public void reset()
{
foreach (RigidBodyObject rbo in _physics_world.rigid_body_objects)
{
rbo.body.ClearForces();
rbo.body.AngularVelocity = Vector3.Zero;
rbo.body.LinearVelocity = Vector3.Zero;
rbo.body.WorldTransform = rbo.original_transformation;
rbo.body.MotionState.WorldTransform = rbo.original_transformation;
rbo.body.Activate();
}
OverlappingPairCache pair_cache = _physics_world.world.Broadphase.OverlappingPairCache;
AlignedBroadphasePairArray pair_array = pair_cache.OverlappingPairArray;
for (int i = 0; i < pair_array.Count; i++)
{
pair_cache.CleanOverlappingPair(pair_array[i], _physics_world.world.Dispatcher);
}
_solver.Reset();
_physics_world.world.ClearForces();
_broadphase.ResetPool(_dispatcher);
_physics_world.paused = false;
}
public void GhostObjectPairsTest()
{
var world = _context.DiscreteDynamicsWorld;
world.StepSimulation(1.0f / 60.0f);
AlignedManifoldArray manifoldArray = new AlignedManifoldArray();
AlignedBroadphasePairArray pairArray = _ghostObject.OverlappingPairCache.OverlappingPairArray;
foreach (BroadphasePair pair in pairArray)
{
//unless we manually perform collision detection on this pair, the contacts are in the dynamics world paircache:
BroadphasePair collisionPair = world.PairCache.FindPair(pair.Proxy0, pair.Proxy1);
if (collisionPair == null)
{
continue;
}
manifoldArray.Clear();
if (collisionPair.Algorithm != null)
{
collisionPair.Algorithm.GetAllContactManifolds(manifoldArray);
}
for (int j = 0; j < manifoldArray.Count; j++)
{
PersistentManifold manifold = manifoldArray[j];
float directionSign = manifold.Body0 == _ghostObject ? -1.0f : 1.0f;
for (int p = 0; p < manifold.NumContacts; p++)
{
ManifoldPoint pt = manifold.GetContactPoint(p);
if (pt.Distance < 0.0f)
{
Vector3 ptA = pt.PositionWorldOnA;
Vector3 ptB = pt.PositionWorldOnB;
Vector3 normalOnB = pt.NormalWorldOnB;
}
}
}
}
manifoldArray.Dispose();
}
static void TestGhostObjectPairs(PairCachingGhostObject ghostObject)
{
AlignedManifoldArray manifoldArray = new AlignedManifoldArray();
AlignedBroadphasePairArray pairArray = ghostObject.OverlappingPairCache.OverlappingPairArray;
int numPairs = pairArray.Count;
for (int i = 0; i < numPairs; i++)
{
manifoldArray.Clear();
BroadphasePair pair = pairArray[i];
//unless we manually perform collision detection on this pair, the contacts are in the dynamics world paircache:
BroadphasePair collisionPair = world.PairCache.FindPair(pair.Proxy0, pair.Proxy1);
if (collisionPair == null)
{
continue;
}
if (collisionPair.Algorithm != null)
{
collisionPair.Algorithm.GetAllContactManifolds(manifoldArray);
}
for (int j = 0; j < manifoldArray.Count; j++)
{
PersistentManifold manifold = manifoldArray[j];
float directionSign = manifold.Body0 == ghostObject ? -1.0f : 1.0f;
for (int p = 0; p < manifold.NumContacts; p++)
{
ManifoldPoint pt = manifold.GetContactPoint(p);
if (pt.Distance < 0.0f)
{
Vector3 ptA = pt.PositionWorldOnA;
Vector3 ptB = pt.PositionWorldOnB;
Vector3 normalOnB = pt.NormalWorldOnB;
/// work here
}
}
}
}
}