public virtual PersistentManifold GetNewManifold(CollisionObject b0, CollisionObject b1)
{
gNumManifold++;
CollisionObject body0 = b0;
CollisionObject body1 = b1;
//optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
float contactBreakingThreshold = ((m_dispatcherFlags & DispatcherFlags.CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD) > 0) ?
Math.Min(body0.GetCollisionShape().GetContactBreakingThreshold(BulletGlobals.gContactBreakingThreshold), body1.GetCollisionShape().GetContactBreakingThreshold(BulletGlobals.gContactBreakingThreshold))
: BulletGlobals.gContactBreakingThreshold;
float contactProcessingThreshold = Math.Min(body0.GetContactProcessingThreshold(), body1.GetContactProcessingThreshold());
// nothing in our pool so create a new one and return it.
// need a way to flush the pool ideally
PersistentManifold manifold = BulletGlobals.PersistentManifoldPool.Get();
manifold.Initialise(body0, body1, 0, contactBreakingThreshold, contactProcessingThreshold);
manifold.m_index1a = m_manifoldsPtr.Count;
m_manifoldsPtr.Add(manifold);
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugDispatcher)
{
BulletGlobals.g_streamWriter.WriteLine("GetNewManifold[{0}][{1}]", manifold.m_index1a, m_manifoldsPtr.Count);
}
#endif
return(manifold);
}