/// <summary>
/// Create a new instance of the <see cref="World"/> class.
/// </summary>
/// <param name="collision">The collisionSystem which is used to detect
/// collisions. See for example: <see cref="CollisionSystemSAP"/>
/// or <see cref="CollisionSystemBrute"/>.
/// </param>
public World(CollisionSystem collision)
{
if (collision == null)
{
throw new ArgumentNullException("The CollisionSystem can't be null.", "collision");
}
arbiterCallback = new Action <object>(ArbiterCallback);
integrateCallback = new Action <object>(IntegrateCallback);
// Create the readonly wrappers
this.RigidBodies = new ReadOnlyHashset <RigidBody>(rigidBodies);
this.Constraints = new ReadOnlyHashset <Constraint>(constraints);
this.SoftBodies = new ReadOnlyHashset <SoftBody>(softbodies);
this.CollisionSystem = collision;
collisionDetectionHandler = new CollisionDetectedHandler(CollisionDetected);
this.CollisionSystem.CollisionDetected += collisionDetectionHandler;
this.arbiterMap = new ArbiterMap();
AllowDeactivation = true;
}
public virtual void DoSelfCollision(CollisionDetectedHandler collision)
{
bool flag = !this.selfCollision;
if (!flag)
{
for (int i = 0; i < this.points.Count; i++)
{
this.queryList.Clear();
this.dynamicTree.Query(this.queryList, ref this.points[i].boundingBox);
for (int j = 0; j < this.queryList.Count; j++)
{
SoftBody.Triangle userData = this.dynamicTree.GetUserData(this.queryList[j]);
bool flag2 = userData.VertexBody1 != this.points[i] && userData.VertexBody2 != this.points[i] && userData.VertexBody3 != this.points[i];
if (flag2)
{
TSVector tSVector;
TSVector normal;
FP penetration;
bool flag3 = XenoCollide.Detect(this.points[i].Shape, userData, ref this.points[i].orientation, ref TSMatrix.InternalIdentity, ref this.points[i].position, ref TSVector.InternalZero, out tSVector, out normal, out penetration);
if (flag3)
{
int index = CollisionSystem.FindNearestTrianglePoint(this, this.queryList[j], ref tSVector);
collision(this.points[i], this.points[index], tSVector, tSVector, normal, penetration);
}
}
}
}
}
}
public virtual void DoSelfCollision(CollisionDetectedHandler collision)
{
if (!selfCollision)
{
return;
}
JVector point, normal;
float penetration;
for (int i = 0; i < points.Count; i++)
{
queryList.Clear();
this.dynamicTree.Query(queryList, ref points[i].boundingBox);
for (int e = 0; e < queryList.Count; e++)
{
Triangle t = this.dynamicTree.GetUserData(queryList[e]);
if (!(t.VertexBody1 == points[i] || t.VertexBody2 == points[i] || t.VertexBody3 == points[i]))
{
if (XenoCollide.Detect(points[i].Shape, t, ref points[i].orientation,
ref JMatrix.InternalIdentity, ref points[i].position, ref JVector.InternalZero,
out point, out normal, out penetration))
{
int nearest = CollisionSystem.FindNearestTrianglePoint(this, queryList[e], ref point);
collision(points[i], points[nearest], point, point, normal, penetration);
}
}
}
}
}
public World(CollisionSystem collision)
{
CollisionSystem = collision ?? throw new ArgumentNullException("The CollisionSystem can't be null.", nameof(collision));
arbiterCallback = new Action <object>(ArbiterCallback);
integrateCallback = new Action <object>(IntegrateCallback);
RigidBodies = new ReadOnlyHashset <RigidBody>(rigidBodies);
Constraints = new ReadOnlyHashset <Constraint>(constraints);
SoftBodies = new ReadOnlyHashset <SoftBody>(softbodies);
collisionDetectionHandler = new CollisionDetectedHandler(CollisionDetected);
CollisionSystem.CollisionDetected += collisionDetectionHandler;
ArbiterMap = new ArbiterMap();
AllowDeactivation = true;
}
public World(CollisionSystem collision)
{
if (collision == null) throw new ArgumentNullException("collision", "The CollisionSystem can't be null.");
arbiterCallback = ArbiterCallback;
integrateCallback = IntegrateCallback;
RigidBodies = new ReadOnlyHashset<RigidBody>(rigidBodies);
Constraints = new ReadOnlyHashset<Constraint>(constraints);
SoftBodies = new ReadOnlyHashset<SoftBody>(softbodies);
CollisionSystem = collision;
collisionDetectionHandler = CollisionDetected;
CollisionSystem.CollisionDetected += collisionDetectionHandler;
arbiterMap = new ArbiterMap();
AllowDeactivation = true;
}
public World(CollisionSystem collision)
{
if (collision == null) throw new ArgumentNullException("collision", "The CollisionSystem can't be null.");
arbiterCallback = ArbiterCallback;
integrateCallback = IntegrateCallback;
RigidBodies = new ReadOnlyHashset<RigidBody>(rigidBodies);
Constraints = new ReadOnlyHashset<Constraint>(constraints);
SoftBodies = new ReadOnlyHashset<SoftBody>(softbodies);
CollisionSystem = collision;
collisionDetectionHandler = CollisionDetected;
CollisionSystem.CollisionDetected += collisionDetectionHandler;
arbiterMap = new ArbiterMap();
AllowDeactivation = true;
}
public World(CollisionSystem collision)
{
bool flag = collision == null;
if (flag)
{
throw new ArgumentNullException("The CollisionSystem can't be null.", "collision");
}
RigidBody.instanceCount = 0;
Constraint.instanceCount = 0;
this.arbiterCallback = new Action <object>(this.ArbiterCallback);
this.integrateCallback = new Action <object>(this.IntegrateCallback);
this.RigidBodies = new ReadOnlyHashset <RigidBody>(this.rigidBodies);
this.Constraints = new ReadOnlyHashset <Constraint>(this.constraints);
this.SoftBodies = new ReadOnlyHashset <SoftBody>(this.softbodies);
this.CollisionSystem = collision;
this.collisionDetectionHandler = new CollisionDetectedHandler(this.CollisionDetected);
this.CollisionSystem.CollisionDetected += this.collisionDetectionHandler;
this.arbiterMap = new ArbiterMap();
this.arbiterTriggerMap = new ArbiterMap();
this.AllowDeactivation = false;
}
/// <summary>
/// Create a new instance of the <see cref="World"/> class.
/// </summary>
/// <param name="collision">The collisionSystem which is used to detect
/// collisions. See for example: <see cref="CollisionSystemSAP"/>
/// or <see cref="CollisionSystemBrute"/>.
/// </param>
public World(CollisionSystem system)
{
Debug.Assert(system != null, "Collision system can't be null.");
Arbiter.World = this;
arbiterCallback = ArbiterCallback;
integrateCallback = IntegrateCallback;
// Create the readonly wrappers
this.RigidBodies = new ReadOnlyHashset <RigidBody>(rigidBodies);
this.Constraints = new ReadOnlyHashset <Constraint>(constraints);
this.SoftBodies = new ReadOnlyHashset <SoftBody>(softbodies);
this.CollisionSystem = system;
collisionDetectionHandler = new CollisionDetectedHandler(CollisionDetected);
this.CollisionSystem.CollisionDetected += collisionDetectionHandler;
this.arbiterMap = new ArbiterMap();
AllowDeactivation = true;
}
/// <summary>
/// Create a new instance of the <see cref="World"/> class.
/// </summary>
/// <param name="collision">The collisionSystem which is used to detect
/// collisions. See for example: <see cref="CollisionSystemSAP"/>
/// or <see cref="CollisionSystemBrute"/>.
/// </param>
public World(CollisionSystem collision)
{
if (collision == null)
throw new ArgumentNullException("The CollisionSystem can't be null.", "collision");
arbiterCallback = new Action<object>(ArbiterCallback);
integrateCallback = new Action<object>(IntegrateCallback);
// Create the readonly wrappers
this.RigidBodies = new ReadOnlyHashset<RigidBody>(rigidBodies);
this.Constraints = new ReadOnlyHashset<Constraint>(constraints);
this.SoftBodies = new ReadOnlyHashset<SoftBody>(softbodies);
this.CollisionSystem = collision;
collisionDetectionHandler = new CollisionDetectedHandler(CollisionDetected);
this.CollisionSystem.CollisionDetected += collisionDetectionHandler;
this.arbiterMap = new ArbiterMap();
AllowDeactivation = true;
}
public virtual void DoSelfCollision(CollisionDetectedHandler collision)
{
if (!selfCollision) return;
JVector point, normal;
float penetration;
for (int i = 0; i < points.Count; i++)
{
queryList.Clear();
this.dynamicTree.Query(queryList, ref points[i].boundingBox);
for (int e = 0; e < queryList.Count; e++)
{
Triangle t = this.dynamicTree.GetUserData(queryList[e]);
if (!(t.VertexBody1 == points[i] || t.VertexBody2 == points[i] || t.VertexBody3 == points[i]))
{
if (XenoCollide.Detect(points[i].Shape, t, ref points[i].orientation,
ref JMatrix.InternalIdentity, ref points[i].position, ref JVector.InternalZero,
out point, out normal, out penetration))
{
int nearest = CollisionSystem.FindNearestTrianglePoint(this, queryList[e], ref point);
collision(points[i], points[nearest], point, point, normal, penetration);
}
}
}
}
}
