public void RecordContact <TManifold>(BepuPhysicsComponent A, BepuPhysicsComponent B, ref TManifold manifold) where TManifold : struct, IContactManifold <TManifold>
{
// sanity checking
if (A == null || B == null || manifold.Count == 0)
{
return;
}
BepuRigidbodyComponent ar = (A as BepuRigidbodyComponent);
BepuRigidbodyComponent br = (B as BepuRigidbodyComponent);
// do we want to store this collision?
if ((ar?.CollectCollisions ?? false))
{
int index = Interlocked.Increment(ref ar.processingPhysicalContactCount) - 1;
if (index < ar.CurrentPhysicalContacts.Length)
{
ar.CurrentPhysicalContacts[index].A = A;
ar.CurrentPhysicalContacts[index].B = B;
ar.CurrentPhysicalContacts[index].Normal = BepuHelpers.ToXenko(manifold.SimpleGetNormal());
ar.CurrentPhysicalContacts[index].Offset = BepuHelpers.ToXenko(manifold.SimpleGetOffset());
}
}
if ((br?.CollectCollisions ?? false))
{
int index = Interlocked.Increment(ref br.processingPhysicalContactCount) - 1;
if (index < br.CurrentPhysicalContacts.Length)
{
br.CurrentPhysicalContacts[index].A = B;
br.CurrentPhysicalContacts[index].B = A;
br.CurrentPhysicalContacts[index].Normal = -BepuHelpers.ToXenko(manifold.SimpleGetNormal());
br.CurrentPhysicalContacts[index].Offset = B.Position - (A.Position + BepuHelpers.ToXenko(manifold.SimpleGetOffset()));
}
}
}
public void OnPairCompleted <TManifold>(int pairId, ref TManifold manifold) where TManifold : struct, IContactManifold <TManifold>
{
if (manifold.Count > 0)
{
contactList.Add(new BepuContact()
{
Normal = BepuHelpers.ToXenko(manifold.SimpleGetNormal()),
Offset = BepuHelpers.ToXenko(manifold.SimpleGetOffset())
});
}
}
private static void PrepareDelegates()
{
CachedDelegates[(int)RB_ACTION.CcdMotionThreshold] = (rb) =>
{
rb.InternalBody.Collidable.Continuity = rb.bodyDescription.Collidable.Continuity;
};
CachedDelegates[(int)RB_ACTION.SleepThreshold] = (rb) =>
{
rb.InternalBody.Activity.SleepThreshold = rb.bodyDescription.Activity.SleepThreshold;
};
CachedDelegates[(int)RB_ACTION.UpdateInertia] = (rb) =>
{
rb.InternalBody.LocalInertia = rb.bodyDescription.LocalInertia;
};
CachedDelegates[(int)RB_ACTION.SpeculativeMargin] = (rb) =>
{
rb.InternalBody.Collidable.SpeculativeMargin = rb.bodyDescription.Collidable.SpeculativeMargin;
};
CachedDelegates[(int)RB_ACTION.ApplyImpulse] = (rb) =>
{
rb.IsActive = true;
lock (rb.impulsesToApply)
{
while (rb.impulsesToApply.Count > 0)
{
rb.InternalBody.ApplyLinearImpulse(BepuHelpers.ToBepu(rb.impulsesToApply.Dequeue()));
}
// update changed velocity
rb.bodyDescription.Velocity.Linear = rb.InternalBody.Velocity.Linear;
}
};
CachedDelegates[(int)RB_ACTION.ApplyImpulseOffset] = (rb) =>
{
rb.IsActive = true;
lock (rb.impulsesToApply)
{
while (rb.impulsePairs.Count > 0)
{
Vector3[] pair = rb.impulsePairs.Dequeue();
rb.InternalBody.ApplyImpulse(BepuHelpers.ToBepu(pair[0]), BepuHelpers.ToBepu(pair[1]));
}
// update changed velocities
rb.bodyDescription.Velocity.Linear = rb.InternalBody.Velocity.Linear;
rb.bodyDescription.Velocity.Angular = rb.InternalBody.Velocity.Angular;
}
};
CachedDelegates[(int)RB_ACTION.ApplyTorqueImpulse] = (rb) =>
{
rb.IsActive = true;
lock (rb.impulsesToApply)
{
while (rb.torquesToApply.Count > 0)
{
rb.InternalBody.ApplyAngularImpulse(BepuHelpers.ToBepu(rb.torquesToApply.Dequeue()));
}
// update changed velocity
rb.bodyDescription.Velocity.Angular = rb.InternalBody.Velocity.Angular;
}
};
CachedDelegates[(int)RB_ACTION.AngularVelocity] = rb =>
{
if (rb.bodyDescription.Velocity.Angular != System.Numerics.Vector3.Zero)
{
rb.IsActive = true;
}
ref BodyVelocity v = ref rb.InternalBody.Velocity;
v.Angular.X = rb.bodyDescription.Velocity.Angular.X;
v.Angular.Y = rb.bodyDescription.Velocity.Angular.Y;
v.Angular.Z = rb.bodyDescription.Velocity.Angular.Z;
};
