public override void DumpDebugInfo(StringBuilder stringBuilder)
{
base.DumpDebugInfo(stringBuilder);
stringBuilder.AppendFormat("BulletXNAObject type[{0}] actiState[{1}] mask[{2}] flags[{3}]", RigidBody != null?"RB":"G", CollisionObject.GetActivationState(), CollisionMask, CollisionGroups);
GameComponentHelper.PrintVector3(stringBuilder, "LinVel", LinearVelocity);
if (CollisionObject.GetBroadphaseHandle() != null)
{
GameComponentHelper.PrintVector3(stringBuilder, "aaBMin", CollisionObject.GetBroadphaseHandle().m_aabbMin);
GameComponentHelper.PrintVector3(stringBuilder, "aaBMax", CollisionObject.GetBroadphaseHandle().m_aabbMax);
}
}
public override bool NeedsCollision(BroadphaseProxy proxy0)
{
//don't collide with itself
if (proxy0.m_clientObject == m_me)
{
return(false);
}
///don't do CCD when the collision filters are not matching
if (!base.NeedsCollision(proxy0))
{
return(false);
}
CollisionObject otherObj = proxy0.m_clientObject as CollisionObject;
//call needsResponse, see http://code.google.com/p/bullet/issues/detail?id=179
if (m_dispatcher.NeedsResponse(m_me, otherObj))
{
#if false
///don't do CCD when there are already contact points (touching contact/penetration)
PersistentManifoldArray manifoldArray = new PersistentManifoldArray();
BroadphasePair collisionPair = m_pairCache.FindPair(m_me.GetBroadphaseHandle(), proxy0);
if (collisionPair != null)
{
if (collisionPair.m_algorithm != null)
{
collisionPair.m_algorithm.GetAllContactManifolds(manifoldArray);
int length = manifoldArray.Count;
for (int i = 0; i < length; ++i)
{
if (manifoldArray[i].GetNumContacts() > 0)
{
return(false);
}
}
}
}
#endif
return(true);
}
return(false);
}
//----------------------------------------------------------------------------------------------
public override void ClientResetScene()
{
//#ifdef SHOW_NUM_DEEP_PENETRATIONS
gNumDeepPenetrationChecks = 0;
gNumGjkChecks = 0;
//#endif //SHOW_NUM_DEEP_PENETRATIONS
gNumClampedCcdMotions = 0;
int numObjects = 0;
foreach (DiscreteDynamicsWorld world in m_worlds)
{
// Prefer a better place for this...
world.SetDebugDrawer(m_debugDraw);
numObjects = world.GetNumCollisionObjects();
IList <CollisionObject> copyArray = world.GetCollisionObjectArray();
for (int i = 0; i < numObjects; i++)
{
CollisionObject colObj = copyArray[i];
RigidBody body = RigidBody.Upcast(colObj);
if (body != null)
{
if (body.GetMotionState() != null)
{
DefaultMotionState myMotionState = (DefaultMotionState)body.GetMotionState();
myMotionState.m_graphicsWorldTrans = myMotionState.m_startWorldTrans;
body.SetCenterOfMassTransform(ref myMotionState.m_graphicsWorldTrans);
colObj.SetInterpolationWorldTransform(ref myMotionState.m_startWorldTrans);
if (colObj.GetActivationState() != ActivationState.DISABLE_DEACTIVATION)
{
colObj.ForceActivationState(ActivationState.ACTIVE_TAG);
colObj.Activate();
colObj.SetDeactivationTime(0);
}
//colObj.setActivationState(WANTS_DEACTIVATION);
}
//removed cached contact points (this is not necessary if all objects have been removed from the dynamics world)
world.GetBroadphase().GetOverlappingPairCache().CleanProxyFromPairs(colObj.GetBroadphaseHandle(), world.GetDispatcher());
if (!body.IsStaticObject())
{
IndexedVector3 zero = IndexedVector3.Zero;
body.SetLinearVelocity(ref zero);
body.SetAngularVelocity(ref zero);
}
}
}
///reset some internal cached data in the broadphase
world.GetBroadphase().ResetPool(world.GetDispatcher());
world.GetConstraintSolver().Reset();
}
}
