internal static extern IntPtr ExportAndReturnNextContact(
IntPtr contactHandle,
ref PContactExport3D export,
ref PConvexCacheExport3D convexExport,
ref PManifoldExport3D manifoldExport3D1,
ref PManifoldExport3D manifoldExport3D2,
ref PManifoldExport3D manifoldExport3D3);
public static void PrepareContacts()
{
for (int i = 0; i < _contactCount; i++)
{
PContactExport3D export = contactExports[i];
//some
if (export.id == 0)
{
continue;
}
PContact3D c;
if (contactDictionary.ContainsKey(export.id))
{
c = contactDictionary[export.id];
}
else
{
c = new PContact3D(export.id);
contactDictionary[export.id] = c;
}
c.Update(
contactPtrs[i],
export.manifoldCount,
export.relativeVelocity,
export.isTrigger
);
AddAllContactWrapper(c);
}
}
public static void AddExternalConvexCache(PInternalState3D state)
{
for (int i = 0; i < state.contactCount; i++)
{
PContactExport3D export = state.contactExports[i];
PConvexCacheExport3D convexExport = state.convexExports[i];
NativeParallel3D.AddExternalConvexCacheData(export.id, convexExport);
}
}
public static void AddExternalContactWarmStartData(PInternalState3D state)
{
for (int i = 0; i < state.contactCount; i++)
{
PContactExport3D export = state.contactExports[i];
int manifoldIndex = 3 * i;
PManifoldExport3D m1 = state.manifoldExports[manifoldIndex];
PManifoldExport3D m2 = state.manifoldExports[manifoldIndex + 1];
PManifoldExport3D m3 = state.manifoldExports[manifoldIndex + 2];
NativeParallel3D.AddExternalContactWarmStartData(export.id, export.flag, (byte)export.manifoldCount, m1, m2, m3);
}
}
public static void ExportContacts()
{
if (!initialized)
{
Initialize();
}
_contactCount = 0;
int index = 0;
IntPtr contactPtr = NativeParallel3D.GetContactList(internalWorld.IntPointer);
while (contactPtr != IntPtr.Zero)
{
contactPtrs[index] = contactPtr;
PContactExport3D export = contactExports[index];
PConvexCacheExport3D convexExport = convexExports[index];
int manifoldIndex = 3 * index;
PManifoldExport3D m1 = manifoldExports[manifoldIndex];
PManifoldExport3D m2 = manifoldExports[manifoldIndex + 1];
PManifoldExport3D m3 = manifoldExports[manifoldIndex + 2];
contactPtr = NativeParallel3D.ExportAndReturnNextContact(contactPtr, ref export, ref convexExport, ref m1, ref m2, ref m3);
contactExports[index] = export;
convexExports[index] = convexExport;
int manifoldCount = export.manifoldCount;
if (manifoldCount == 1)
{
manifoldExports[manifoldIndex] = m1;
}
else if (manifoldCount == 2)
{
manifoldExports[manifoldIndex] = m1;
manifoldExports[manifoldIndex + 1] = m2;
}
else if (manifoldCount == 3)
{
manifoldExports[manifoldIndex] = m1;
manifoldExports[manifoldIndex + 1] = m2;
manifoldExports[manifoldIndex + 2] = m3;
}
index++;
}
_contactCount = index;
}