Esempio n. 1
0
        private void PersistentManifoldContactProcessed(BulletSharp.ManifoldPoint cp, BulletSharp.CollisionObject body0, BulletSharp.CollisionObject body1)
        {
            if (body0 == null || body1 == null)
            {
                return;
            }

            //this can fail and will fail in the case of multiple scenes and bodies not of the current simulation ( working as intended )
            Collider colA, colB;

            if (!aliveColliders.TryGetValue(body0, out colA))
            {
                return;
            }
            if (!aliveColliders.TryGetValue(body1, out colB))
            {
                return;
            }

            if (colA == null || colB == null || !colA.ContactsAlwaysValid && !colB.ContactsAlwaysValid)
            {
                return;
            }

            //Pairs management
            Collision pair    = null;
            var       newPair = true;

            foreach (var pair1 in colA.Collisions)
            {
                if ((pair1.ColliderA != colA || pair1.ColliderB != colB) && (pair1.ColliderA != colB || pair1.ColliderB != colA))
                {
                    continue;
                }
                pair    = pair1;
                newPair = false;
                break;
            }

            if (pair == null)
            {
                pair = new Collision
                {
                    ColliderA = colA,
                    ColliderB = colB,
                    Contacts  = new List <ContactPoint>()
                };

                colA.Collisions.Add(pair);
                colB.Collisions.Add(pair);
            }

            //Contacts management
            ContactPoint contact    = null;
            var          newContact = true;

            foreach (var contact1 in pair.Contacts)
            {
                if (contact1.Handle.IsAllocated && cp.UserPersistentPtr != IntPtr.Zero && contact1.Handle.Target != GCHandle.FromIntPtr(cp.UserPersistentPtr).Target)
                {
                    continue;
                }
                contact    = contact1;
                newContact = false;
                break;
            }

            if (contact == null)
            {
                contact = new ContactPoint
                {
                    Distance    = cp.Distance,
                    PositionOnA = new Vector3(cp.PositionWorldOnA.X, cp.PositionWorldOnA.Y, cp.PositionWorldOnA.Z),
                    PositionOnB = new Vector3(cp.PositionWorldOnB.X, cp.PositionWorldOnB.Y, cp.PositionWorldOnB.Z),
                    Normal      = new Vector3(cp.NormalWorldOnB.X, cp.NormalWorldOnB.Y, cp.NormalWorldOnB.Z),
                    Pair        = pair
                };

                pair.Contacts.Add(contact);

                contact.Handle       = GCHandle.Alloc(contact);
                cp.UserPersistentPtr = GCHandle.ToIntPtr(contact.Handle);
                contact.Manifold     = cp;
            }

            if (newPair)
            {
                //are we the first pair we detect?
                if (colA.Collisions.Count == 1)
                {
                    firstPairsCache.Add(new KeyValuePair <Collider, Collision>(colA, pair));
                }

                //are we the first pair we detect?
                if (colB.Collisions.Count == 1)
                {
                    firstPairsCache.Add(new KeyValuePair <Collider, Collision>(colB, pair));
                }

                newPairsCache.Add(new KeyValuePair <Collider, Collision>(colA, pair));
                newPairsCache.Add(new KeyValuePair <Collider, Collision>(colB, pair));
            }

            if (newContact)
            {
                newContactsCache.Add(new KeyValuePair <Collision, ContactPoint>(pair, contact));
            }
            else
            {
                updatedContactsCache.Add(new KeyValuePair <Collision, ContactPoint>(pair, contact));
            }
        }
Esempio n. 2
0
        private void PersistentManifoldContactProcessed(BulletSharp.ManifoldPoint cp, BulletSharp.CollisionObject body0, BulletSharp.CollisionObject body1)
        {
            var colA = body0 != null ? aliveColliders[body0] : null;
            var colB = body1 != null ? aliveColliders[body1] : null;

            if (colA == null || colB == null || !colA.ContactsAlwaysValid && !colB.ContactsAlwaysValid) return;

            //Pairs management
            Collision pair = null;
            var newPair = true;
            foreach (var pair1 in colA.Collisions)
            {
                if ((pair1.ColliderA != colA || pair1.ColliderB != colB) && (pair1.ColliderA != colB || pair1.ColliderB != colA)) continue;
                pair = pair1;
                newPair = false;
                break;
            }

            if (pair == null)
            {
                pair = new Collision
                {
                    ColliderA = colA,
                    ColliderB = colB,
                    Contacts = new List<ContactPoint>()
                };

                colA.Collisions.Add(pair);
                colB.Collisions.Add(pair);
            }

            //Contacts management
            ContactPoint contact = null;
            var newContact = true;
            foreach (var contact1 in pair.Contacts)
            {
                if (contact1 != cp.UserPersistentData) continue;
                contact = contact1;
                newContact = false;
                break;
            }

            if (contact == null)
            {
                contact = new ContactPoint
                {
                    Distance = cp.Distance,
                    PositionOnA = new Vector3(cp.PositionWorldOnA.X, cp.PositionWorldOnA.Y, cp.PositionWorldOnA.Z),
                    PositionOnB = new Vector3(cp.PositionWorldOnB.X, cp.PositionWorldOnB.Y, cp.PositionWorldOnB.Z),
                    Normal = new Vector3(cp.NormalWorldOnB.X, cp.NormalWorldOnB.Y, cp.NormalWorldOnB.Z),
                    Pair = pair
                };

                pair.Contacts.Add(contact);

                cp.UserPersistentData = contact;
                contact.Manifold = cp;
            }

            if (newPair)
            {
                //are we the first pair we detect?
                if (colA.Collisions.Count == 1)
                {
                    firstPairsCache.Add(new KeyValuePair<Collider, Collision>(colA, pair));
                }

                //are we the first pair we detect?
                if (colB.Collisions.Count == 1)
                {
                    firstPairsCache.Add(new KeyValuePair<Collider, Collision>(colB, pair));
                }

                newPairsCache.Add(new KeyValuePair<Collider, Collision>(colA, pair));
                newPairsCache.Add(new KeyValuePair<Collider, Collision>(colB, pair));
            }

            if (newContact)
            {
                newContactsCache.Add(new KeyValuePair<Collision, ContactPoint>(pair, contact));
            }
            else
            {
                updatedContactsCache.Add(new KeyValuePair<Collision, ContactPoint>(pair, contact));
            }
        }
Esempio n. 3
0
        private void PersistentManifoldContactProcessed(BulletSharp.ManifoldPoint cp, BulletSharp.CollisionObject body0, BulletSharp.CollisionObject body1)
        {
            if (body0 == null || body1 == null) return;

            //this can fail and will fail in the case of multiple scenes and bodies not of the current simulation ( working as intended )
            Collider colA, colB;
            if (!aliveColliders.TryGetValue(body0, out colA)) return;
            if (!aliveColliders.TryGetValue(body1, out colB)) return;

            if (colA == null || colB == null || !colA.ContactsAlwaysValid && !colB.ContactsAlwaysValid) return;

            //Pairs management
            Collision pair = null;
            var newPair = true;
            foreach (var pair1 in colA.Collisions)
            {
                if ((pair1.ColliderA != colA || pair1.ColliderB != colB) && (pair1.ColliderA != colB || pair1.ColliderB != colA)) continue;
                pair = pair1;
                newPair = false;
                break;
            }

            if (pair == null)
            {
                pair = new Collision
                {
                    ColliderA = colA,
                    ColliderB = colB,
                    Contacts = new List<ContactPoint>()
                };

                colA.Collisions.Add(pair);
                colB.Collisions.Add(pair);
            }

            //Contacts management
            ContactPoint contact = null;
            var newContact = true;
            foreach (var contact1 in pair.Contacts)
            {
                if (contact1.Handle.IsAllocated && cp.UserPersistentPtr != IntPtr.Zero && contact1.Handle.Target != GCHandle.FromIntPtr(cp.UserPersistentPtr).Target) continue;
                contact = contact1;
                newContact = false;
                break;
            }

            if (contact == null)
            {
                contact = new ContactPoint
                {
                    Distance = cp.Distance,
                    PositionOnA = new Vector3(cp.PositionWorldOnA.X, cp.PositionWorldOnA.Y, cp.PositionWorldOnA.Z),
                    PositionOnB = new Vector3(cp.PositionWorldOnB.X, cp.PositionWorldOnB.Y, cp.PositionWorldOnB.Z),
                    Normal = new Vector3(cp.NormalWorldOnB.X, cp.NormalWorldOnB.Y, cp.NormalWorldOnB.Z),
                    Pair = pair
                };

                pair.Contacts.Add(contact);

                contact.Handle = GCHandle.Alloc(contact);
                cp.UserPersistentPtr = GCHandle.ToIntPtr(contact.Handle);
                contact.Manifold = cp;
            }

            if (newPair)
            {
                //are we the first pair we detect?
                if (colA.Collisions.Count == 1)
                {
                    firstPairsCache.Add(new KeyValuePair<Collider, Collision>(colA, pair));
                }

                //are we the first pair we detect?
                if (colB.Collisions.Count == 1)
                {
                    firstPairsCache.Add(new KeyValuePair<Collider, Collision>(colB, pair));
                }

                newPairsCache.Add(new KeyValuePair<Collider, Collision>(colA, pair));
                newPairsCache.Add(new KeyValuePair<Collider, Collision>(colB, pair));
            }

            if (newContact)
            {
                newContactsCache.Add(new KeyValuePair<Collision, ContactPoint>(pair, contact));
            }
            else
            {
                updatedContactsCache.Add(new KeyValuePair<Collision, ContactPoint>(pair, contact));
            }
        }
Esempio n. 4
0
        internal void ProcessContacts()
        {
            contactsProfilingState.Begin();

            processedPairsFastCache.Clear();
            var numManifolds = collisionWorld.Dispatcher.NumManifolds;

            for (var i = 0; i < numManifolds; i++)
            {
                var manifold = collisionWorld.Dispatcher.GetManifoldByIndexInternal(i);
                var bodyA    = manifold.Body0;
                var bodyB    = manifold.Body1;

                var colA = (Collider)bodyA?.UserObject;
                var colB = (Collider)bodyB?.UserObject;

                if (colA == null || colB == null)
                {
                    continue;
                }

                if (!colA.ContactsAlwaysValid && !colB.ContactsAlwaysValid)
                {
                    continue;
                }

                //Pairs management
                Collision pair    = null;
                var       newPair = true;
                foreach (var pair1 in colA.Collisions)
                {
                    if ((pair1.ColliderA != colA || pair1.ColliderB != colB) && (pair1.ColliderA != colB || pair1.ColliderB != colA))
                    {
                        continue;
                    }
                    pair    = pair1;
                    newPair = false;
                    break;
                }

                var numContacts = manifold.NumContacts;
                if (numContacts == 0 && newPair)
                {
                    continue;
                }

                newContactsFastCache.Clear();
                updatedContactsFastCache.Clear();
                deletedContactsFastCache.Clear();

                if (newPair)
                {
                    if (collisionsQueue.Count > 0)
                    {
                        pair = collisionsQueue.Dequeue();
                    }
                    else
                    {
                        pair = new Collision
                        {
                            Contacts = new List <ContactPoint>()
                        };
                    }

                    pair.ColliderA = colA;
                    pair.ColliderB = colB;
                    pair.Contacts.Clear();

                    colA.Collisions.Add(pair);
                    colB.Collisions.Add(pair);
                    alivePairsFastCache.Add(pair);
                }
                else
                {
                    foreach (var contact in pair.Contacts)
                    {
                        deletedContactsFastCache.Add(contact);
                    }
                }

                processedPairsFastCache.Add(pair);

                for (var y = 0; y < numContacts; y++)
                {
                    var cp = manifold.GetContactPoint(y);

                    ContactPoint contact    = null;
                    var          newContact = true;
                    foreach (var contact1 in pair.Contacts)
                    {
                        if (contact1.Handle.IsAllocated && cp.UserPersistentPtr != IntPtr.Zero && contact1.Handle.Target != GCHandle.FromIntPtr(cp.UserPersistentPtr).Target)
                        {
                            continue;
                        }
                        contact    = contact1;
                        newContact = false;
                        break;
                    }

                    contactsProfilingState.Mark();

                    if (newContact)
                    {
                        contact = contactsQueue.Count > 0 ? contactsQueue.Dequeue() : new ContactPoint();

                        contact.Distance    = cp.Distance;
                        contact.PositionOnA = new Vector3(cp.PositionWorldOnA.X, cp.PositionWorldOnA.Y, cp.PositionWorldOnA.Z);
                        contact.PositionOnB = new Vector3(cp.PositionWorldOnB.X, cp.PositionWorldOnB.Y, cp.PositionWorldOnB.Z);
                        contact.Normal      = new Vector3(cp.NormalWorldOnB.X, cp.NormalWorldOnB.Y, cp.NormalWorldOnB.Z);
                        contact.Pair        = pair;
                        contact.Handle      = GCHandle.Alloc(contact);

                        cp.UserPersistentPtr = GCHandle.ToIntPtr(contact.Handle);

                        pair.Contacts.Add(contact);
                    }
                    else
                    {
                        deletedContactsFastCache.Remove(contact);
                    }

                    if (newContact)
                    {
                        newContactsFastCache.Add(contact);
                    }
                    else
                    {
                        updatedContactsFastCache.Add(contact);
                    }
                }

                //deliver async events

                if (newPair)
                {
                    //are we the first pair we detect?
                    if (colA.Collisions.Count == 1)
                    {
                        while (colA.FirstCollisionChannel.Balance < 0)
                        {
                            colA.FirstCollisionChannel.Send(pair);
                        }
                    }

                    //are we the first pair we detect?
                    if (colB.Collisions.Count == 1)
                    {
                        while (colB.FirstCollisionChannel.Balance < 0)
                        {
                            colB.FirstCollisionChannel.Send(pair);
                        }
                    }

                    while (colA.NewPairChannel.Balance < 0)
                    {
                        colA.NewPairChannel.Send(pair);
                    }

                    while (colB.NewPairChannel.Balance < 0)
                    {
                        colB.NewPairChannel.Send(pair);
                    }
                }

                foreach (var contact in newContactsFastCache)
                {
                    while (contact.Pair.NewContactChannel.Balance < 0)
                    {
                        contact.Pair.NewContactChannel.Send(contact);
                    }
                }

                foreach (var contact in updatedContactsFastCache)
                {
                    while (contact.Pair.ContactUpdateChannel.Balance < 0)
                    {
                        contact.Pair.ContactUpdateChannel.Send(contact);
                    }
                }

                foreach (var contact in deletedContactsFastCache)
                {
                    while (contact.Pair.ContactEndedChannel.Balance < 0)
                    {
                        contact.Pair.ContactEndedChannel.Send(contact);
                    }

                    pair.Contacts.Remove(contact);

                    contact.Handle.Free();
                    contactsQueue.Enqueue(contact);
                }

                if (pair.Contacts.Count == 0)
                {
                    colA.Collisions.Remove(pair);
                    colB.Collisions.Remove(pair);
                    alivePairsFastCache.Remove(pair);
                    collisionsQueue.Enqueue(pair);

                    while (colA.PairEndedChannel.Balance < 0)
                    {
                        colA.PairEndedChannel.Send(pair);
                    }

                    while (colB.PairEndedChannel.Balance < 0)
                    {
                        colB.PairEndedChannel.Send(pair);
                    }

                    if (colA.Collisions.Count == 0)
                    {
                        while (colA.AllPairsEndedChannel.Balance < 0)
                        {
                            colA.AllPairsEndedChannel.Send(pair);
                        }
                    }

                    if (colB.Collisions.Count == 0)
                    {
                        while (colB.AllPairsEndedChannel.Balance < 0)
                        {
                            colB.AllPairsEndedChannel.Send(pair);
                        }
                    }
                }
            }

            //Sometimes narrowphase is skipped it seems and we might get some stuck pair!
            foreach (var pair in alivePairsFastCache)
            {
                if (!processedPairsFastCache.Contains(pair))
                {
                    removedPairsFastCache.Enqueue(pair);
                }
            }

            while (removedPairsFastCache.Count > 0)
            {
                var pair = removedPairsFastCache.Dequeue();

                alivePairsFastCache.Remove(pair);

                //this pair got removed!
                foreach (var contactPoint in pair.Contacts)
                {
                    while (contactPoint.Pair.ContactEndedChannel.Balance < 0)
                    {
                        contactPoint.Pair.ContactEndedChannel.Send(contactPoint);
                    }

                    contactPoint.Handle.Free();
                    contactsQueue.Enqueue(contactPoint);
                }

                var colA = pair.ColliderA;
                var colB = pair.ColliderB;

                colA.Collisions.Remove(pair);
                colB.Collisions.Remove(pair);
                collisionsQueue.Enqueue(pair);

                while (colA.PairEndedChannel.Balance < 0)
                {
                    colA.PairEndedChannel.Send(pair);
                }

                while (colB.PairEndedChannel.Balance < 0)
                {
                    colB.PairEndedChannel.Send(pair);
                }

                if (colA.Collisions.Count == 0)
                {
                    while (colA.AllPairsEndedChannel.Balance < 0)
                    {
                        colA.AllPairsEndedChannel.Send(pair);
                    }
                }

                if (colB.Collisions.Count == 0)
                {
                    while (colB.AllPairsEndedChannel.Balance < 0)
                    {
                        colB.AllPairsEndedChannel.Send(pair);
                    }
                }
            }

            contactsProfilingState.End();
        }
Esempio n. 5
0
        private void PersistentManifoldContactProcessed(BulletSharp.ManifoldPoint cp, BulletSharp.CollisionObject body0, BulletSharp.CollisionObject body1)
        {
            var colA = aliveColliders[body0];
            var colB = aliveColliders[body1];

            if (colA == null || colB == null || !colA.ContactsAlwaysValid && !colB.ContactsAlwaysValid)
            {
                return;
            }

            //Pairs management
            Collision pair    = null;
            var       newPair = true;

            foreach (var pair1 in colA.Pairs)
            {
                if ((pair1.ColliderA != colA || pair1.ColliderB != colB) && (pair1.ColliderA != colB || pair1.ColliderB != colA))
                {
                    continue;
                }
                pair    = pair1;
                newPair = false;
                break;
            }

            if (pair == null)
            {
                pair = new Collision
                {
                    ColliderA = colA,
                    ColliderB = colB,
                    Contacts  = new List <ContactPoint>()
                };

                colA.Pairs.Add(pair);
                colB.Pairs.Add(pair);
            }

            //Contacts management
            ContactPoint contact    = null;
            var          newContact = true;

            foreach (var contact1 in pair.Contacts)
            {
                if (contact1 != cp.UserPersistentData)
                {
                    continue;
                }
                contact    = contact1;
                newContact = false;
                break;
            }

            if (contact == null)
            {
                contact = new ContactPoint
                {
                    Distance    = cp.Distance,
                    PositionOnA = new Vector3(cp.PositionWorldOnA.X, cp.PositionWorldOnA.Y, cp.PositionWorldOnA.Z),
                    PositionOnB = new Vector3(cp.PositionWorldOnB.X, cp.PositionWorldOnB.Y, cp.PositionWorldOnB.Z),
                    Normal      = new Vector3(cp.NormalWorldOnB.X, cp.NormalWorldOnB.Y, cp.NormalWorldOnB.Z),
                    Pair        = pair
                };

                pair.Contacts.Add(contact);

                cp.UserPersistentData = contact;
            }

            if (newPair)
            {
                //are we the first pair we detect?
                if (colA.Pairs.Count == 1)
                {
                    firstPairsCache.Add(new KeyValuePair <Collider, Collision>(colA, pair));
                }

                //are we the first pair we detect?
                if (colB.Pairs.Count == 1)
                {
                    firstPairsCache.Add(new KeyValuePair <Collider, Collision>(colB, pair));
                }

                newPairsCache.Add(new KeyValuePair <Collider, Collision>(colA, pair));
                newPairsCache.Add(new KeyValuePair <Collider, Collision>(colB, pair));
            }

            if (newContact)
            {
                newContactsCache.Add(new KeyValuePair <Collision, ContactPoint>(pair, contact));
            }
            else
            {
                updatedContactsCache.Add(new KeyValuePair <Collision, ContactPoint>(pair, contact));
            }
        }
Esempio n. 6
0
        internal void ProcessContacts()
        {
            var numManifolds = collisionWorld.Dispatcher.NumManifolds;
            for (var i = 0; i < numManifolds; i++)
            {
                var manifold = collisionWorld.Dispatcher.GetManifoldByIndexInternal(i);
                var bodyA = manifold.Body0;
                var bodyB = manifold.Body1;

                Collider colA, colB;
                if (!aliveColliders.TryGetValue(bodyA, out colA)) continue;
                if (!aliveColliders.TryGetValue(bodyB, out colB)) continue;

                if (colA == null || colB == null || !colA.ContactsAlwaysValid && !colB.ContactsAlwaysValid) continue;

                newContactsFastCache.Clear();
                updatedContactsFastCache.Clear();
                deletedContactsFastCache.Clear();

                //Pairs management
                Collision pair = null;
                var newPair = true;
                foreach (var pair1 in colA.Collisions)
                {
                    if ((pair1.ColliderA != colA || pair1.ColliderB != colB) && (pair1.ColliderA != colB || pair1.ColliderB != colA)) continue;
                    pair = pair1;
                    newPair = false;
                    break;
                }

                var numContacts = manifold.NumContacts;
                if (numContacts == 0 && pair == null)
                {
                    continue;
                }

                if (pair == null)
                {
                    pair = new Collision
                    {
                        ColliderA = colA,
                        ColliderB = colB,
                        Contacts = new List<ContactPoint>()
                    };

                    colA.Collisions.Add(pair);
                    colB.Collisions.Add(pair);
                }
                else
                {
                    foreach (var contact in pair.Contacts)
                    {
                        deletedContactsFastCache.Add(contact);
                    }
                }

                for (var y = 0; y < numContacts; y++)
                {
                    var cp = manifold.GetContactPoint(y);

                    ContactPoint contact = null;
                    var newContact = true;
                    foreach (var contact1 in pair.Contacts)
                    {
                        if (cp != contact1.Manifold) continue;
                        contact = contact1;
                        newContact = false;
                        break;
                    }

                    if (contact == null)
                    {
                        contact = new ContactPoint
                        {
                            Distance = cp.Distance,
                            PositionOnA = new Vector3(cp.PositionWorldOnA.X, cp.PositionWorldOnA.Y, cp.PositionWorldOnA.Z),
                            PositionOnB = new Vector3(cp.PositionWorldOnB.X, cp.PositionWorldOnB.Y, cp.PositionWorldOnB.Z),
                            Normal = new Vector3(cp.NormalWorldOnB.X, cp.NormalWorldOnB.Y, cp.NormalWorldOnB.Z),
                            Pair = pair,
                            Manifold = cp
                        };

                        pair.Contacts.Add(contact);
                    }
                    else
                    {
                        deletedContactsFastCache.Remove(contact);
                    }

                    if (newContact)
                    {
                        newContactsFastCache.Add(contact);
                    }
                    else
                    {
                        updatedContactsFastCache.Add(contact);
                    }
                }

                //deliver async events

                if (newPair)
                {
                    //are we the first pair we detect?
                    if (colA.Collisions.Count == 1)
                    {
                        while (colA.FirstCollisionChannel.Balance < 0)
                        {
                            colA.FirstCollisionChannel.Send(pair);
                        }
                    }

                    //are we the first pair we detect?
                    if (colB.Collisions.Count == 1)
                    {
                        while (colB.FirstCollisionChannel.Balance < 0)
                        {
                            colB.FirstCollisionChannel.Send(pair);
                        }
                    }

                    while (colA.NewPairChannel.Balance < 0)
                    {
                        colA.NewPairChannel.Send(pair);
                    }

                    while (colB.NewPairChannel.Balance < 0)
                    {
                        colB.NewPairChannel.Send(pair);
                    }
                }

                foreach (var contact in newContactsFastCache)
                {
                    while (contact.Pair.NewContactChannel.Balance < 0)
                    {
                        contact.Pair.NewContactChannel.Send(contact);
                    }
                }

                foreach (var contact in updatedContactsFastCache)
                {
                    while (contact.Pair.ContactUpdateChannel.Balance < 0)
                    {
                        contact.Pair.ContactUpdateChannel.Send(contact);
                    }
                }

                foreach (var contact in deletedContactsFastCache)
                {
                    while (contact.Pair.ContactEndedChannel.Balance < 0)
                    {
                        contact.Pair.ContactEndedChannel.Send(contact);
                    }

                    pair.Contacts.Remove(contact);                    
                }

                if (pair.Contacts.Count == 0)
                {
                    colA.Collisions.Remove(pair);
                    colB.Collisions.Remove(pair);

                    while (colA.PairEndedChannel.Balance < 0)
                    {
                        colA.PairEndedChannel.Send(pair);
                    }

                    while (colB.PairEndedChannel.Balance < 0)
                    {
                        colB.PairEndedChannel.Send(pair);
                    }

                    if (colA.Collisions.Count == 0)
                    {
                        while (colA.AllPairsEndedChannel.Balance < 0)
                        {
                            colA.AllPairsEndedChannel.Send(pair);
                        }
                    }

                    if (colB.Collisions.Count == 0)
                    {
                        while (colB.AllPairsEndedChannel.Balance < 0)
                        {
                            colB.AllPairsEndedChannel.Send(pair);
                        }
                    }
                }
            }
        }