public void UpdateSingleAabb(CollisionObject colObj)
{
IndexedVector3 minAabb;
IndexedVector3 maxAabb;
IndexedMatrix wt = colObj.GetWorldTransform();
colObj.GetCollisionShape().GetAabb(ref wt, out minAabb, out maxAabb);
//need to increase the aabb for contact thresholds
IndexedVector3 contactThreshold = new IndexedVector3(BulletGlobals.gContactBreakingThreshold);
minAabb -= contactThreshold;
maxAabb += contactThreshold;
if (GetDispatchInfo().m_useContinuous && colObj.GetInternalType() == CollisionObjectTypes.CO_RIGID_BODY && !colObj.IsStaticOrKinematicObject())
{
IndexedVector3 minAabb2,maxAabb2;
colObj.GetCollisionShape().GetAabb(colObj.GetInterpolationWorldTransform(),out minAabb2 ,out maxAabb2);
minAabb2 -= contactThreshold;
maxAabb2 += contactThreshold;
MathUtil.VectorMin(ref minAabb2,ref minAabb);
MathUtil.VectorMax(ref maxAabb2, ref maxAabb);
}
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugCollisionWorld)
{
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "updateSingleAabbMin", minAabb);
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "updateSingleAabbMax", maxAabb);
}
IBroadphaseInterface bp = m_broadphasePairCache as IBroadphaseInterface;
//moving objects should be moderately sized, probably something wrong if not
if (colObj.IsStaticObject() || ((maxAabb - minAabb).LengthSquared() < 1e12f))
{
bp.SetAabb(colObj.GetBroadphaseHandle(), ref minAabb, ref maxAabb, m_dispatcher1);
}
else
{
//something went wrong, investigate
//this assert is unwanted in 3D modelers (danger of loosing work)
colObj.SetActivationState(ActivationState.DISABLE_SIMULATION);
//static bool reportMe = true;
bool reportMe = true;
if (reportMe && m_debugDrawer != null)
{
reportMe = false;
m_debugDrawer.ReportErrorWarning("Overflow in AABB, object removed from simulation");
m_debugDrawer.ReportErrorWarning("If you can reproduce this, please email [email protected]\n");
m_debugDrawer.ReportErrorWarning("Please include above information, your Platform, version of OS.\n");
m_debugDrawer.ReportErrorWarning("Thanks.\n");
}
}
}