} // for pool
public SphereTriangleCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, bool swapped)
: base(ci, body0, body1)
{
m_ownManifold = false;
m_manifoldPtr = mf;
m_swapped = swapped;
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
ConvexConvexAlgorithm cca = BulletGlobals.ConvexConvexAlgorithmPool.Get();
cca.Initialize(ci.GetManifold(), ci, body0, body1, m_simplexSolver, m_pdSolver, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
return(cca);
}
public virtual void Initialize(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, bool swapped)
{
base.Initialize(ci, body0, body1);
m_ownManifold = false;
m_manifoldPtr = mf;
m_swapped = swapped;
}
public SphereTriangleCollisionAlgorithm() { } // for pool
public SphereTriangleCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, bool swapped)
: base(ci, body0, body1)
{
m_ownManifold = false;
m_manifoldPtr = mf;
m_swapped = swapped;
}
public virtual void Initialize(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, bool swapped)
{
base.Initialize(ci, body0, body1);
m_ownManifold = false;
m_manifoldPtr = mf;
m_swapped = swapped;
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
SphereSphereCollisionAlgorithm algo = BulletGlobals.SphereSphereCollisionAlgorithmPool.Get();
algo.Initialize(null, ci, body0, body1);
return(algo);
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
SphereTriangleCollisionAlgorithm algo = BulletGlobals.SphereTriangleCollisionAlgorithmPool.Get();
algo.Initialize(ci.GetManifold(), ci, body0, body1, m_swapped);
return(algo);
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
ConvexConcaveCollisionAlgorithm algo = BulletGlobals.ConvexConcaveCollisionAlgorithmPool.Get();
algo.Inititialize(ci, body0, body1, true);
return(algo);
}
public virtual void ProcessTriangle(IndexedVector3[] triangle, int partId, int triangleIndex)
{
//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 CollisionAlgorithm FindAlgorithm(CollisionObject body0, CollisionObject body1, PersistentManifold sharedManifold)
{
CollisionAlgorithmConstructionInfo ci = new CollisionAlgorithmConstructionInfo(this, -1);
ci.SetManifold(sharedManifold);
int index1 = (int)body0.GetCollisionShape().GetShapeType();
int index2 = (int)body1.GetCollisionShape().GetShapeType();
return(m_doubleDispatch[index1, index2].CreateCollisionAlgorithm(ci, body0, body1));
}
public Convex2dConvex2dAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: base(ci, body0, body1)
{
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
m_ownManifold = false;
m_manifoldPtr = mf;
m_lowLevelOfDetail = false;
m_numPerturbationIterations = numPerturbationIterations;
m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
}
public Box2dBox2dCollisionAlgorithm(PersistentManifold mf,CollisionAlgorithmConstructionInfo ci,CollisionObject body0,CollisionObject body1) :
base(ci,body0,body1)
{
m_ownManifold = false;
m_manifoldPtr = mf;
if (m_manifoldPtr == null && m_dispatcher.NeedsCollision(body0, body1))
{
m_manifoldPtr = m_dispatcher.GetNewManifold(body0, body1);
m_ownManifold = true;
}
}
public Convex2dConvex2dAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: base(ci, body0, body1)
{
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
m_ownManifold = false;
m_manifoldPtr = mf;
m_lowLevelOfDetail = false;
m_numPerturbationIterations = numPerturbationIterations;
m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
}
public void Initialize(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
base.Initialize(ci);
m_ownManifold = false;
m_manifoldPtr = mf;
if (m_manifoldPtr == null && m_dispatcher.NeedsCollision(body0, body1))
{
m_manifoldPtr = m_dispatcher.GetNewManifold(body0, body1);
m_ownManifold = true;
}
}
public virtual void Initialize(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, bool isSwapped)
{
base.Initialize(ci, body0, body1);
m_isSwapped = isSwapped;
m_sharedManifold = ci.GetManifold();
m_ownsManifold = false;
CollisionObject colObj = m_isSwapped ? body1 : body0;
Debug.Assert(colObj.GetCollisionShape().IsCompound());
CompoundShape compoundShape = (CompoundShape)(colObj.GetCollisionShape());
m_compoundShapeRevision = compoundShape.GetUpdateRevision();
PreallocateChildAlgorithms(body0, body1);
}
public virtual void Initialize(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject colObj0, CollisionObject colObj1)
{
base.Initialize(ci, colObj0, colObj1);
m_ownManifold = false;
m_manifoldPtr = mf;
if (m_manifoldPtr == null)
{
m_manifoldPtr = m_dispatcher.GetNewManifold(colObj0, colObj1);
m_ownManifold = true;
}
}
public virtual void Initialize(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject colObj0, CollisionObject colObj1)
{
base.Initialize(ci, colObj0, colObj1);
m_ownManifold = false;
m_manifoldPtr = mf;
if (m_manifoldPtr == null)
{
m_manifoldPtr = m_dispatcher.GetNewManifold(colObj0, colObj1);
m_ownManifold = true;
}
}
public void Inititialize(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, bool isSwapped)
{
base.Initialize(ci, body0, body1);
m_isSwapped = isSwapped;
if (m_convexTriangleCallback == null)
{
m_convexTriangleCallback = new ConvexTriangleCallback(m_dispatcher, body0, body1, isSwapped);
}
else
{
m_convexTriangleCallback.Initialize(m_dispatcher, body0, body1, isSwapped);
}
}
} // for pool
public SphereSphereCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
: base(ci, body0, body1)
{
m_ownManifold = false;
m_manifoldPtr = mf;
// for some reason theres no check in 2.76 or 2.78 for a needs collision, just a check on pointer being null.
if (m_manifoldPtr == null)
{
m_manifoldPtr = m_dispatcher.GetNewManifold(body0, body1);
m_ownManifold = true;
}
}
public SphereSphereCollisionAlgorithm() { } // for pool
public SphereSphereCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
: base(ci, body0, body1)
{
m_ownManifold = false;
m_manifoldPtr = mf;
// for some reason theres no check in 2.76 or 2.78 for a needs collision, just a check on pointer being null.
if (m_manifoldPtr == null)
{
m_manifoldPtr = m_dispatcher.GetNewManifold(body0, body1);
m_ownManifold = true;
}
}
public virtual void Initialize(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, bool isSwapped)
{
base.Initialize(ci, body0, body1);
m_isSwapped = isSwapped;
m_sharedManifold = ci.GetManifold();
m_ownsManifold = false;
CollisionObject colObj = m_isSwapped ? body1 : body0;
Debug.Assert(colObj.GetCollisionShape().IsCompound());
CompoundShape compoundShape = (CompoundShape)(colObj.GetCollisionShape());
m_compoundShapeRevision = compoundShape.GetUpdateRevision();
PreallocateChildAlgorithms(body0, body1);
}
public void Inititialize(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, bool isSwapped)
{
base.Initialize(ci, body0, body1);
m_isSwapped = isSwapped;
if (m_convexTriangleCallback == null)
{
m_convexTriangleCallback = new ConvexTriangleCallback(m_dispatcher, body0, body1, isSwapped);
}
else
{
m_convexTriangleCallback.Initialize(m_dispatcher, body0, body1, isSwapped);
}
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
ConvexPlaneCollisionAlgorithm algo = BulletGlobals.ConvexPlaneAlgorithmPool.Get();
if (!m_swapped)
{
algo.Initialize(null, ci, body0, body1, false, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
}
else
{
algo.Initialize(null, ci, body0, body1, true, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
}
return(algo);
}
public void Initialize(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
{
base.Initialize(ci, body0, body1);
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
m_ownManifold = false;
m_manifoldPtr = mf;
m_lowLevelOfDetail = false;
#if USE_SEPDISTANCE_UTIL2
m_sepDistance((static_cast <btConvexShape *>(body0.getCollisionShape())).getAngularMotionDisc(),
(static_cast <btConvexShape *>(body1.getCollisionShape())).getAngularMotionDisc()),
#endif
m_numPerturbationIterations = numPerturbationIterations;
m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
}
} // for pool
public SphereBoxCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject col0, CollisionObject col1, bool isSwapped)
: base(ci, col0, col1)
{
m_isSwapped = isSwapped;
m_ownManifold = false;
m_manifoldPtr = mf;
CollisionObject sphereObj = m_isSwapped ? col1 : col0;
CollisionObject boxObj = m_isSwapped ? col0 : col1;
if (m_manifoldPtr == null && m_dispatcher.NeedsCollision(sphereObj, boxObj))
{
m_manifoldPtr = m_dispatcher.GetNewManifold(sphereObj, boxObj);
m_ownManifold = true;
}
}
public ConvexConvexAlgorithm() { } // for pool
public ConvexConvexAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: base(ci, body0, body1)
{
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
m_ownManifold = false;
m_manifoldPtr = mf;
m_lowLevelOfDetail = false;
#if USE_SEPDISTANCE_UTIL2
m_sepDistance ((static_cast<btConvexShape*>(body0.getCollisionShape())).getAngularMotionDisc(),
(static_cast<btConvexShape*>(body1.getCollisionShape())).getAngularMotionDisc()),
#endif
m_numPerturbationIterations = numPerturbationIterations;
m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
}
public SphereBoxCollisionAlgorithm() { } // for pool
public SphereBoxCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject col0, CollisionObject col1, bool isSwapped)
: base(ci, col0, col1)
{
m_isSwapped = isSwapped;
m_ownManifold = false;
m_manifoldPtr = mf;
CollisionObject sphereObj = m_isSwapped ? col1 : col0;
CollisionObject boxObj = m_isSwapped ? col0 : col1;
if (m_manifoldPtr == null && m_dispatcher.NeedsCollision(sphereObj, boxObj))
{
m_manifoldPtr = m_dispatcher.GetNewManifold(sphereObj, boxObj);
m_ownManifold = true;
}
}
public void Initialize(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject col0, CollisionObject col1, bool isSwapped, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
{
base.Initialize(ci);
m_manifoldPtr = mf;
m_ownManifold = false;
m_isSwapped = isSwapped;
m_numPerturbationIterations = numPerturbationIterations;
m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
CollisionObject convexObj = m_isSwapped ? col1 : col0;
CollisionObject planeObj = m_isSwapped ? col0 : col1;
if (m_manifoldPtr == null && m_dispatcher.NeedsCollision(convexObj, planeObj))
{
m_manifoldPtr = m_dispatcher.GetNewManifold(convexObj, planeObj);
m_ownManifold = true;
}
}
public void Initialize(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject col0, CollisionObject col1, bool isSwapped, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
{
base.Initialize(ci);
m_manifoldPtr = mf;
m_ownManifold = false;
m_isSwapped = isSwapped;
m_numPerturbationIterations = numPerturbationIterations;
m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
CollisionObject convexObj = m_isSwapped ? col1 : col0;
CollisionObject planeObj = m_isSwapped ? col0 : col1;
if (m_manifoldPtr == null && m_dispatcher.NeedsCollision(convexObj, planeObj))
{
m_manifoldPtr = m_dispatcher.GetNewManifold(convexObj, planeObj);
m_ownManifold = true;
}
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
return(new EmptyAlgorithm(ci));
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
SphereTriangleCollisionAlgorithm algo = BulletGlobals.SphereTriangleCollisionAlgorithmPool.Get();
algo.Initialize(ci.GetManifold(), ci, body0, body1, m_swapped);
return algo;
}
public EmptyAlgorithm(CollisionAlgorithmConstructionInfo ci)
{
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
return(new Convex2dConvex2dAlgorithm(ci.GetManifold(), ci, body0, body1, m_simplexSolver, m_pdSolver, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold));
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
ConvexPlaneCollisionAlgorithm algo = BulletGlobals.ConvexPlaneAlgorithmPool.Get();
if (!m_swapped)
{
algo.Initialize(null, ci, body0, body1, false, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
}
else
{
algo.Initialize(null, ci, body0, body1, true, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
}
return algo;
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
return new Box2dBox2dCollisionAlgorithm(null, ci, body0, body1);
}
} // for pool
public ConvexConcaveCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, bool isSwapped)
: base(ci, body0, body1)
{
m_isSwapped = isSwapped;
m_convexTriangleCallback = new ConvexTriangleCallback(m_dispatcher, body0, body1, isSwapped);
}
} // for pool
public BoxBoxCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci)
: base(ci)
{
}
public override void Initialize(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
base.Initialize(ci, body0, body1);
}
public EmptyAlgorithm(CollisionAlgorithmConstructionInfo ci)
{
}
public SphereTriangleCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci)
: base(ci)
{
}
public Box2dBox2dCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci)
: base(ci)
{
}
public override void Initialize(CollisionAlgorithmConstructionInfo ci)
{
base.Initialize(ci);
}
public GImpactCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
: base(ci, body0, body1)
{
}
public override void Initialize(CollisionAlgorithmConstructionInfo ci)
{
base.Initialize(ci);
}
public GImpactCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
: base(ci, body0, body1)
{
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
return(new Box2dBox2dCollisionAlgorithm(null, ci, body0, body1));
}
public virtual void Initialize(CollisionAlgorithmConstructionInfo ci)
{
m_dispatcher = ci.GetDispatcher();
++BulletGlobals.s_collisionAlgorithmInstanceCount;
colAgorithmId = BulletGlobals.s_collisionAlgorithmInstanceCount;
}
public SphereSphereCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci)
: base(ci)
{
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
ConvexConcaveCollisionAlgorithm algo = BulletGlobals.ConvexConcaveCollisionAlgorithmPool.Get();
algo.Inititialize(ci, body0, body1, false);
return algo;
}
public CollisionAlgorithm FindAlgorithm(CollisionObject body0, CollisionObject body1, PersistentManifold sharedManifold)
{
CollisionAlgorithmConstructionInfo ci = new CollisionAlgorithmConstructionInfo(this, -1);
ci.SetManifold(sharedManifold);
int index1 = (int)body0.GetCollisionShape().GetShapeType();
int index2 = (int)body1.GetCollisionShape().GetShapeType();
return m_doubleDispatch[index1, index2].CreateCollisionAlgorithm(ci, body0, body1);
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
return new EmptyAlgorithm(ci);
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
SphereBoxCollisionAlgorithm algo = BulletGlobals.SphereBoxCollisionAlgorithmPool.Get();
algo.Initialize(null, ci, body0, body1, true);
return algo;
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
return new Convex2dConvex2dAlgorithm(ci.GetManifold(), ci, body0, body1, m_simplexSolver, m_pdSolver, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
}
public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
GImpactCollisionAlgorithm algo = BulletGlobals.GImpactCollisionAlgorithmPool.Get();
algo.Initialize(ci, body0, body1);
return algo;
}
public ConvexConcaveCollisionAlgorithm() { } // for pool
public ConvexConcaveCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, bool isSwapped)
: base(ci, body0, body1)
{
m_isSwapped = isSwapped;
m_convexTriangleCallback = new ConvexTriangleCallback(m_dispatcher, body0, body1, isSwapped);
}
public override void Initialize(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
base.Initialize(ci, body0, body1);
}
public virtual void ProcessTriangle(IndexedVector3[] triangle, int partId, int triangleIndex)
{
//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 override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1)
{
ConvexConvexAlgorithm cca = BulletGlobals.ConvexConvexAlgorithmPool.Get();
cca.Initialize(ci.GetManifold(), ci, body0, body1, m_simplexSolver, m_pdSolver, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
return cca;
}
public virtual void Initialize(CollisionAlgorithmConstructionInfo ci)
{
m_dispatcher = ci.GetDispatcher();
++BulletGlobals.s_collisionAlgorithmInstanceCount;
colAgorithmId = BulletGlobals.s_collisionAlgorithmInstanceCount;
}
