public void AddContactPoint(CollisionObject body0,
CollisionObject body1,
ref IndexedVector3 point,
ref IndexedVector3 normal,
float distance)
{
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
{
BulletGlobals.g_streamWriter.WriteLine("GImpactAlgo::AddContactPoint");
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "point", point);
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "normal", normal);
}
#endif
m_resultOut.SetShapeIdentifiersA(m_part0, m_triface0);
m_resultOut.SetShapeIdentifiersB(m_part1, m_triface1);
CheckManifold(body0, body1);
m_resultOut.AddContactPoint(normal, point, distance);
}
public virtual void ProcessTriangle(IndexedVector3[] triangle, int partId, int triangleIndex)
{
if (!AabbUtil2.TestTriangleAgainstAabb2(triangle, ref m_aabbMin, ref m_aabbMax))
{
return;
}
//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);
}
}
}
public void ProcessChildShape(CollisionShape childShape, int index)
{
Debug.Assert(index >= 0);
CompoundShape compoundShape = (CompoundShape)(m_compoundColObj.GetCollisionShape());
Debug.Assert(index < compoundShape.GetNumChildShapes());
//backup
IndexedMatrix orgTrans = m_compoundColObj.GetWorldTransform();
IndexedMatrix orgInterpolationTrans = m_compoundColObj.GetInterpolationWorldTransform();
IndexedMatrix childTrans = compoundShape.GetChildTransform(index);
IndexedMatrix newChildWorldTrans = orgTrans * childTrans;
//perform an AABB check first
IndexedVector3 aabbMin0;
IndexedVector3 aabbMax0;
IndexedVector3 aabbMin1;
IndexedVector3 aabbMax1;
childShape.GetAabb(ref newChildWorldTrans, out aabbMin0, out aabbMax0);
m_otherObj.GetCollisionShape().GetAabb(m_otherObj.GetWorldTransform(), out aabbMin1, out aabbMax1);
if (AabbUtil2.TestAabbAgainstAabb2(ref aabbMin0, ref aabbMax0, ref aabbMin1, ref aabbMax1))
{
m_compoundColObj.SetWorldTransform(ref newChildWorldTrans);
m_compoundColObj.SetInterpolationWorldTransform(ref newChildWorldTrans);
//the contactpoint is still projected back using the original inverted worldtrans
CollisionShape tmpShape = m_compoundColObj.GetCollisionShape();
m_compoundColObj.InternalSetTemporaryCollisionShape(childShape);
if (m_childCollisionAlgorithms[index] == null)
{
m_childCollisionAlgorithms[index] = m_dispatcher.FindAlgorithm(m_compoundColObj, m_otherObj, m_sharedManifold);
if (m_childCollisionAlgorithms[index] == m_parent)
{
int ibreak = 0;
}
}
///detect swapping case
if (m_resultOut.GetBody0Internal() == m_compoundColObj)
{
m_resultOut.SetShapeIdentifiersA(-1, index);
}
else
{
m_resultOut.SetShapeIdentifiersB(-1, index);
}
m_childCollisionAlgorithms[index].ProcessCollision(m_compoundColObj, m_otherObj, m_dispatchInfo, m_resultOut);
if (m_dispatchInfo.getDebugDraw() != null && (((m_dispatchInfo.getDebugDraw().GetDebugMode() & DebugDrawModes.DBG_DrawAabb)) != 0))
{
IndexedVector3 worldAabbMin = IndexedVector3.Zero, worldAabbMax = IndexedVector3.Zero;
m_dispatchInfo.getDebugDraw().DrawAabb(aabbMin0, aabbMax0, new IndexedVector3(1, 1, 1));
m_dispatchInfo.getDebugDraw().DrawAabb(aabbMin1, aabbMax1, new IndexedVector3(1, 1, 1));
}
//revert back transform
m_compoundColObj.InternalSetTemporaryCollisionShape(tmpShape);
m_compoundColObj.SetWorldTransform(ref orgTrans);
m_compoundColObj.SetInterpolationWorldTransform(ref orgInterpolationTrans);
}
}