//by default, Bullet will use this near callback
void defaultNearCallback( btBroadphasePair collisionPair, btCollisionDispatcher dispatcher, btDispatcherInfo dispatchInfo )
{
btCollisionObject colObj0 = (btCollisionObject)collisionPair.m_pProxy0.m_clientObject;
btCollisionObject colObj1 = (btCollisionObject)collisionPair.m_pProxy1.m_clientObject;
if( dispatcher.needsCollision( colObj0, colObj1 ) )
{
btCollisionObjectWrapper obj0Wrap = BulletGlobals.CollisionObjectWrapperPool.Get();
obj0Wrap.Initialize( null, colObj0.getCollisionShape(), colObj0, -1, -1 );
btCollisionObjectWrapper obj1Wrap = BulletGlobals.CollisionObjectWrapperPool.Get();
obj1Wrap.Initialize( null, colObj1.getCollisionShape(), colObj1, -1, -1 );
//dispatcher will keep algorithms persistent in the collision pair
if( collisionPair.m_algorithm == null )
{
collisionPair.m_algorithm = dispatcher.findAlgorithm( obj0Wrap, obj1Wrap );
}
if( collisionPair.m_algorithm != null )
{
btManifoldResult contactPointResult = BulletGlobals.ManifoldResultPool.Get();
contactPointResult.Initialize( obj0Wrap, obj1Wrap );
if( dispatchInfo.m_dispatchFunc == btDispatcherInfo.DispatchFunc.DISPATCH_DISCRETE )
{
//discrete collision detection query
collisionPair.m_algorithm.processCollision( obj0Wrap
, ref obj0Wrap.m_collisionObject.m_worldTransform
, obj1Wrap
, ref obj1Wrap.m_collisionObject.m_worldTransform
, dispatchInfo, contactPointResult );
}
else
{
//continuous collision detection query, time of impact (toi)
double toi = collisionPair.m_algorithm.calculateTimeOfImpact( colObj0, colObj1, dispatchInfo, contactPointResult );
if( dispatchInfo.m_timeOfImpact > toi )
dispatchInfo.m_timeOfImpact = toi;
}
BulletGlobals.ManifoldResultPool.Free( contactPointResult );
}
BulletGlobals.CollisionObjectWrapperPool.Free( obj0Wrap );
BulletGlobals.CollisionObjectWrapperPool.Free( obj1Wrap );
}
}
public btDiscreteDynamicsWorld()
{
btDefaultCollisionConfiguration collisionConfiguration = new btDefaultCollisionConfiguration( null );
btCollisionDispatcher dispatcher = new btCollisionDispatcher( collisionConfiguration );
btBroadphaseInterface broadphase = new btDbvtBroadphase();
btSequentialImpulseConstraintSolver solver = new btSequentialImpulseConstraintSolver();
Initialize( dispatcher, broadphase, solver, collisionConfiguration );
}
internal btCollisionPairCallback( btDispatcherInfo dispatchInfo, btCollisionDispatcher dispatcher )
{
m_dispatchInfo = ( dispatchInfo );
m_dispatcher = ( dispatcher );
}