public btContinuousConvexCollision( btConvexShape convexA, btStaticPlaneShape plane )
{
m_simplexSolver = ( null );
m_penetrationDepthSolver = ( null );
m_convexA = ( convexA ); m_convexB1 = ( null ); m_planeShape = ( plane );
}
// pass null to use default construction info
public btDefaultCollisionConfiguration( btDefaultCollisionConstructionInfo constructionInfo )
//btDefaultCollisionConfiguration(btStackAlloc* stackAlloc,btPoolAllocator* persistentManifoldPool,btPoolAllocator* collisionAlgorithmPool)
{
if( constructionInfo == null )
constructionInfo = new btDefaultCollisionConstructionInfo();
m_simplexSolver = BulletGlobals.VoronoiSimplexSolverPool.Get();
#if !REMOVE_OBSOLETE_SOLVER
if( constructionInfo.m_useEpaPenetrationAlgorithm )
#endif
{
m_pdSolver = BulletGlobals.GjkEpaPenetrationDepthSolverPool.Get();
}
#if !REMOVE_OBSOLETE_SOLVER
else
{
mem = btAlignedAlloc( sizeof( btMinkowskiPenetrationDepthSolver ), 16 );
m_pdSolver =
new btMinkowskiPenetrationDepthSolver;
}
#endif
//default CreationFunctions, filling the m_doubleDispatch table
m_convexConvexCreateFunc = new btConvexConvexAlgorithm.CreateFunc( m_simplexSolver, m_pdSolver );
m_convexConcaveCreateFunc = new btConvexConcaveCollisionAlgorithm.CreateFunc();
m_swappedConvexConcaveCreateFunc = new btConvexConcaveCollisionAlgorithm.SwappedCreateFunc();
m_compoundCreateFunc = new btCompoundCollisionAlgorithm.CreateFunc();
m_compoundCompoundCreateFunc = new btCompoundCompoundCollisionAlgorithm.CreateFunc();
m_swappedCompoundCreateFunc = new btCompoundCollisionAlgorithm.SwappedCreateFunc();
m_emptyCreateFunc = new btEmptyAlgorithm.CreateFunc();
m_sphereSphereCF = new btSphereSphereCollisionAlgorithm.CreateFunc();
#if USE_BUGGY_SPHERE_BOX_ALGORITHM
m_sphereBoxCF = new(mem) btSphereBoxCollisionAlgorithm.CreateFunc;
m_boxSphereCF = new (mem)btSphereBoxCollisionAlgorithm.CreateFunc;
m_boxSphereCF.m_swapped = true;
#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
m_sphereTriangleCF = new btSphereTriangleCollisionAlgorithm.CreateFunc();
m_triangleSphereCF = new btSphereTriangleCollisionAlgorithm.CreateFunc();
m_triangleSphereCF.m_swapped = true;
m_boxBoxCF = new btBoxBoxCollisionAlgorithm.CreateFunc();
//convex versus plane
m_convexPlaneCF = new btConvexPlaneCollisionAlgorithm.CreateFunc();
m_planeConvexCF = new btConvexPlaneCollisionAlgorithm.CreateFunc();
m_planeConvexCF.m_swapped = true;
///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
/*
int maxSize = sizeof( btConvexConvexAlgorithm );
int maxSize2 = sizeof( btConvexConcaveCollisionAlgorithm );
int maxSize3 = sizeof( btCompoundCollisionAlgorithm );
int maxSize4 = sizeof( btCompoundCompoundCollisionAlgorithm );
int collisionAlgorithmMaxElementSize = btScalar.btMax( maxSize, constructionInfo.m_customCollisionAlgorithmMaxElementSize );
collisionAlgorithmMaxElementSize = btScalar.btMax( collisionAlgorithmMaxElementSize, maxSize2 );
collisionAlgorithmMaxElementSize = btScalar.btMax( collisionAlgorithmMaxElementSize, maxSize3 );
collisionAlgorithmMaxElementSize = btScalar.btMax( collisionAlgorithmMaxElementSize, maxSize4 );
*/
/*
if( constructionInfo.m_persistentManifoldPool )
{
m_ownsPersistentManifoldPool = false;
m_persistentManifoldPool = constructionInfo.m_persistentManifoldPool;
}
else
{
m_ownsPersistentManifoldPool = true;
object mem = btAlignedAlloc( sizeof( btPoolAllocator ), 16 );
m_persistentManifoldPool = new btPoolAllocator( sizeof( btPersistentManifold ), constructionInfo.m_defaultMaxPersistentManifoldPoolSize );
}
if( constructionInfo.m_collisionAlgorithmPool )
{
m_ownsCollisionAlgorithmPool = false;
m_collisionAlgorithmPool = constructionInfo.m_collisionAlgorithmPool;
}
else
{
m_ownsCollisionAlgorithmPool = true;
object mem = btAlignedAlloc( sizeof( btPoolAllocator ), 16 );
m_collisionAlgorithmPool = new btPoolAllocator( collisionAlgorithmMaxElementSize, constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize );
}
*/
}
internal void Initialize( btConvexShape convexA, btStaticPlaneShape plane )
{
m_simplexSolver = ( null );
m_penetrationDepthSolver = ( null );
m_convexA = ( convexA ); m_convexB1 = ( null ); m_planeShape = ( plane );
}
internal void Initialize( btConvexShape convexA, btConvexShape convexB, btSimplexSolverInterface simplexSolver, btConvexPenetrationDepthSolver penetrationDepthSolver )
{
m_simplexSolver = ( simplexSolver );
m_penetrationDepthSolver = ( penetrationDepthSolver );
m_convexA = ( convexA ); m_convexB1 = ( convexB ); m_planeShape = null;
}
public void Initialize( btPersistentManifold mf, btCollisionAlgorithmConstructionInfo ci, btCollisionObjectWrapper body0Wrap, btCollisionObjectWrapper body1Wrap, btSimplexSolverInterface simplexSolver, btConvexPenetrationDepthSolver pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold )
{
base.Initialize( ci, body0Wrap, body1Wrap );
m_simplexSolver = ( simplexSolver );
m_pdSolver = ( pdSolver );
m_ownManifold = ( false );
m_manifoldPtr = ( mf );
m_lowLevelOfDetail = ( false );
#if USE_SEPDISTANCE_UTIL2
m_sepDistance((static_cast<btConvexShape*>(body0.getCollisionShape())).getAngularMotionDisc(),
(static_cast<btConvexShape*>(body1.getCollisionShape())).getAngularMotionDisc()),
#endif
m_numPerturbationIterations = ( numPerturbationIterations );
m_minimumPointsPerturbationThreshold = ( minimumPointsPerturbationThreshold );
}
internal CreateFunc( btSimplexSolverInterface simplexSolver, btConvexPenetrationDepthSolver pdSolver )
{
m_numPerturbationIterations = 0;
m_minimumPointsPerturbationThreshold = 3;
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
}
///cache separating vector to speedup collision detection
internal override void Cleanup()
{
if( m_ownManifold )
m_dispatcher.releaseManifold( m_manifoldPtr );
m_simplexSolver = null;
m_pdSolver = null;
m_manifoldPtr = null;
}
internal void Initialize( btConvexShape objectA, btConvexShape objectB, btSimplexSolverInterface simplexSolver
, btConvexPenetrationDepthSolver penetrationDepthSolver )
{
m_cachedSeparatingAxis = btVector3.yAxis;
m_penetrationDepthSolver = ( penetrationDepthSolver );
m_simplexSolver = ( simplexSolver );
m_minkowskiA = ( objectA );
m_minkowskiB = ( objectB );
m_shapeTypeA = ( objectA.getShapeType() );
m_shapeTypeB = ( objectB.getShapeType() );
m_marginA = ( objectA.getMargin() );
m_marginB = ( objectB.getMargin() );
m_ignoreMargin = ( false );
m_lastUsedMethod = ( -1 );
m_catchDegeneracies = ( 1 );
m_fixContactNormalDirection = ( 1 );
}
internal void setPenetrationDepthSolver( btConvexPenetrationDepthSolver penetrationDepthSolver )
{
m_penetrationDepthSolver = penetrationDepthSolver;
}
