internal static void ReleaseCollision(PhysXCollision collision)
{
foreach (PhysXContactPoint contactPoint in collision.contactPoints)
{
PhysXContactPoint.ReleaseContactPoint(contactPoint);
}
collision.contactPoints.Clear();
collisions.Enqueue(collision);
}
internal static void ReleaseContactPoint(PhysXContactPoint contactPoint)
{
contactPoints.Enqueue(contactPoint);
}
internal void FromPhysXInternalCollision(IntPtr pairHeader, IntPtr pairs, int pairCount, IntPtr self, bool isEnter, bool isStay, bool isExit)
{
this.self = self;
this.isEnter = isEnter;
this.isStay = isStay;
this.isExit = isExit;
otherActor = PhysXLib.GetPairHeaderActor(pairHeader, 0);
int otherNum = 0;
if (otherActor == self)
{
otherNum = 1;
otherActor = PhysXLib.GetPairHeaderActor(pairHeader, otherNum);
}
PhysXLib.GetPosition(self, initialPosSelf);
ownInitialPosition = initialPosSelf.ToVector();
PhysXLib.GetRotation(self, initialRotSelf);
ownInitialRotation = initialRotSelf.ToQuaternion();
impulse = Vector3.zero;
for (int i = 0; i < pairCount; i++)
{
IntPtr colliderShape = PhysXLib.GetContactPairShape(pairs, i, otherNum);
IntPtr ownShape = PhysXLib.GetContactPairShape(pairs, i, 1 - otherNum);
IntPtr iter = PhysXLib.GetContactPointIterator(pairs, i);
int j = 0;
while (PhysXLib.NextContactPatch(iter))
{
while (PhysXLib.NextContactPoint(iter))
{
float separation = PhysXLib.GetContactPointData(iter, j, pairs, i, pointPos, pointNormal, pointImpulse);
PhysXContactPoint contactPoint = PhysXContactPoint.GetContactPoint();
contactPoint.colliderShape = colliderShape;
contactPoint.ownShape = ownShape;
contactPoint.point = pointPos.ToVector();
if (otherNum == 1)
{
contactPoint.normal = pointNormal.ToVector();
contactPoint.impulse = pointImpulse.ToVector();
}
else
{
contactPoint.normal = -pointNormal.ToVector();
contactPoint.impulse = -pointImpulse.ToVector();
}
contactPoint.separation = separation;
contactPoints.Add(contactPoint);
impulse += contactPoint.impulse;
j++;
}
}
}
// impulse /= contactCount;
}
