public virtual void ProcessTriangle(IndexedVector3[] triangle, int partId, int triangleIndex) { TriangleShape triangleShape = new TriangleShape(ref triangle[0], ref triangle[1], ref triangle[2]); triangleShape.SetMargin(m_triangleCollisionMargin); VoronoiSimplexSolver simplexSolver = BulletGlobals.VoronoiSimplexSolverPool.Get(); GjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver = new GjkEpaPenetrationDepthSolver(); //#define USE_SUBSIMPLEX_CONVEX_CAST 1 //if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented ref code below #if USE_SUBSIMPLEX_CONVEX_CAST SubsimplexConvexCast convexCaster = new SubsimplexConvexCast(m_convexShape, triangleShape, simplexSolver); #else //btGjkConvexCast convexCaster(m_convexShape,&triangleShape,&simplexSolver); ContinuousConvexCollision convexCaster = BulletGlobals.ContinuousConvexCollisionPool.Get(); convexCaster.Initialize(m_convexShape, triangleShape, simplexSolver, gjkEpaPenetrationSolver); #endif //#USE_SUBSIMPLEX_CONVEX_CAST CastResult castResult = BulletGlobals.CastResultPool.Get(); castResult.m_fraction = 1f; if (convexCaster.CalcTimeOfImpact(ref m_convexShapeFrom, ref m_convexShapeTo, ref m_triangleToWorld, ref m_triangleToWorld, castResult)) { //add hit if (castResult.m_normal.LengthSquared() > 0.0001f) { if (castResult.m_fraction < m_hitFraction) { /* btContinuousConvexCast's normal is already in world space */ /* #ifdef 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.ContinuousConvexCollisionPool.Free(convexCaster); BulletGlobals.VoronoiSimplexSolverPool.Free(simplexSolver); castResult.Cleanup(); }
public virtual void ProcessTriangle(IndexedVector3[] triangle, int partId, int triangleIndex) { if (!AabbUtil2.TestTriangleAgainstAabb2(triangle, ref m_aabbMin, ref m_aabbMax)) { return; } //aabb filter is already applied! CollisionAlgorithmConstructionInfo ci = new CollisionAlgorithmConstructionInfo(); ci.SetDispatcher(m_dispatcher); CollisionObject ob = m_triBody as CollisionObject; ///debug drawing of the overlapping triangles /// #if false if (m_dispatchInfoPtr != null && m_dispatchInfoPtr.getDebugDraw() != null && ((m_dispatchInfoPtr.getDebugDraw().GetDebugMode() & DebugDrawModes.DBG_DrawWireframe) > 0)) { IndexedVector3 color = new IndexedVector3(1, 1, 0); IndexedMatrix tr = ob.GetWorldTransform(); IndexedVector3[] transformedTriangles = new IndexedVector3[3]; IndexedVector3.Transform(triangle, ref tr, transformedTriangles); m_dispatchInfoPtr.getDebugDraw().DrawLine(ref transformedTriangles[0], ref transformedTriangles[1], ref color); m_dispatchInfoPtr.getDebugDraw().DrawLine(ref transformedTriangles[1], ref transformedTriangles[2], ref color); m_dispatchInfoPtr.getDebugDraw().DrawLine(ref transformedTriangles[2], ref transformedTriangles[0], ref color); } #endif if (m_convexBody.GetCollisionShape().IsConvex()) { using (TriangleShape tm = BulletGlobals.TriangleShapePool.Get()) { tm.Initialize(ref triangle[0], ref triangle[1], ref triangle[2]); tm.SetMargin(m_collisionMarginTriangle); CollisionShape tmpShape = ob.GetCollisionShape(); ob.InternalSetTemporaryCollisionShape(tm); CollisionAlgorithm colAlgo = ci.GetDispatcher().FindAlgorithm(m_convexBody, m_triBody, m_manifoldPtr); ///this should use the btDispatcher, so the actual registered algorithm is used // btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody); if (m_resultOut.GetBody0Internal() == m_triBody) { m_resultOut.SetShapeIdentifiersA(partId, triangleIndex); } else { m_resultOut.SetShapeIdentifiersB(partId, triangleIndex); } colAlgo.ProcessCollision(m_convexBody, m_triBody, m_dispatchInfoPtr, m_resultOut); ci.GetDispatcher().FreeCollisionAlgorithm(colAlgo); colAlgo = null; ob.InternalSetTemporaryCollisionShape(tmpShape); } } }