public override void ProcessCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
//resultOut = new ManifoldResult();
if (m_manifoldPtr == null)
{
return;
}
CollisionObject sphereObj = m_swapped? body1 : body0;
CollisionObject triObj = m_swapped? body0 : body1;
SphereShape sphere = (SphereShape)sphereObj.GetCollisionShape();
TriangleShape triangle = (TriangleShape)triObj.GetCollisionShape();
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut.SetPersistentManifold(m_manifoldPtr);
SphereTriangleDetector detector = new SphereTriangleDetector(sphere,triangle, m_manifoldPtr.GetContactBreakingThreshold());
ClosestPointInput input = new ClosestPointInput();
input.m_maximumDistanceSquared = float.MaxValue;
input.m_transformA = sphereObj.GetWorldTransform();
input.m_transformB = triObj.GetWorldTransform();
bool swapResults = m_swapped;
detector.GetClosestPoints(input,resultOut,dispatchInfo.getDebugDraw(),swapResults);
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
}
public override void ProcessCollision (CollisionObject body0,CollisionObject body1,DispatcherInfo dispatchInfo,ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
{
//swapped?
m_manifoldPtr = m_dispatcher.GetNewManifold(body0,body1);
m_ownManifold = true;
}
resultOut.SetPersistentManifold(m_manifoldPtr);
//comment-out next line to test multi-contact generation
//resultOut.getPersistentManifold().clearManifold();
ConvexShape min0 = (ConvexShape)(body0.GetCollisionShape());
ConvexShape min1 = (ConvexShape)(body1.GetCollisionShape());
Vector3 normalOnB = Vector3.Zero;
Vector3 pointOnBWorld = Vector3.Zero;
{
ClosestPointInput input = new ClosestPointInput();
GjkPairDetector gjkPairDetector = new GjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver);
//TODO: if (dispatchInfo.m_useContinuous)
gjkPairDetector.SetMinkowskiA(min0);
gjkPairDetector.SetMinkowskiB(min1);
{
input.m_maximumDistanceSquared = min0.Margin + min1.Margin + m_manifoldPtr.GetContactBreakingThreshold();
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
}
input.m_transformA = body0.GetWorldTransform();
input.m_transformB = body1.GetWorldTransform();
gjkPairDetector.GetClosestPoints(input,resultOut,dispatchInfo.getDebugDraw(),false);
if (BulletGlobals.g_streamWriter != null)
{
BulletGlobals.g_streamWriter.WriteLine("c2dc2d processCollision");
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "transformA", input.m_transformA);
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "transformB", input.m_transformB);
}
//btVector3 v0,v1;
//btVector3 sepNormalWorldSpace;
}
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
}
public override void ProcessCollision (CollisionObject body0,CollisionObject body1,DispatcherInfo dispatchInfo,ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
{
return;
}
resultOut.SetPersistentManifold(m_manifoldPtr);
SphereShape sphere0 = (SphereShape)body0.GetCollisionShape();
SphereShape sphere1 = (SphereShape)body1.GetCollisionShape();
Vector3 diff = body0.GetWorldTransform().Translation - body1.GetWorldTransform().Translation;
float len = diff.Length();
float radius0 = sphere0.GetRadius();
float radius1 = sphere1.GetRadius();
#if CLEAR_MANIFOLD
m_manifoldPtr.clearManifold(); //don't do this, it disables warmstarting
#endif
///iff distance positive, don't generate a new contact
if ( len > (radius0+radius1))
{
#if !CLEAR_MANIFOLD
resultOut.RefreshContactPoints();
#endif //CLEAR_MANIFOLD
return;
}
///distance (negative means penetration)
float dist = len - (radius0+radius1);
Vector3 normalOnSurfaceB = new Vector3(1,0,0);
if (len > MathUtil.SIMD_EPSILON)
{
normalOnSurfaceB = diff / len;
}
///point on A (worldspace)
///btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
///point on B (worldspace)
Vector3 pos1 = body1.GetWorldTransform().Translation + radius1* normalOnSurfaceB;
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut.AddContactPoint(ref normalOnSurfaceB,ref pos1,dist);
#if !CLEAR_MANIFOLD
resultOut.RefreshContactPoints();
#endif //CLEAR_MANIFOLD
}
public override void ProcessCollision (CollisionObject body0,CollisionObject body1,DispatcherInfo dispatchInfo,ManifoldResult resultOut)
{
//(void)dispatchInfo;
//(void)resultOut;
if (m_manifoldPtr == null)
{
resultOut = null;
return;
}
CollisionObject sphereObj = m_isSwapped? body1 : body0;
CollisionObject boxObj = m_isSwapped? body0 : body1;
SphereShape sphere0 = (SphereShape)sphereObj.GetCollisionShape();
//Vector3 normalOnSurfaceB;
Vector3 pOnBox = Vector3.Zero, pOnSphere = Vector3.Zero;
Vector3 sphereCenter = sphereObj.GetWorldTransform().Translation;
float radius = sphere0.GetRadius();
float dist = GetSphereDistance(boxObj,ref pOnBox,ref pOnSphere,ref sphereCenter,radius);
resultOut = new ManifoldResult();
resultOut.SetPersistentManifold(m_manifoldPtr);
if (dist < MathUtil.SIMD_EPSILON)
{
Vector3 normalOnSurfaceB = (pOnBox - pOnSphere);
normalOnSurfaceB.Normalize();
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut.AddContactPoint(ref normalOnSurfaceB,ref pOnBox,dist);
}
if (m_ownManifold)
{
if (m_manifoldPtr.GetNumContacts() > 0)
{
resultOut.RefreshContactPoints();
}
}
}
public override void ProcessCollision (CollisionObject body0,CollisionObject body1,DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
{
return;
}
CollisionObject col0 = body0;
CollisionObject col1 = body1;
resultOut = new ManifoldResult(body0, body1);
BoxShape box0 = (BoxShape)col0.GetCollisionShape();
BoxShape box1 = (BoxShape)col1.GetCollisionShape();
//if (((String)col0.getUserPointer()).Contains("Box") &&
// ((String)col1.getUserPointer()).Contains("Box") )
//{
// int ibreak = 0;
//}
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut.SetPersistentManifold(m_manifoldPtr);
#if !USE_PERSISTENT_CONTACTS
m_manifoldPtr.ClearManifold();
#endif //USE_PERSISTENT_CONTACTS
ClosestPointInput input = new ClosestPointInput();
input.m_maximumDistanceSquared = float.MaxValue;
input.m_transformA = body0.GetWorldTransform();
input.m_transformB = body1.GetWorldTransform();
BoxBoxDetector detector = new BoxBoxDetector(box0,box1);
detector.GetClosestPoints(input,resultOut,dispatchInfo.getDebugDraw(),false);
#if USE_PERSISTENT_CONTACTS
// refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
#endif //USE_PERSISTENT_CONTACTS
}
public override void ProcessCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
{
return;
}
CollisionObject col0 = body0;
CollisionObject col1 = body1;
Box2dShape box0 = (Box2dShape)col0.GetCollisionShape();
Box2dShape box1 = (Box2dShape)col1.GetCollisionShape();
resultOut.SetPersistentManifold(m_manifoldPtr);
B2CollidePolygons(ref resultOut, box0, col0.GetWorldTransform(), box1, col1.GetWorldTransform());
// refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
}
public override void ProcessCollision(CollisionObject body0,CollisionObject body1,DispatcherInfo dispatchInfo,ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
{
//swapped?
m_manifoldPtr = m_dispatcher.GetNewManifold(body0,body1);
m_ownManifold = true;
}
//resultOut = new ManifoldResult();
resultOut.SetPersistentManifold(m_manifoldPtr);
//comment-out next line to test multi-contact generation
//resultOut.getPersistentManifold().clearManifold();
ConvexShape min0 = (ConvexShape)(body0.GetCollisionShape());
ConvexShape min1 = (ConvexShape)(body1.GetCollisionShape());
Vector3 normalOnB = Vector3.Up;
Vector3 pointOnBWorld = Vector3.Zero;
#if !BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
if ((min0.ShapeType == BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE) && (min1.ShapeType == BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE))
{
CapsuleShape capsuleA = (CapsuleShape) min0;
CapsuleShape capsuleB = (CapsuleShape) min1;
Vector3 localScalingA = capsuleA.GetLocalScaling();
Vector3 localScalingB = capsuleB.GetLocalScaling();
float threshold = m_manifoldPtr.GetContactBreakingThreshold();
float dist = CapsuleCapsuleDistance(ref normalOnB,ref pointOnBWorld,capsuleA.getHalfHeight(),capsuleA.getRadius(),
capsuleB.getHalfHeight(),capsuleB.getRadius(),capsuleA.GetUpAxis(),capsuleB.GetUpAxis(),
body0.GetWorldTransform(),body1.GetWorldTransform(),threshold);
if (dist<threshold)
{
Debug.Assert(normalOnB.LengthSquared() >= (MathUtil.SIMD_EPSILON * MathUtil.SIMD_EPSILON));
resultOut.AddContactPoint(ref normalOnB,ref pointOnBWorld,dist);
}
resultOut.RefreshContactPoints();
return;
}
#endif //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
#if USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
m_sepDistance.updateSeparatingDistance(body0.getWorldTransform(),body1.getWorldTransform());
}
if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f)
#endif //USE_SEPDISTANCE_UTIL2
{
ClosestPointInput input = new ClosestPointInput();
GjkPairDetector gjkPairDetector = new GjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver);
//TODO: if (dispatchInfo.m_useContinuous)
gjkPairDetector.SetMinkowskiA(min0);
gjkPairDetector.SetMinkowskiB(min1);
#if USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
input.m_maximumDistanceSquared = float.MaxValue;
}
else
#endif //USE_SEPDISTANCE_UTIL2
{
input.m_maximumDistanceSquared = min0.Margin + min1.Margin + m_manifoldPtr.GetContactBreakingThreshold();
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
}
//input.m_stackAlloc = dispatchInfo.m_stackAllocator;
input.m_transformA = body0.GetWorldTransform();
input.m_transformB = body1.GetWorldTransform();
gjkPairDetector.GetClosestPoints(input,resultOut,dispatchInfo.getDebugDraw(),false);
#if USE_SEPDISTANCE_UTIL2
float sepDist = 0.f;
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
sepDist = gjkPairDetector.getCachedSeparatingDistance();
if (sepDist>MathUtil.SIMD_EPSILON)
{
sepDist += dispatchInfo.m_convexConservativeDistanceThreshold;
//now perturbe directions to get multiple contact points
}
}
#endif //USE_SEPDISTANCE_UTIL2
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
if (m_numPerturbationIterations > 0 && resultOut.GetPersistentManifold().GetNumContacts() < m_minimumPointsPerturbationThreshold)
{
Vector3 v0 = Vector3.Zero, v1 = Vector3.Zero;
Vector3 sepNormalWorldSpace = gjkPairDetector.GetCachedSeparatingAxis();
sepNormalWorldSpace.Normalize();
TransformUtil.PlaneSpace1(ref sepNormalWorldSpace, ref v0, ref v1);
bool perturbeA = true;
const float angleLimit = 0.125f * MathUtil.SIMD_PI;
float perturbeAngle;
float radiusA = min0.GetAngularMotionDisc();
float radiusB = min1.GetAngularMotionDisc();
if (radiusA < radiusB)
{
perturbeAngle = BulletGlobals.gContactBreakingThreshold /radiusA;
perturbeA = true;
}
else
{
perturbeAngle = BulletGlobals.gContactBreakingThreshold / radiusB;
perturbeA = false;
}
if (perturbeAngle > angleLimit)
{
perturbeAngle = angleLimit;
}
Matrix unPerturbedTransform = Matrix.Identity;
if (perturbeA)
{
unPerturbedTransform = input.m_transformA;
}
else
{
unPerturbedTransform = input.m_transformB;
}
for (int i=0;i<m_numPerturbationIterations;i++)
{
if (v0.LengthSquared() > MathUtil.SIMD_EPSILON)
{
Quaternion perturbeRot = Quaternion.CreateFromAxisAngle(v0, perturbeAngle);
float iterationAngle = i * (MathUtil.SIMD_2_PI / (float)m_numPerturbationIterations);
Quaternion rotq = Quaternion.CreateFromAxisAngle(sepNormalWorldSpace, iterationAngle);
if (perturbeA)
{
//input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0.getWorldTransform().getBasis());
Quaternion temp = MathUtil.QuaternionMultiply(MathUtil.QuaternionInverse(ref rotq),MathUtil.QuaternionMultiply(perturbeRot,rotq));
input.m_transformA = MathUtil.BulletMatrixMultiplyBasis(Matrix.CreateFromQuaternion(temp),body0.GetWorldTransform());
input.m_transformB = body1.GetWorldTransform();
#if DEBUG_CONTACTS
dispatchInfo.m_debugDraw.DrawTransform(ref input.m_transformA,10.0f);
#endif //DEBUG_CONTACTS
}
else
{
input.m_transformA = body0.GetWorldTransform();
//input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1.getWorldTransform().getBasis());
Quaternion temp = MathUtil.QuaternionMultiply(MathUtil.QuaternionInverse(ref rotq),MathUtil.QuaternionMultiply(perturbeRot,rotq));
input.m_transformB = MathUtil.BulletMatrixMultiplyBasis(Matrix.CreateFromQuaternion(temp),body1.GetWorldTransform());
#if DEBUG_CONTACTS
dispatchInfo.m_debugDraw.DrawTransform(ref input.m_transformB,10.0f);
#endif
}
PerturbedContactResult perturbedResultOut = new PerturbedContactResult(resultOut, ref input.m_transformA, ref input.m_transformB, ref unPerturbedTransform, perturbeA, dispatchInfo.getDebugDraw());
gjkPairDetector.GetClosestPoints(input, perturbedResultOut, dispatchInfo.getDebugDraw(), false);
}
}
}
#if USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil && (sepDist > MathUtil.SIMD_EPSILON))
{
m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0.getWorldTransform(),body1.getWorldTransform());
}
#endif //USE_SEPDISTANCE_UTIL2
}
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
}
public override void ProcessCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
//resultOut = null;
CollisionObject colObj = m_isSwapped? body1 : body0;
CollisionObject otherObj = m_isSwapped? body0 : body1;
System.Diagnostics.Debug.Assert(colObj.GetCollisionShape().IsCompound());
CompoundShape compoundShape = (CompoundShape)(colObj.GetCollisionShape());
///btCompoundShape might have changed:
////make sure the internal child collision algorithm caches are still valid
if (compoundShape.GetUpdateRevision() != m_compoundShapeRevision)
{
///clear and update all
RemoveChildAlgorithms();
PreallocateChildAlgorithms(body0,body1);
}
Dbvt tree = compoundShape.GetDynamicAabbTree();
//use a dynamic aabb tree to cull potential child-overlaps
CompoundLeafCallback callback = new CompoundLeafCallback(colObj,otherObj,m_dispatcher,dispatchInfo,resultOut,m_childCollisionAlgorithms,m_sharedManifold);
///we need to refresh all contact manifolds
///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
{
IList<PersistentManifold> manifoldArray = new List<PersistentManifold>();
for (int i=0;i<m_childCollisionAlgorithms.Count;i++)
{
if (m_childCollisionAlgorithms[i] != null)
{
m_childCollisionAlgorithms[i].GetAllContactManifolds(manifoldArray);
for (int m=0;m<manifoldArray.Count;m++)
{
if (manifoldArray[m].GetNumContacts() > 0)
{
resultOut.SetPersistentManifold(manifoldArray[m]);
resultOut.RefreshContactPoints();
resultOut.SetPersistentManifold(null);//??necessary?
}
}
manifoldArray.Clear();
}
}
}
if (tree != null)
{
Vector3 localAabbMin = new Vector3();
Vector3 localAabbMax = new Vector3();
Matrix otherInCompoundSpace = Matrix.Identity;
//otherInCompoundSpace = MathUtil.BulletMatrixMultiply(colObj.GetWorldTransform(),otherObj.GetWorldTransform());
otherInCompoundSpace = MathUtil.InverseTimes(colObj.GetWorldTransform(), otherObj.GetWorldTransform());
otherObj.GetCollisionShape().GetAabb(ref otherInCompoundSpace,ref localAabbMin,ref localAabbMax);
DbvtAabbMm bounds = DbvtAabbMm.FromMM(ref localAabbMin, ref localAabbMax);
//process all children, that overlap with the given AABB bounds
Dbvt.CollideTV(tree.m_root,ref bounds,callback);
}
else
{
//iterate over all children, perform an AABB check inside ProcessChildShape
int numChildren = m_childCollisionAlgorithms.Count;
for (int i=0;i<numChildren;i++)
{
callback.ProcessChildShape(compoundShape.GetChildShape(i),i);
}
}
{
//iterate over all children, perform an AABB check inside ProcessChildShape
int numChildren = m_childCollisionAlgorithms.Count;
IList<PersistentManifold> manifoldArray = new List<PersistentManifold>();
for (int i=0;i<numChildren;i++)
{
if (m_childCollisionAlgorithms[i] != null)
{
CollisionShape childShape = compoundShape.GetChildShape(i);
//if not longer overlapping, remove the algorithm
Matrix orgTrans = colObj.GetWorldTransform();
Matrix orgInterpolationTrans = colObj.GetInterpolationWorldTransform();
Matrix childTrans = compoundShape.GetChildTransform(i);
Matrix newChildWorldTrans = MathUtil.BulletMatrixMultiply(ref orgTrans, ref childTrans);
//perform an AABB check first
Vector3 aabbMin0 = new Vector3();
Vector3 aabbMax0 = new Vector3();
Vector3 aabbMin1 = new Vector3();
Vector3 aabbMax1 = new Vector3();
childShape.GetAabb(ref newChildWorldTrans,ref aabbMin0,ref aabbMax0);
otherObj.GetCollisionShape().GetAabb(otherObj.GetWorldTransform(),ref aabbMin1,ref aabbMax1);
if (!AabbUtil2.TestAabbAgainstAabb2(ref aabbMin0,ref aabbMax0,ref aabbMin1,ref aabbMax1))
{
m_dispatcher.FreeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
m_childCollisionAlgorithms[i] = null;
}
}
}
}
}
public virtual void CollideSingleContact(ref Quaternion perturbeRot, CollisionObject body0,CollisionObject body1,DispatcherInfo dispatchInfo,ManifoldResult resultOut)
{
CollisionObject convexObj = m_isSwapped? body1 : body0;
CollisionObject planeObj = m_isSwapped? body0: body1;
ConvexShape convexShape = (ConvexShape) convexObj.GetCollisionShape();
StaticPlaneShape planeShape = (StaticPlaneShape) planeObj.GetCollisionShape();
bool hasCollision = false;
Vector3 planeNormal = planeShape.GetPlaneNormal();
float planeConstant = planeShape.GetPlaneConstant();
Matrix convexWorldTransform = convexObj.GetWorldTransform();
Matrix convexInPlaneTrans = Matrix.Identity;
convexInPlaneTrans = MathUtil.BulletMatrixMultiply(Matrix.Invert(planeObj.GetWorldTransform()), convexWorldTransform);
//now perturbe the convex-world transform
// MAN - CHECKTHIS
Matrix rotMatrix = Matrix.CreateFromQuaternion(perturbeRot);
convexWorldTransform = MathUtil.BulletMatrixMultiplyBasis(convexWorldTransform,rotMatrix);
Matrix planeInConvex = Matrix.Identity;
planeInConvex= MathUtil.BulletMatrixMultiply(Matrix.Invert(convexWorldTransform),planeObj.GetWorldTransform());
Vector3 tmp = Vector3.TransformNormal(-planeNormal,planeInConvex);
Vector3 vtx = convexShape.LocalGetSupportingVertex(ref tmp);
Vector3 vtxInPlane = Vector3.Transform(vtx,convexInPlaneTrans);
float distance = (Vector3.Dot(planeNormal,vtxInPlane) - planeConstant);
Vector3 vtxInPlaneProjected = vtxInPlane - (distance*planeNormal);
Vector3 vtxInPlaneWorld = Vector3.Transform(vtxInPlaneProjected,planeObj.GetWorldTransform());
hasCollision = distance < m_manifoldPtr.GetContactBreakingThreshold();
resultOut.SetPersistentManifold(m_manifoldPtr);
if (hasCollision)
{
/// report a contact. internally this will be kept persistent, and contact reduction is done
Vector3 normalOnSurfaceB = Vector3.TransformNormal(planeNormal,planeObj.GetWorldTransform());
Vector3 pOnB = vtxInPlaneWorld;
resultOut.AddContactPoint(ref normalOnSurfaceB,ref pOnB,distance);
}
}
//public override void processCollision (CollisionObject body0,CollisionObject body1,DispatcherInfo dispatchInfo,ManifoldResult resultOut)
//{
// CollisionObject convexBody = m_isSwapped ? body1 : body0;
// CollisionObject triBody = m_isSwapped ? body0 : body1;
// if (triBody.getCollisionShape().isConcave())
// {
// CollisionObject triOb = triBody;
// ConcaveShape concaveShape = (ConcaveShape)(triOb.getCollisionShape());
// if (convexBody.getCollisionShape().isConvex())
// {
// float collisionMarginTriangle = concaveShape.getMargin();
// resultOut.setPersistentManifold(m_convexTriangleCallback.m_manifoldPtr);
// m_convexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle, dispatchInfo, resultOut);
// //Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
// //m_dispatcher.clearManifold(m_convexTriangleCallback.m_manifoldPtr);
// m_convexTriangleCallback.m_manifoldPtr.setBodies(convexBody, triBody);
// Vector3 min = m_convexTriangleCallback.getAabbMin();
// Vector3 max = m_convexTriangleCallback.getAabbMax();
// concaveShape.processAllTriangles(m_convexTriangleCallback, ref min,ref max );
// resultOut.refreshContactPoints();
// }
// }
//}
//public override float calculateTimeOfImpact(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
//{
// CollisionObject convexbody = m_isSwapped ? body1 : body0;
// CollisionObject triBody = m_isSwapped ? body0 : body1;
// //quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast)
// //only perform CCD above a certain threshold, this prevents blocking on the long run
// //because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame...
// float squareMot0 = (convexbody.getInterpolationWorldTransform().Translation - convexbody.getWorldTransform().Translation).LengthSquared();
// if (squareMot0 < convexbody.getCcdSquareMotionThreshold())
// {
// return 1f;
// }
// //const Vector3& from = convexbody.m_worldTransform.Translation;
// //Vector3 to = convexbody.m_interpolationWorldTransform.Translation;
// //todo: only do if the motion exceeds the 'radius'
// //Matrix triInv = Matrix.Invert(triBody.getWorldTransform());
// //Matrix convexFromLocal = MathUtil.bulletMatrixMultiply(triInv , convexbody.getWorldTransform());
// //Matrix convexToLocal = MathUtil.bulletMatrixMultiply(triInv , convexbody.getInterpolationWorldTransform());
// Matrix triInv = Matrix.Invert(triBody.getWorldTransform());
// Matrix convexFromLocal = MathUtil.inverseTimes(triBody.getWorldTransform(), convexbody.getWorldTransform());
// Matrix convexToLocal = MathUtil.inverseTimes(triBody.getWorldTransform(), convexbody.getInterpolationWorldTransform());
// if (triBody.getCollisionShape().isConcave())
// {
// Vector3 rayAabbMin = convexFromLocal.Translation;
// MathUtil.vectorMin(convexToLocal.Translation, ref rayAabbMin);
// Vector3 rayAabbMax = convexFromLocal.Translation;
// MathUtil.vectorMax(convexToLocal.Translation,ref rayAabbMax);
// float ccdRadius0 = convexbody.getCcdSweptSphereRadius();
// rayAabbMin -= new Vector3(ccdRadius0,ccdRadius0,ccdRadius0);
// rayAabbMax += new Vector3(ccdRadius0,ccdRadius0,ccdRadius0);
// float curHitFraction = 1.0f; //is this available?
// LocalTriangleSphereCastCallback raycastCallback = new LocalTriangleSphereCastCallback(ref convexFromLocal, ref convexToLocal,
// convexbody.getCcdSweptSphereRadius(),curHitFraction);
// raycastCallback.m_hitFraction = convexbody.getHitFraction();
// CollisionObject concavebody = triBody;
// ConcaveShape triangleMesh = (ConcaveShape) concavebody.getCollisionShape();
// if (triangleMesh != null)
// {
// triangleMesh.processAllTriangles(raycastCallback,ref rayAabbMin,ref rayAabbMax);
// }
// if (raycastCallback.m_hitFraction < convexbody.getHitFraction())
// {
// convexbody.setHitFraction( raycastCallback.m_hitFraction);
// float result = raycastCallback.m_hitFraction;
// raycastCallback.cleanup();
// return result;
// }
// raycastCallback.cleanup();
// }
// return 1f;
//}
public override void ProcessCollision(CollisionObject bodyA, CollisionObject bodyB, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
//fixme
CollisionObject convexBody = m_isSwapped ? bodyB : bodyA;
CollisionObject triBody = m_isSwapped ? bodyA : bodyB;
if (triBody.GetCollisionShape().IsConcave())
{
CollisionObject triOb = triBody;
ConcaveShape concaveShape = triOb.GetCollisionShape() as ConcaveShape;
if (convexBody.GetCollisionShape().IsConvex())
{
float collisionMarginTriangle = concaveShape.Margin;
resultOut.SetPersistentManifold(m_convexTriangleCallback.m_manifoldPtr);
m_convexTriangleCallback.SetTimeStepAndCounters(collisionMarginTriangle, dispatchInfo, resultOut);
//Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
//m_dispatcher->clearManifold(m_btConvexTriangleCallback.m_manifoldPtr);
m_convexTriangleCallback.m_manifoldPtr.SetBodies(convexBody, triBody);
Vector3 min = m_convexTriangleCallback.GetAabbMin();
Vector3 max = m_convexTriangleCallback.GetAabbMax();
concaveShape.ProcessAllTriangles(m_convexTriangleCallback, ref min,ref max);
resultOut.RefreshContactPoints();
}
}
}