// pass null to use default construction info
public btDefaultCollisionConfiguration( btDefaultCollisionConstructionInfo constructionInfo )
//btDefaultCollisionConfiguration(btStackAlloc* stackAlloc,btPoolAllocator* persistentManifoldPool,btPoolAllocator* collisionAlgorithmPool)
{
if( constructionInfo == null )
constructionInfo = new btDefaultCollisionConstructionInfo();
m_simplexSolver = BulletGlobals.VoronoiSimplexSolverPool.Get();
#if !REMOVE_OBSOLETE_SOLVER
if( constructionInfo.m_useEpaPenetrationAlgorithm )
#endif
{
m_pdSolver = BulletGlobals.GjkEpaPenetrationDepthSolverPool.Get();
}
#if !REMOVE_OBSOLETE_SOLVER
else
{
mem = btAlignedAlloc( sizeof( btMinkowskiPenetrationDepthSolver ), 16 );
m_pdSolver =
new btMinkowskiPenetrationDepthSolver;
}
#endif
//default CreationFunctions, filling the m_doubleDispatch table
m_convexConvexCreateFunc = new btConvexConvexAlgorithm.CreateFunc( m_simplexSolver, m_pdSolver );
m_convexConcaveCreateFunc = new btConvexConcaveCollisionAlgorithm.CreateFunc();
m_swappedConvexConcaveCreateFunc = new btConvexConcaveCollisionAlgorithm.SwappedCreateFunc();
m_compoundCreateFunc = new btCompoundCollisionAlgorithm.CreateFunc();
m_compoundCompoundCreateFunc = new btCompoundCompoundCollisionAlgorithm.CreateFunc();
m_swappedCompoundCreateFunc = new btCompoundCollisionAlgorithm.SwappedCreateFunc();
m_emptyCreateFunc = new btEmptyAlgorithm.CreateFunc();
m_sphereSphereCF = new btSphereSphereCollisionAlgorithm.CreateFunc();
#if USE_BUGGY_SPHERE_BOX_ALGORITHM
m_sphereBoxCF = new(mem) btSphereBoxCollisionAlgorithm.CreateFunc;
m_boxSphereCF = new (mem)btSphereBoxCollisionAlgorithm.CreateFunc;
m_boxSphereCF.m_swapped = true;
#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
m_sphereTriangleCF = new btSphereTriangleCollisionAlgorithm.CreateFunc();
m_triangleSphereCF = new btSphereTriangleCollisionAlgorithm.CreateFunc();
m_triangleSphereCF.m_swapped = true;
m_boxBoxCF = new btBoxBoxCollisionAlgorithm.CreateFunc();
//convex versus plane
m_convexPlaneCF = new btConvexPlaneCollisionAlgorithm.CreateFunc();
m_planeConvexCF = new btConvexPlaneCollisionAlgorithm.CreateFunc();
m_planeConvexCF.m_swapped = true;
///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
/*
int maxSize = sizeof( btConvexConvexAlgorithm );
int maxSize2 = sizeof( btConvexConcaveCollisionAlgorithm );
int maxSize3 = sizeof( btCompoundCollisionAlgorithm );
int maxSize4 = sizeof( btCompoundCompoundCollisionAlgorithm );
int collisionAlgorithmMaxElementSize = btScalar.btMax( maxSize, constructionInfo.m_customCollisionAlgorithmMaxElementSize );
collisionAlgorithmMaxElementSize = btScalar.btMax( collisionAlgorithmMaxElementSize, maxSize2 );
collisionAlgorithmMaxElementSize = btScalar.btMax( collisionAlgorithmMaxElementSize, maxSize3 );
collisionAlgorithmMaxElementSize = btScalar.btMax( collisionAlgorithmMaxElementSize, maxSize4 );
*/
/*
if( constructionInfo.m_persistentManifoldPool )
{
m_ownsPersistentManifoldPool = false;
m_persistentManifoldPool = constructionInfo.m_persistentManifoldPool;
}
else
{
m_ownsPersistentManifoldPool = true;
object mem = btAlignedAlloc( sizeof( btPoolAllocator ), 16 );
m_persistentManifoldPool = new btPoolAllocator( sizeof( btPersistentManifold ), constructionInfo.m_defaultMaxPersistentManifoldPoolSize );
}
if( constructionInfo.m_collisionAlgorithmPool )
{
m_ownsCollisionAlgorithmPool = false;
m_collisionAlgorithmPool = constructionInfo.m_collisionAlgorithmPool;
}
else
{
m_ownsCollisionAlgorithmPool = true;
object mem = btAlignedAlloc( sizeof( btPoolAllocator ), 16 );
m_collisionAlgorithmPool = new btPoolAllocator( collisionAlgorithmMaxElementSize, constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize );
}
*/
}
public void processTriangle( btVector3[] triangle, int partId, int triangleIndex )
{
using( btTriangleShape triangleShape = BulletGlobals.TriangleShapePool.Get() )
{
triangleShape.Initialize( ref triangle[0], ref triangle[1], ref triangle[2] );
triangleShape.setMargin( m_triangleCollisionMargin );
btVoronoiSimplexSolver simplexSolver = new btVoronoiSimplexSolver();
btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver = new btGjkEpaPenetrationDepthSolver();
//#define USE_SUBSIMPLEX_CONVEX_CAST 1
//if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented out code below
#if USE_SUBSIMPLEX_CONVEX_CAST
btSubsimplexConvexCast convexCaster(m_convexShape, &triangleShape, &simplexSolver);
#else
//btGjkConvexCast convexCaster(m_convexShape,&triangleShape,&simplexSolver);
btContinuousConvexCollision convexCaster = BulletGlobals.ContinuousConvexCollisionPool.Get();
convexCaster.Initialize( m_convexShape, triangleShape, simplexSolver, gjkEpaPenetrationSolver );
#endif //#USE_SUBSIMPLEX_CONVEX_CAST
btConvexCast.CastResult castResult = BulletGlobals.CastResultPool.Get();
castResult.Initialize();
castResult.m_fraction = btScalar.BT_ONE;
castResult.m_allowedPenetration = m_allowedPenetration;
if( convexCaster.calcTimeOfImpact( ref m_convexShapeFrom, ref m_convexShapeTo,ref m_triangleToWorld, ref m_triangleToWorld, castResult ) )
{
//add hit
if( castResult.m_normal.length2() > (double)( 0.0001 ) )
{
if( castResult.m_fraction < m_hitFraction )
{
/* btContinuousConvexCast's normal is already in world space */
/*
#if USE_SUBSIMPLEX_CONVEX_CAST
//rotate normal into worldspace
castResult.m_normal = m_convexShapeFrom.getBasis() * castResult.m_normal;
#endif //USE_SUBSIMPLEX_CONVEX_CAST
*/
castResult.m_normal.normalize();
reportHit( ref castResult.m_normal,
ref castResult.m_hitPoint,
castResult.m_fraction,
partId,
triangleIndex );
}
}
}
BulletGlobals.CastResultPool.Free( castResult );
BulletGlobals.ContinuousConvexCollisionPool.Free( convexCaster );
}
}
