public virtual void RemoveCollisionObject(CollisionObject collisionObject)
{
//bool removeFromBroadphase = false;
{
BroadphaseProxy bp = collisionObject.GetBroadphaseHandle();
if (bp != null)
{
//
// only clear the cached algorithms
//
GetBroadphase().GetOverlappingPairCache().CleanProxyFromPairs(bp,m_dispatcher1);
GetBroadphase().DestroyProxy(bp,m_dispatcher1);
collisionObject.SetBroadphaseHandle(null);
}
}
//swapremove
m_collisionObjects.Remove(collisionObject);
}
public virtual void AddCollisionObject(CollisionObject collisionObject, CollisionFilterGroups collisionFilterGroup, CollisionFilterGroups collisionFilterMask)
{
//check that the object isn't already added
//btAssert( m_collisionObjects.findLinearSearch(collisionObject) == m_collisionObjects.size());
Debug.Assert(collisionObject != null);
m_collisionObjects.Add(collisionObject);
//calculate new AABB
Matrix trans = collisionObject.GetWorldTransform();
Vector3 minAabb = new Vector3();
Vector3 maxAabb= new Vector3();
collisionObject.GetCollisionShape().GetAabb(ref trans,ref minAabb,ref maxAabb);
BroadphaseNativeTypes type = collisionObject.GetCollisionShape().ShapeType;
collisionObject.SetBroadphaseHandle( GetBroadphase().CreateProxy(
ref minAabb,
ref maxAabb,
type,
collisionObject,
collisionFilterGroup,
collisionFilterMask,
m_dispatcher1,0
)) ;
}