public void AddCollisionObject(CollisionObject collisionObject, BroadphaseProxy.CollisionFilterGroups collisionFilterGroup, BroadphaseProxy.CollisionFilterGroups collisionFilterMask)
{
//check that the object isn't already added
if (!_collisionObjects.Contains(collisionObject))
{
_collisionObjects.Add(collisionObject);
//calculate new AABB
Matrix trans = collisionObject.WorldTransform;
Vector3 minAabb;
Vector3 maxAabb;
collisionObject.CollisionShape.GetAabb(trans, out minAabb, out maxAabb);
BroadphaseNativeTypes type = collisionObject.CollisionShape.ShapeType;
collisionObject.Broadphase = Broadphase.CreateProxy(
minAabb,
maxAabb,
type,
collisionObject,
collisionFilterGroup,
collisionFilterMask
);
}
}
public override void AddRigidBody(RigidBody body)
{
if (!body.IsStaticOrKinematicObject)
{
body.Gravity = _gravity;
}
if (body.CollisionShape != null)
{
bool isDynamic = !(body.IsStaticObject || body.IsKinematicObject);
BroadphaseProxy.CollisionFilterGroups collisionFilterGroup = isDynamic ? BroadphaseProxy.CollisionFilterGroups.Default : BroadphaseProxy.CollisionFilterGroups.Static;
BroadphaseProxy.CollisionFilterGroups collisionFilterMask = isDynamic ? BroadphaseProxy.CollisionFilterGroups.All : (BroadphaseProxy.CollisionFilterGroups.All ^ BroadphaseProxy.CollisionFilterGroups.Static);
AddCollisionObject(body, collisionFilterGroup, collisionFilterMask);
}
}
public ushort AddHandle(Vector3 aabbMin, Vector3 aabbMax, object owner, BroadphaseProxy.CollisionFilterGroups collisionFilterGroup, BroadphaseProxy.CollisionFilterGroups collisionFilterMask)
{
ushort[] min = new ushort[3], max = new ushort[3];
Quantize(out min, aabbMin, 0);
Quantize(out max, aabbMax, 1);
ushort handle = AllocateHandle();
Handle oHandle = GetHandle(handle);
oHandle.HandleID = handle;
oHandle.ClientData = owner;
oHandle.CollisionFilterGroup = collisionFilterGroup;
oHandle.CollisionFilterMask = collisionFilterMask;
int limit = _numHandles * 2;
// (Gluk )
// ( Inside )
for (int axis = 0; axis < 3; axis++)
{
_handles[0].MaxEdges[axis] += 2;
_edges[axis][limit + 1].Position = _edges[axis][limit - 1].Position;
_edges[axis][limit + 1].Handle = _edges[axis][limit - 1].Handle;
_edges[axis][limit - 1].Position = min[axis];
_edges[axis][limit - 1].Handle = handle;
_edges[axis][limit].Position = max[axis];
_edges[axis][limit].Handle = handle;
oHandle.MinEdges[axis] = (ushort)(limit - 1);
oHandle.MaxEdges[axis] = (ushort)limit;
}
SortMinDown(0, oHandle.MinEdges[0], false);
SortMaxDown(0, oHandle.MaxEdges[0], false);
SortMinDown(1, oHandle.MinEdges[1], false);
SortMaxDown(1, oHandle.MaxEdges[1], false);
SortMinDown(2, oHandle.MinEdges[2], true);
SortMaxDown(2, oHandle.MaxEdges[2], true);
return(handle);
}
public override BroadphaseProxy CreateProxy(Vector3 min, Vector3 max, BroadphaseNativeTypes shapeType, object userData, BroadphaseProxy.CollisionFilterGroups collisionFilterGroup, BroadphaseProxy.CollisionFilterGroups collisionFilterMask)
{
ushort handleId = AddHandle(min, max, userData, collisionFilterGroup, collisionFilterMask);
Handle handle = GetHandle(handleId);
return(handle);
}
public override BroadphaseProxy CreateProxy(Vector3 min, Vector3 max, BroadphaseNativeTypes shapeType, object userData, BroadphaseProxy.CollisionFilterGroups collisionFilterGroup, BroadphaseProxy.CollisionFilterGroups collisionFilterMask)
{
if (_proxies.Count >= _maxProxies)
{
BulletDebug.Assert(false);
return(null); //should never happen, but don't let the game crash ;-)
}
BulletDebug.Assert(min.X <= max.X && min.Y <= max.Y && min.Z <= max.Z);
SimpleBroadphaseProxy proxy = new SimpleBroadphaseProxy(min, max, shapeType, userData, collisionFilterGroup, collisionFilterMask);
_proxies.Add(proxy);
return(proxy);
}
public abstract BroadphaseProxy CreateProxy(MonoXnaCompactMaths.Vector3 min, MonoXnaCompactMaths.Vector3 max, BroadphaseNativeTypes shapeType, object userData, BroadphaseProxy.CollisionFilterGroups collisionFilterGroup, BroadphaseProxy.CollisionFilterGroups collisionFilterMask);
public abstract BroadphaseProxy CreateProxy(Microsoft.Xna.Framework.Vector3 min, Microsoft.Xna.Framework.Vector3 max, BroadphaseNativeTypes shapeType, object userData, BroadphaseProxy.CollisionFilterGroups collisionFilterGroup, BroadphaseProxy.CollisionFilterGroups collisionFilterMask);
