public static void FastRemoveAt(NonconvexContactManifold *manifold, int index)
{
--manifold->Count;
if (index < manifold->Count)
{
var contacts = &manifold->Contact0;
contacts[index] = contacts[manifold->Count];
}
}
unsafe static void AddContact(ref NonconvexReductionChild child, int contactIndexInChild, NonconvexContactManifold *targetManifold)
{
ref var contact = ref Unsafe.Add(ref child.Manifold.Contact0, contactIndexInChild);
//TODO: Arguably, this could be handled within the streaming batcher. The main advantage of doing so would be CCD-like queries being available.
//On the other hand, we may want to simply modularize it. Something like a low level convex batcher, which is used by the more general purpose discrete batcher
//(which handles compounds, meshes, and boundary smoothing), which is used by the CCD batcher.
unsafe static void ResolveLinearManifold <TMainManifold>(void *mainManifoldPointer, ConvexContactManifold *linearManifold, NonconvexContactManifold *outManifold)
{
//This function is responsible for prioritizing which contacts to include when there are more contacts than slots.
//Note that the linear manifold is constructed from sphere-convex tests whose depths are guaranteed to be less than the deepest contact
//of the main manifold by virtue of the contributing spheres being smaller than the containing shape.
//Further, while it's possible for the sphere-sourced contacts to be deeper than some of the main manifold contacts due to speculative contact generation,
//there is no strong reason to prefer the sphere source contacts just because their depth happens to be greater- in fact, if we trust the main manifold
//contact generation logic, they should tend to be more representative of the true manifold.
//In other words, we simply trust that all contacts in the main manifold are good choices, and the linear manifold's responsibility is simply to fill in gaps.
//If there are no gaps, then we don't use the linear manifold at all.
//So first, copy all main manifold contacts.
Debug.Assert(linearManifold->Count == 2, "Inner sphere derived contacts should only ever contribute one contact per involved body, no more, no less.");
var outContacts = &outManifold->Contact0;
if (typeof(TMainManifold) == typeof(ConvexContactManifold))
{
var mainManifold = (ConvexContactManifold *)mainManifoldPointer;
outManifold->OffsetB = mainManifold->OffsetB;
outManifold->Count = mainManifold->Count;
var mainManifoldContacts = &mainManifold->Contact0;
for (int i = 0; i < outManifold->Count; ++i)
{
ref var outContact = ref outContacts[i];
ref var mainContact = ref mainManifoldContacts[i];
outContact.Offset = mainContact.Offset;
outContact.Depth = mainContact.Depth;
outContact.Normal = mainManifold->Normal;
outContact.FeatureId = mainContact.FeatureId;
}
public unsafe bool ConfigureContactManifold(int workerIndex, CollidablePair pair, NonconvexContactManifold *manifold, out PairMaterialProperties pairMaterial)
{
GetMaterial(out pairMaterial);
return(true);
}
internal static void Add(NonconvexContactManifold *manifold, ref Vector3 normal, ref ConvexContact convexContact)
{
Debug.Assert(manifold->Count < 8);
ref var targetContact = ref (&manifold->Contact0)[manifold->Count++];
public unsafe bool ConfigureContactManifold(int workerIndex, CollidablePair pair, NonconvexContactManifold *manifold, out PairMaterialProperties pairMaterial)
{
pairMaterial = new PairMaterialProperties();
return(false);
}
public unsafe void OnPairCompleted(int pairId, NonconvexContactManifold *manifold)
{
Manifolds.NonconvexManifolds[pairId] = *manifold;
Manifolds.ManifoldIsConvex[pairId] = false;
}
unsafe void AddContact(NonconvexContactManifold *manifold, ref NonconvexReductionChild sourceChild,
ref Vector3 offset, float depth, ref Vector3 normal, int featureId)
{
ref var target = ref NonconvexContactManifold.Allocate(manifold);
public unsafe bool ConfigureContactManifold(int workerIndex, CollidablePair pair, NonconvexContactManifold *manifold, out PairMaterialProperties pairMaterial)
{
if (manifold->Count > 0)
{
Console.WriteLine($"NONCONVEX PAIR: {pair.A} versus {pair.B}");
}
ConfigureMaterial(out pairMaterial);
return(true);
}
