public void PerformRaycast(ITriangleCallback callback, ref IndexedVector3 raySource, ref IndexedVector3 rayTarget)
{
if (m_bvh != null)
{
using (MyNodeOverlapCallback myNodeCallback = BulletGlobals.MyNodeOverlapCallbackPool.Get())
{
myNodeCallback.Initialize(callback, m_meshInterface);
m_bvh.ReportRayOverlappingNodex(myNodeCallback, ref raySource, ref rayTarget);
}
}
}
public void PerformConvexCast(ITriangleCallback callback, ref IndexedVector3 boxSource, ref IndexedVector3 boxTarget, ref IndexedVector3 boxMin, ref IndexedVector3 boxMax)
{
if (m_bvh != null)
{
using (MyNodeOverlapCallback myNodeCallback = BulletGlobals.MyNodeOverlapCallbackPool.Get())
{
myNodeCallback.Initialize(callback, m_meshInterface);
m_bvh.ReportBoxCastOverlappingNodex(myNodeCallback, ref boxSource, ref boxTarget, ref boxMin, ref boxMax);
}
}
}
//public override void processAllTriangles(ITriangleCallback callback, ref IndexedVector3 aabbMin, ref IndexedVector3 aabbMax)
public override void ProcessAllTriangles(ITriangleCallback callback, ref IndexedVector3 aabbMin, ref IndexedVector3 aabbMax)
{
#if DISABLE_BVH
base.ProcessAllTriangles(callback, ref aabbMin, ref aabbMax);
#else
if (m_bvh != null)
{
using (MyNodeOverlapCallback myNodeCallback = BulletGlobals.MyNodeOverlapCallbackPool.Get())
{
myNodeCallback.Initialize(callback, m_meshInterface);
m_bvh.ReportAabbOverlappingNodex(myNodeCallback, ref aabbMin, ref aabbMax);
}
}
#endif
}
public virtual void SetAabb(BroadphaseProxy proxy, ref IndexedVector3 aabbMin, ref IndexedVector3 aabbMax, IDispatcher dispatcher)
{
MultiSapProxy multiProxy = (MultiSapProxy)proxy;
multiProxy.m_aabbMin = aabbMin;
multiProxy.m_aabbMax = aabbMax;
MyNodeOverlapCallback myNodeCallback = new MyNodeOverlapCallback(this, multiProxy, dispatcher);
if (m_optimizedAabbTree != null)
{
m_optimizedAabbTree.ReportAabbOverlappingNodex(myNodeCallback, ref aabbMin, ref aabbMax);
}
for (int i = 0; i < multiProxy.m_bridgeProxies.Count; i++)
{
IndexedVector3 worldAabbMin;
IndexedVector3 worldAabbMax;
multiProxy.m_bridgeProxies[i].m_childBroadphase.GetBroadphaseAabb(out worldAabbMin, out worldAabbMax);
bool overlapsBroadphase = AabbUtil2.TestAabbAgainstAabb2(ref worldAabbMin, ref worldAabbMax, ref multiProxy.m_aabbMin, ref multiProxy.m_aabbMax);
if (!overlapsBroadphase)
{
//remove it now
BridgeProxy bridgeProxy = multiProxy.m_bridgeProxies[i];
BroadphaseProxy childProxy = bridgeProxy.m_childProxy;
bridgeProxy.m_childBroadphase.DestroyProxy(childProxy, dispatcher);
multiProxy.m_bridgeProxies.RemoveAtQuick(i);
}
}
/*
*
* if (1)
* {
*
* //find broadphase that contain this multiProxy
* int numChildBroadphases = getBroadphaseArray().size();
* for (int i=0;i<numChildBroadphases;i++)
* {
* btBroadphaseInterface* childBroadphase = getBroadphaseArray()[i];
* btVector3 worldAabbMin,worldAabbMax;
* childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax);
* bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
*
* // fullyContained = fullyContained || boxIsContainedWithinBox(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
* int containingBroadphaseIndex = -1;
*
* //if already contains this
*
* for (int i=0;i<multiProxy->m_bridgeProxies.size();i++)
* {
* if (multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase)
* {
* containingBroadphaseIndex = i;
* }
* alreadyInSimple = alreadyInSimple || (multiProxy->m_bridgeProxies[i]->m_childBroadphase == m_simpleBroadphase);
* }
*
* if (overlapsBroadphase)
* {
* if (containingBroadphaseIndex<0)
* {
* btBroadphaseProxy* childProxy = childBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
* childProxy->m_multiSapParentProxy = multiProxy;
* addToChildBroadphase(multiProxy,childProxy,childBroadphase);
* }
* } else
* {
* if (containingBroadphaseIndex>=0)
* {
* //remove
* btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[containingBroadphaseIndex];
*
* btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy;
* bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher);
*
* multiProxy->m_bridgeProxies.swap( containingBroadphaseIndex,multiProxy->m_bridgeProxies.size()-1);
* multiProxy->m_bridgeProxies.pop_back();
* }
* }
* }
*
*
* ///If we are in no other child broadphase, stick the proxy in the global 'simple' broadphase (brute force)
* ///hopefully we don't end up with many entries here (can assert/provide feedback on stats)
* if (0)//!multiProxy->m_bridgeProxies.size())
* {
* ///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision
* ///this is needed to be able to calculate the aabb overlap
* btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
* childProxy->m_multiSapParentProxy = multiProxy;
* addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase);
* }
* }
*
* if (!multiProxy->m_bridgeProxies.size())
* {
* ///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision
* ///this is needed to be able to calculate the aabb overlap
* btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
* childProxy->m_multiSapParentProxy = multiProxy;
* addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase);
* }
*/
//update
for (int i = 0; i < multiProxy.m_bridgeProxies.Count; i++)
{
BridgeProxy bridgeProxyRef = multiProxy.m_bridgeProxies[i];
bridgeProxyRef.m_childBroadphase.SetAabb(bridgeProxyRef.m_childProxy, ref aabbMin, ref aabbMax, dispatcher);
}
}
