//! Collides two gimpact shapes
/*!
* \pre shape0 and shape1 couldn't be btGImpactMeshShape objects
*/
public void GImpactVsGImpact(CollisionObject body0,
CollisionObject body1,
GImpactShapeInterface shape0,
GImpactShapeInterface shape1)
{
if (shape0.GetGImpactShapeType() == GIMPACT_SHAPE_TYPE.CONST_GIMPACT_TRIMESH_SHAPE)
{
GImpactMeshShape meshshape0 = shape0 as GImpactMeshShape;
m_part0 = meshshape0.GetMeshPartCount();
while (m_part0-- != 0)
{
GImpactVsGImpact(body0, body1, meshshape0.GetMeshPart(m_part0), shape1);
}
return;
}
if (shape1.GetGImpactShapeType() == GIMPACT_SHAPE_TYPE.CONST_GIMPACT_TRIMESH_SHAPE)
{
GImpactMeshShape meshshape1 = shape1 as GImpactMeshShape;
m_part1 = meshshape1.GetMeshPartCount();
while (m_part1-- != 0)
{
GImpactVsGImpact(body0, body1, shape0, meshshape1.GetMeshPart(m_part1));
}
return;
}
IndexedMatrix orgtrans0 = body0.GetWorldTransform();
IndexedMatrix orgtrans1 = body1.GetWorldTransform();
PairSet pairset = new PairSet();
GImpactVsGImpactFindPairs(ref orgtrans0, ref orgtrans1, shape0, shape1, pairset);
if (pairset.Count == 0)
{
return;
}
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
{
BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::GImpactVsGImpact [{0}]", pairset.Count);
}
#endif
if (shape0.GetGImpactShapeType() == GIMPACT_SHAPE_TYPE.CONST_GIMPACT_TRIMESH_SHAPE_PART &&
shape1.GetGImpactShapeType() == GIMPACT_SHAPE_TYPE.CONST_GIMPACT_TRIMESH_SHAPE_PART)
{
GImpactMeshShapePart shapepart0 = shape0 as GImpactMeshShapePart;
GImpactMeshShapePart shapepart1 = shape1 as GImpactMeshShapePart;
//specialized function
#if BULLET_TRIANGLE_COLLISION
CollideGjkTriangles(body0, body1, shapepart0, shapepart1, &pairset[0].m_index1, pairset.size());
#else
CollideSatTriangles(body0, body1, shapepart0, shapepart1, pairset, pairset.Count);
#endif
return;
}
//general function
shape0.LockChildShapes();
shape1.LockChildShapes();
using (GIM_ShapeRetriever retriever0 = BulletGlobals.GIM_ShapeRetrieverPool.Get())
using (GIM_ShapeRetriever retriever1 = BulletGlobals.GIM_ShapeRetrieverPool.Get())
{
retriever0.Initialize(shape0);
retriever1.Initialize(shape1);
bool child_has_transform0 = shape0.ChildrenHasTransform();
bool child_has_transform1 = shape1.ChildrenHasTransform();
int i = pairset.Count;
while (i-- != 0)
{
GIM_PAIR pair = pairset[i];
m_triface0 = pair.m_index1;
m_triface1 = pair.m_index2;
CollisionShape colshape0 = retriever0.GetChildShape(m_triface0);
CollisionShape colshape1 = retriever1.GetChildShape(m_triface1);
if (child_has_transform0)
{
body0.SetWorldTransform(orgtrans0 * shape0.GetChildTransform(m_triface0));
}
if (child_has_transform1)
{
body1.SetWorldTransform(orgtrans1 * shape1.GetChildTransform(m_triface1));
}
//collide two convex shapes
ConvexVsConvexCollision(body0, body1, colshape0, colshape1);
if (child_has_transform0)
{
body0.SetWorldTransform(ref orgtrans0);
}
if (child_has_transform1)
{
body1.SetWorldTransform(ref orgtrans1);
}
}
shape0.UnlockChildShapes();
shape1.UnlockChildShapes();
}
}
public GIM_PAIR(ref GIM_PAIR p)
{
m_index1 = p.m_index1;
m_index2 = p.m_index2;
}