public void ProcessTriangle(IndexedVector3[] triangle, int partId, int triangleIndex)
{
//do a swept sphere for now
IndexedMatrix ident = IndexedMatrix.Identity;
CastResult castResult = BulletGlobals.CastResultPool.Get();
castResult.m_fraction = m_hitFraction;
SphereShape pointShape = BulletGlobals.SphereShapePool.Get();
pointShape.Initialize(m_ccdSphereRadius);
using (TriangleShape triShape = BulletGlobals.TriangleShapePool.Get())
{
triShape.Initialize(ref triangle[0], ref triangle[1], ref triangle[2]);
VoronoiSimplexSolver simplexSolver = BulletGlobals.VoronoiSimplexSolverPool.Get();
SubSimplexConvexCast convexCaster = BulletGlobals.SubSimplexConvexCastPool.Get();
convexCaster.Initialize(pointShape, triShape, simplexSolver);
//GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
//local space?
if (convexCaster.CalcTimeOfImpact(ref m_ccdSphereFromTrans, ref m_ccdSphereToTrans,
ref ident, ref ident, castResult))
{
if (m_hitFraction > castResult.m_fraction)
{
m_hitFraction = castResult.m_fraction;
}
}
BulletGlobals.SubSimplexConvexCastPool.Free(convexCaster);
BulletGlobals.VoronoiSimplexSolverPool.Free(simplexSolver);
BulletGlobals.SphereShapePool.Free(pointShape);
castResult.Cleanup();
}
}
public virtual void ProcessTriangle(IndexedVector3[] triangle, int partId, int triangleIndex)
{
//aabb filter is already applied!
CollisionAlgorithmConstructionInfo ci = new CollisionAlgorithmConstructionInfo();
ci.SetDispatcher(m_dispatcher);
CollisionObject ob = m_triBody as CollisionObject;
///debug drawing of the overlapping triangles
///
#if false
if (m_dispatchInfoPtr != null && m_dispatchInfoPtr.getDebugDraw() != null && ((m_dispatchInfoPtr.getDebugDraw().GetDebugMode() & DebugDrawModes.DBG_DrawWireframe) > 0))
{
IndexedVector3 color = new IndexedVector3(1, 1, 0);
IndexedMatrix tr = ob.GetWorldTransform();
IndexedVector3[] transformedTriangles = new IndexedVector3[3];
IndexedVector3.Transform(triangle, ref tr, transformedTriangles);
m_dispatchInfoPtr.getDebugDraw().DrawLine(ref transformedTriangles[0], ref transformedTriangles[1], ref color);
m_dispatchInfoPtr.getDebugDraw().DrawLine(ref transformedTriangles[1], ref transformedTriangles[2], ref color);
m_dispatchInfoPtr.getDebugDraw().DrawLine(ref transformedTriangles[2], ref transformedTriangles[0], ref color);
}
#endif
if (m_convexBody.GetCollisionShape().IsConvex())
{
using (TriangleShape tm = BulletGlobals.TriangleShapePool.Get())
{
tm.Initialize(ref triangle[0], ref triangle[1], ref triangle[2]);
tm.SetMargin(m_collisionMarginTriangle);
CollisionShape tmpShape = ob.GetCollisionShape();
ob.InternalSetTemporaryCollisionShape(tm);
CollisionAlgorithm colAlgo = ci.GetDispatcher().FindAlgorithm(m_convexBody, m_triBody, m_manifoldPtr);
///this should use the btDispatcher, so the actual registered algorithm is used
// btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
if (m_resultOut.GetBody0Internal() == m_triBody)
{
m_resultOut.SetShapeIdentifiersA(partId, triangleIndex);
}
else
{
m_resultOut.SetShapeIdentifiersB(partId, triangleIndex);
}
colAlgo.ProcessCollision(m_convexBody, m_triBody, m_dispatchInfoPtr, m_resultOut);
ci.GetDispatcher().FreeCollisionAlgorithm(colAlgo);
colAlgo = null;
ob.InternalSetTemporaryCollisionShape(tmpShape);
}
}
}