifoldPtr.GetContactBreakingThreshold());
ClosestPointInput input = new ClosestPointInput();
input.m_maximumDistanceSquared = float.MaxValue;
input.m_transformA = sphereObj.GetWorldTransform();
input.m_transformB = triObj.GetWorldTransform();
bool swapResults = m_swapped;
detector.GetClosestPoints(input,resultOut,dispatchInfo.getDebugDraw(),swapResults);
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
}
public ConvexTriangleCallback(IDispatcher dispatcher, CollisionObject body0, CollisionObject body1, bool isSwapped)
{
m_dispatcher = dispatcher;
m_convexBody = isSwapped ? body1 : body0;
m_triBody = isSwapped ? body0 : body1;
m_manifoldPtr = m_dispatcher.GetNewManifold(m_convexBody, m_triBody);
ClearCache();
}
public BridgeTriangleConvexcastCallback(ConvexShape castShape, ref Matrix from,ref Matrix to,
ConvexResultCallback resultCallback, CollisionObject collisionObject,TriangleMeshShape triangleMesh, ref Matrix triangleToWorld):
base(castShape, ref from,ref to, ref triangleToWorld, triangleMesh.Margin)
{
m_resultCallback = resultCallback;
m_collisionObject = collisionObject;
m_triangleMesh = triangleMesh;
}
public BoxBoxCollisionAlgorithm(PersistentManifold mf,CollisionAlgorithmConstructionInfo ci,CollisionObject body0,CollisionObject body1) : base(ci)
{
if (m_manifoldPtr == null && m_dispatcher.NeedsCollision(body0,body1))
{
m_manifoldPtr = m_dispatcher.GetNewManifold(body0,body1);
m_ownManifold = true;
}
}
public ClosestNotMeConvexResultCallback(CollisionObject me, ref Vector3 fromA, ref Vector3 toA, IOverlappingPairCache pairCache, IDispatcher dispatcher) :
base(ref fromA, ref toA)
{
m_allowedPenetration = 0.0f;
m_me = me;
m_pairCache = pairCache;
m_dispatcher = dispatcher;
}
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 = (ConvexShape)(body0.GetCollisionShape());
ConvexShape min1 = (ConvexShape)(body1.GetCollisionShape());
Vector3 normalOnB = Vector3.Zero;
Vector3 pointOnBWorld = Vector3.Zero;
{
ClosestPointInput input = new ClosestPointInput();
GjkPairDetector gjkPairDetector = new GjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver);
//TODO: if (dispatchInfo.m_useContinuous)
gjkPairDetector.SetMinkowskiA(min0);
gjkPairDetector.SetMinkowskiB(min1);
{
input.m_maximumDistanceSquared = min0.Margin + min1.Margin + m_manifoldPtr.GetContactBreakingThreshold();
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
}
input.m_transformA = body0.GetWorldTransform();
input.m_transformB = body1.GetWorldTransform();
gjkPairDetector.GetClosestPoints(input,resultOut,dispatchInfo.getDebugDraw(),false);
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);
}
//btVector3 v0,v1;
//btVector3 sepNormalWorldSpace;
}
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
}
public override void ProcessCollision (CollisionObject body0,CollisionObject body1,DispatcherInfo dispatchInfo,ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
{
return;
}
CollisionObject convexObj = m_isSwapped? body1 : body0;
CollisionObject planeObj = m_isSwapped? body0: body1;
ConvexShape convexShape = (ConvexShape) convexObj.GetCollisionShape();
StaticPlaneShape planeShape = (StaticPlaneShape) planeObj.GetCollisionShape();
//bool hasCollision = false;
Vector3 planeNormal = planeShape.GetPlaneNormal();
//float planeConstant = planeShape.getPlaneConstant();
//first perform a collision query with the non-perturbated collision objects
{
Quaternion rotq = Quaternion.Identity;
CollideSingleContact(ref rotq,body0,body1,dispatchInfo,resultOut);
}
if (resultOut.GetPersistentManifold().GetNumContacts()<m_minimumPointsPerturbationThreshold)
{
Vector3 v0 = Vector3.Zero;
Vector3 v1 = Vector3.Zero;
TransformUtil.PlaneSpace1(ref planeNormal,ref v0,ref v1);
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
float angleLimit = 0.125f * MathUtil.SIMD_PI;
float perturbeAngle;
float radius = convexShape.GetAngularMotionDisc();
perturbeAngle = BulletGlobals.gContactBreakingThreshold / radius;
if ( perturbeAngle > angleLimit )
{
perturbeAngle = angleLimit;
}
Quaternion perturbeRot = Quaternion.CreateFromAxisAngle(v0,perturbeAngle);
for (int i=0;i<m_numPerturbationIterations;i++)
{
float iterationAngle = i*(MathUtil.SIMD_2_PI/(float)m_numPerturbationIterations);
Quaternion rotq = Quaternion.CreateFromAxisAngle(planeNormal,iterationAngle);
rotq = MathUtil.QuaternionMultiply(Quaternion.Inverse(rotq),MathUtil.QuaternionMultiply(perturbeRot,rotq));
CollideSingleContact(ref rotq,body0,body1,dispatchInfo,resultOut);
}
}
if (m_ownManifold)
{
if (m_manifoldPtr.GetNumContacts() > 0)
{
resultOut.RefreshContactPoints();
}
}
}
public CompoundLeafCallback (CollisionObject compoundObj,CollisionObject otherObj,IDispatcher dispatcher,DispatcherInfo dispatchInfo,ManifoldResult resultOut,IList<CollisionAlgorithm> childCollisionAlgorithms,PersistentManifold sharedManifold)
{
m_compoundColObj = compoundObj;
m_otherObj = otherObj;
m_dispatcher = dispatcher;
m_dispatchInfo = dispatchInfo;
m_resultOut = resultOut;
m_childCollisionAlgorithms = childCollisionAlgorithms;
m_sharedManifold = sharedManifold;
}
public LocalRayResult(CollisionObject collisionObject,
LocalShapeInfo localShapeInfo,
ref Vector3 hitNormalLocal,
float hitFraction)
{
m_collisionObject = collisionObject;
m_localShapeInfo = localShapeInfo;
m_hitNormalLocal = hitNormalLocal;
m_hitFraction = hitFraction;
}
public BridgeTriangleConcaveRaycastCallback(ref Vector3 from, ref Vector3 to,
RayResultCallback resultCallback, CollisionObject collisionObject, ConcaveShape triangleMesh, ref Matrix colObjWorldTransform) :
//@BP Mod
base(ref from, ref to, resultCallback.m_flags)
{
m_resultCallback = resultCallback;
m_collisionObject = collisionObject;
m_triangleMesh = triangleMesh;
m_colObjWorldTransform = colObjWorldTransform;
}
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 override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0,CollisionObject body1)
{
if (!m_swapped)
{
return new ConvexPlaneCollisionAlgorithm(null,ci,body0,body1,false,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
}
else
{
return new ConvexPlaneCollisionAlgorithm(null,ci,body0,body1,true,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
}
}
public ManifoldResult(CollisionObject body0, CollisionObject body1)
{
if (body0 == null || body1 == null)
{
int ibreak = 0;
}
m_body0 = body0;
m_body1 = body1;
m_rootTransA = body0.GetWorldTransform();
m_rootTransB = body1.GetWorldTransform();
}
public SphereBoxCollisionAlgorithm(PersistentManifold mf,CollisionAlgorithmConstructionInfo ci,CollisionObject col0,CollisionObject col1, bool isSwapped) : base(ci,col0,col1)
{
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;
}
}
public CompoundCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, bool isSwapped)
: base(ci, body0, body1)
{
m_isSwapped = isSwapped;
m_sharedManifold = ci.GetManifold();
m_ownsManifold = false;
CollisionObject colObj = m_isSwapped ? body1 : body0;
System.Diagnostics.Debug.Assert(colObj.GetCollisionShape().IsCompound());
CompoundShape compoundShape = (CompoundShape)(colObj.GetCollisionShape());
m_compoundShapeRevision = compoundShape.GetUpdateRevision();
PreallocateChildAlgorithms(body0, body1);
}
public override void ProcessCollision (CollisionObject body0,CollisionObject body1,DispatcherInfo dispatchInfo,ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
{
return;
}
resultOut.SetPersistentManifold(m_manifoldPtr);
SphereShape sphere0 = (SphereShape)body0.GetCollisionShape();
SphereShape sphere1 = (SphereShape)body1.GetCollisionShape();
Vector3 diff = body0.GetWorldTransform().Translation - body1.GetWorldTransform().Translation;
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);
Vector3 normalOnSurfaceB = new Vector3(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)
Vector3 pos1 = body1.GetWorldTransform().Translation + 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 LocalConvexResult(CollisionObject hitCollisionObject,
LocalShapeInfo localShapeInfo,
ref Vector3 hitNormalLocal,
ref Vector3 hitPointLocal,
float hitFraction
)
{
m_hitCollisionObject = hitCollisionObject;
m_localShapeInfo = localShapeInfo;
m_hitNormalLocal = hitNormalLocal;
m_hitPointLocal = hitPointLocal;
m_hitFraction = hitFraction;
}
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 ConvexPlaneCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject col0,CollisionObject col1,bool isSwapped,int numPerturbationIterations,int minimumPointsPerturbationThreshold) : base(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)
{
//(void)dispatchInfo;
//(void)resultOut;
if (m_manifoldPtr == null)
{
resultOut = null;
return;
}
CollisionObject sphereObj = m_isSwapped? body1 : body0;
CollisionObject boxObj = m_isSwapped? body0 : body1;
SphereShape sphere0 = (SphereShape)sphereObj.GetCollisionShape();
//Vector3 normalOnSurfaceB;
Vector3 pOnBox = Vector3.Zero, pOnSphere = Vector3.Zero;
Vector3 sphereCenter = sphereObj.GetWorldTransform().Translation;
float radius = sphere0.GetRadius();
float dist = GetSphereDistance(boxObj,ref pOnBox,ref pOnSphere,ref sphereCenter,radius);
resultOut = new ManifoldResult();
resultOut.SetPersistentManifold(m_manifoldPtr);
if (dist < MathUtil.SIMD_EPSILON)
{
Vector3 normalOnSurfaceB = (pOnBox - pOnSphere);
normalOnSurfaceB.Normalize();
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut.AddContactPoint(ref normalOnSurfaceB,ref pOnBox,dist);
}
if (m_ownManifold)
{
if (m_manifoldPtr.GetNumContacts() > 0)
{
resultOut.RefreshContactPoints();
}
}
}
public override void ProcessCollision (CollisionObject body0,CollisionObject body1,DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
{
return;
}
CollisionObject col0 = body0;
CollisionObject col1 = body1;
resultOut = new ManifoldResult(body0, body1);
BoxShape box0 = (BoxShape)col0.GetCollisionShape();
BoxShape box1 = (BoxShape)col1.GetCollisionShape();
//if (((String)col0.getUserPointer()).Contains("Box") &&
// ((String)col1.getUserPointer()).Contains("Box") )
//{
// int ibreak = 0;
//}
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut.SetPersistentManifold(m_manifoldPtr);
#if !USE_PERSISTENT_CONTACTS
m_manifoldPtr.ClearManifold();
#endif //USE_PERSISTENT_CONTACTS
ClosestPointInput input = new ClosestPointInput();
input.m_maximumDistanceSquared = float.MaxValue;
input.m_transformA = body0.GetWorldTransform();
input.m_transformB = body1.GetWorldTransform();
BoxBoxDetector detector = new BoxBoxDetector(box0,box1);
detector.GetClosestPoints(input,resultOut,dispatchInfo.getDebugDraw(),false);
#if USE_PERSISTENT_CONTACTS
// refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
#endif //USE_PERSISTENT_CONTACTS
}
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 float CalculateTimeOfImpact(CollisionObject body0,CollisionObject body1,DispatcherInfo dispatchInfo,ManifoldResult resultOut)
{
resultOut = new ManifoldResult();
//not yet
return 1f;
}
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 ClosestNotMeConvexResultCallback(CollisionObject me, Vector3 fromA, Vector3 toA, IOverlappingPairCache pairCache, IDispatcher dispatcher)
: this(me, ref fromA, ref toA, pairCache, dispatcher)
{
}
public override float CalculateTimeOfImpact(CollisionObject body0,CollisionObject body1,DispatcherInfo dispatchInfo,ManifoldResult resultOut)
{
///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().Translation - body0.GetWorldTransform().Translation).LengthSquared();
float squareMot1 = (body1.GetInterpolationWorldTransform().Translation - body1.GetWorldTransform().Translation).LengthSquared();
if (squareMot0 < body0.GetCcdSquareMotionThreshold() &&
squareMot1 < body1.GetCcdSquareMotionThreshold())
{
return resultFraction;
}
//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 = (ConvexShape)(body0.GetCollisionShape());
SphereShape sphere1 = new SphereShape(body1.GetCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
CastResult result = new CastResult();
VoronoiSimplexSolver voronoiSimplex = new VoronoiSimplexSolver();
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
///Simplification, one object is simplified as a sphere
GjkConvexCast ccd1 = new GjkConvexCast( 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;
}
}
}
/// Sphere (for convex0) against Convex1
{
ConvexShape convex1 = (ConvexShape)(body1.GetCollisionShape());
SphereShape sphere0 = new SphereShape(body0.GetCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
CastResult result = new CastResult();
VoronoiSimplexSolver voronoiSimplex = new VoronoiSimplexSolver();
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
///Simplification, one object is simplified as a sphere
GjkConvexCast ccd1 = new GjkConvexCast(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;
}
}
}
return resultFraction;
}
public BridgedManifoldResult(CollisionObject obj0,CollisionObject obj1,ContactResultCallback resultCallback)
:base(obj0,obj1)
{
m_resultCallback = resultCallback;
}
public abstract float AddSingleResult(ManifoldPoint cp, CollisionObject colObj0,int partId0,int index0,CollisionObject colObj1,int partId1,int index1);
public SphereSphereCollisionAlgorithm(PersistentManifold mf,CollisionAlgorithmConstructionInfo ci,CollisionObject body0,CollisionObject body1) : base(ci,body0,body1)
{
}