public virtual void removeCollisionObject( btCollisionObject collisionObject )
{
//bool removeFromBroadphase = false;
{
btBroadphaseProxy bp = collisionObject.getBroadphaseHandle();
if( bp != null )
{
//
// only clear the cached algorithms
//
getBroadphase().getOverlappingPairCache().cleanProxyFromPairs( bp, m_dispatcher1 );
getBroadphase().destroyProxy( bp, m_dispatcher1 );
collisionObject.setBroadphaseHandle( null );
}
}
//swapremove
m_collisionObjects.Remove( collisionObject );
}
void updateSingleAabb( btCollisionObject colObj )
{
btVector3 minAabb, maxAabb;
colObj.getCollisionShape().getAabb( ref colObj.m_worldTransform, out minAabb, out maxAabb );
//need to increase the aabb for contact thresholds
btVector3 contactThreshold = new btVector3( btPersistentManifold.gContactBreakingThreshold, btPersistentManifold.gContactBreakingThreshold, btPersistentManifold.gContactBreakingThreshold );
minAabb.Sub( ref contactThreshold, out minAabb );
maxAabb.Add( ref contactThreshold, out maxAabb );
//minAabb -= contactThreshold;
//maxAabb += contactThreshold;
if( getDispatchInfo().m_useContinuous
&& colObj.getInternalType() == btCollisionObject.CollisionObjectTypes.CO_RIGID_BODY
&& !colObj.isStaticOrKinematicObject() )
{
btVector3 minAabb2, maxAabb2;
colObj.getCollisionShape().getAabb( ref colObj.m_interpolationWorldTransform, out minAabb2, out maxAabb2 );
minAabb2.Sub( ref contactThreshold, out minAabb2 );
maxAabb2.Add( ref contactThreshold, out maxAabb2 );
minAabb.setMin( ref minAabb2 );
maxAabb.setMax( ref maxAabb2 );
}
btBroadphaseInterface bp = (btBroadphaseInterface)m_broadphasePairCache;
//moving objects should be moderately sized, probably something wrong if not
if( colObj.isStaticObject()
|| ( btVector3.BetweenLength2( ref minAabb, ref maxAabb ) < (double)( 1e12 ) ) )
{
bp.setAabb( colObj.getBroadphaseHandle(), ref minAabb, ref maxAabb, m_dispatcher1 );
}
else
{
//something went wrong, investigate
//this assert is unwanted in 3D modelers (danger of loosing work)
colObj.setActivationState( ActivationState.DISABLE_SIMULATION );
if( reportMe && m_debugDrawer != null )
{
reportMe = false;
m_debugDrawer.reportErrorWarning( "Overflow in AABB, object removed from simulation" );
m_debugDrawer.reportErrorWarning( "If you can reproduce this, please email [email protected]\n" );
m_debugDrawer.reportErrorWarning( "Please include above information, your Platform, version of OS.\n" );
m_debugDrawer.reportErrorWarning( "Thanks.\n" );
}
}
}