public override void ProcessCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
{
return;
}
resultOut.SetPersistentManifold(m_manifoldPtr);
SphereShape sphere0 = body0.GetCollisionShape() as SphereShape;
SphereShape sphere1 = body1.GetCollisionShape() as SphereShape;
IndexedVector3 diff = body0.GetWorldTransform()._origin - body1.GetWorldTransform()._origin;
float len = diff.Length();
float radius0 = sphere0.GetRadius();
float radius1 = sphere1.GetRadius();
#if CLEAR_MANIFOLD
m_manifoldPtr.clearManifold(); //don't do this, it disables warmstarting
#endif
///iff distance positive, don't generate a new contact
if (len > (radius0 + radius1))
{
#if !CLEAR_MANIFOLD
resultOut.RefreshContactPoints();
#endif //CLEAR_MANIFOLD
return;
}
///distance (negative means penetration)
float dist = len - (radius0 + radius1);
IndexedVector3 normalOnSurfaceB = new IndexedVector3(1, 0, 0);
if (len > MathUtil.SIMD_EPSILON)
{
normalOnSurfaceB = diff / len;
}
///point on A (worldspace)
///btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
///point on B (worldspace)
IndexedVector3 pos1 = body1.GetWorldTransform()._origin + radius1 * normalOnSurfaceB;
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut.AddContactPoint(ref normalOnSurfaceB, ref pos1, dist);
#if !CLEAR_MANIFOLD
resultOut.RefreshContactPoints();
#endif //CLEAR_MANIFOLD
}
public float GetMarginNonVirtual()
{
switch (m_shapeType)
{
case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
{
SphereShape sphereShape = this as SphereShape;
return(sphereShape.GetRadius());
}
case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
{
BoxShape convexShape = this as BoxShape;
return(convexShape.GetMarginNV());
}
case BroadphaseNativeTypes.TRIANGLE_SHAPE_PROXYTYPE:
{
TriangleShape triangleShape = this as TriangleShape;
return(triangleShape.GetMarginNV());
}
case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
{
CylinderShape cylShape = this as CylinderShape;
return(cylShape.GetMarginNV());
}
case BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE:
{
CapsuleShape capsuleShape = this as CapsuleShape;
return(capsuleShape.GetMarginNV());
}
case BroadphaseNativeTypes.CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
/* fall through */
case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE:
{
PolyhedralConvexShape convexHullShape = this as PolyhedralConvexShape;
return(convexHullShape.GetMarginNV());
}
default:
return(this.GetMargin());
}
// should never reach here
Debug.Assert(false);
return(0.0f);
}
public override void ProcessCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
//(void)dispatchInfo;
//(void)resultOut;
if (m_manifoldPtr == null)
{
return;
}
CollisionObject sphereObj = m_isSwapped ? body1 : body0;
CollisionObject boxObj = m_isSwapped ? body0 : body1;
IndexedVector3 pOnBox = new IndexedVector3();;
IndexedVector3 normalOnSurfaceB = new IndexedVector3();
float penetrationDepth = 0f;
IndexedVector3 sphereCenter = sphereObj.GetWorldTransform()._origin;
SphereShape sphere0 = sphereObj.GetCollisionShape() as SphereShape;
float radius = sphere0.GetRadius();
float maxContactDistance = m_manifoldPtr.GetContactBreakingThreshold();
resultOut.SetPersistentManifold(m_manifoldPtr);
if (GetSphereDistance(boxObj, ref pOnBox, ref normalOnSurfaceB, ref penetrationDepth, sphereCenter, radius, maxContactDistance))
{
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut.AddContactPoint(normalOnSurfaceB, pOnBox, penetrationDepth);
}
if (m_ownManifold)
{
if (m_manifoldPtr.GetNumContacts() > 0)
{
resultOut.RefreshContactPoints();
}
}
}
