internal unsafe void ContactTest(PhysicsComponent component)
{
IntPtr buffer;
int bufferSize;
collisionWorld.GetCollisions(component.NativeCollisionObject, out buffer, out bufferSize);
var contacts = (ContactPoint *)buffer;
for (var i = 0; i < bufferSize; i++)
{
var contact = contacts[i];
currentFrameContacts.Add(contact);
}
}
unsafe internal void ContactTest(PhysicsComponent component)
{
foreach (var collision in component.Collisions)
{
skippedCollisions.Add(collision);
}
IntPtr buffer;
int bufferSize;
collisionWorld.GetCollisions(component.NativeCollisionObject, out buffer, out bufferSize);
var contacts = (ContactData *)buffer;
for (var i = 0; i < bufferSize; i++)
{
var contact = contacts[i];
var obj0 = BulletSharp.CollisionObject.GetManaged((IntPtr)contact.ColliderA);
var obj1 = BulletSharp.CollisionObject.GetManaged((IntPtr)contact.ColliderB);
var component0 = (PhysicsComponent)obj0.UserObject;
var component1 = (PhysicsComponent)obj1.UserObject;
if (((int)component0.CanCollideWith & (int)component1.CollisionGroup) != 0 || ((int)component1.CanCollideWith & (int)component0.CollisionGroup) != 0)
{
var skip = false;
foreach (var collision in component0.Collisions)
{
if ((collision.ColliderA == component0 && collision.ColliderB == component1) || (collision.ColliderA == component1 && collision.ColliderB == component0))
{
var oldContact = collision.Contacts[0];
oldContact.Distance = contact.Distance;
oldContact.Normal = new Vector3(contact.NormalX, contact.NormalY, contact.NormalZ);
oldContact.PositionOnA = new Vector3(contact.PositionOnAx, contact.PositionOnAy, contact.PositionOnAz);
oldContact.PositionOnB = new Vector3(contact.PositionOnBx, contact.PositionOnBy, contact.PositionOnBz);
updatedContactsCache.Add(oldContact);
skippedCollisions.Remove(collision);
skip = true;
break;
}
}
if (skip)
{
continue;
}
var newCollision = new Collision
{
Contacts = new TrackingCollection <ContactPoint>(),
ColliderA = component0,
ColliderB = component1
};
//todo this has to change
var newContact = new ContactPoint
{
Collision = newCollision,
Distance = contact.Distance,
LifeTime = 0,
Normal = new Vector3(contact.NormalX, contact.NormalY, contact.NormalZ),
PositionOnA = new Vector3(contact.PositionOnAx, contact.PositionOnAy, contact.PositionOnAz),
PositionOnB = new Vector3(contact.PositionOnBx, contact.PositionOnBy, contact.PositionOnBz)
};
newCollision.Contacts.Add(newContact);
component0.Collisions.Add(newCollision);
component1.Collisions.Add(newCollision);
newCollisionsCache.Add(newCollision);
newContactsFastCache.Add(newContact);
newCollisions.Add(newCollision);
}
}
}
