public override void addCollisionObject( btCollisionObject collisionObject, btBroadphaseProxy.CollisionFilterGroups collisionFilterGroup = btBroadphaseProxy.CollisionFilterGroups.StaticFilter
, btBroadphaseProxy.CollisionFilterGroups collisionFilterMask = btBroadphaseProxy.CollisionFilterGroups.StaticFilter )
{
base.addCollisionObject( collisionObject, collisionFilterGroup, collisionFilterMask );
}
public abstract void setAabb( btBroadphaseProxy proxy, ref btVector3 aabbMin, ref btVector3 aabbMax, btDispatcher dispatcher );
public override bool needsCollision( btBroadphaseProxy proxy0 )
{
//don't collide with itself
if( proxy0.m_clientObject == m_me )
return false;
///don't do CCD when the collision filters are not matching
if( !base.needsCollision( proxy0 ) )
return false;
btCollisionObject otherObj = (btCollisionObject)proxy0.m_clientObject;
//call needsResponse, see http://code.google.com/p/bullet/issues/detail?id=179
if( m_dispatcher.needsResponse( m_me, otherObj ) )
{
#if false
///don't do CCD when there are already contact points (touching contact/penetration)
List<btPersistentManifold*> manifoldArray;
btBroadphasePair* collisionPair = m_pairCache.findPair(m_me.getBroadphaseHandle(),proxy0);
if (collisionPair)
{
if (collisionPair.m_algorithm)
{
manifoldArray.resize(0);
collisionPair.m_algorithm.getAllContactManifolds(manifoldArray);
for (int j=0;j<manifoldArray.Count;j++)
{
btPersistentManifold* manifold = manifoldArray[j];
if (manifold.getNumContacts()>0)
return false;
}
}
}
#endif
return true;
}
return false;
}
public abstract void destroyProxy( btBroadphaseProxy proxy, btDispatcher dispatcher );
public abstract void getAabb( btBroadphaseProxy proxy, ref btVector3 aabbMin, ref btVector3 aabbMax );
public void Initialize( btBroadphaseProxy proxy0, btBroadphaseProxy proxy1 )
{
//keep them sorted, so the std::set operations work
m_pProxy0 = proxy0;
m_pProxy1 = proxy1;
m_algorithm = null;
m_internalInfo1 = 0;
}
public abstract btBroadphaseProxy createProxy( ref btVector3 aabbMin, ref btVector3 aabbMax, BroadphaseNativeTypes shapeType, btCollisionObject userPtr, btBroadphaseProxy.CollisionFilterGroups collisionFilterGroup, btBroadphaseProxy.CollisionFilterGroups collisionFilterMask, btDispatcher dispatcher, object multiSapProxy );
public override bool process( btBroadphaseProxy proxy )
{
///terminate further ray tests, once the closestHitFraction reached zero
if( m_resultCallback.m_closestHitFraction == (double)( 0f ) )
return false;
btCollisionObject collisionObject = (btCollisionObject)proxy.m_clientObject;
//only perform raycast if filterMask matches
if( m_resultCallback.needsCollision( collisionObject.getBroadphaseHandle() ) )
{
//RigidcollisionObject collisionObject = ctrl.GetRigidcollisionObject();
//btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
#if false
#if RECALCULATE_AABB
btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
collisionObject.getCollisionShape().getAabb(collisionObject.getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
#else
//getBroadphase().getAabb(collisionObject.getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
btVector3 collisionObjectAabbMin = collisionObject.getBroadphaseHandle().m_aabbMin;
btVector3 collisionObjectAabbMax = collisionObject.getBroadphaseHandle().m_aabbMax;
#endif
#endif
//double hitLambda = m_resultCallback.m_closestHitFraction;
//culling already done by broadphase
//if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
{
rayTestSingle( ref m_rayFromTrans, ref m_rayToTrans,
collisionObject,
collisionObject.getCollisionShape(),
ref collisionObject.m_worldTransform,
m_resultCallback );
}
}
return true;
}
public override bool process( btBroadphaseProxy proxy )
{
///terminate further convex sweep tests, once the closestHitFraction reached zero
if( m_resultCallback.m_closestHitFraction == (double)( 0f ) )
return false;
btCollisionObject collisionObject = (btCollisionObject)proxy.m_clientObject;
//only perform raycast if filterMask matches
if( m_resultCallback.needsCollision( collisionObject.getBroadphaseHandle() ) )
{
//RigidcollisionObject collisionObject = ctrl.GetRigidcollisionObject();
objectQuerySingle( m_castShape, ref m_convexFromTrans, ref m_convexToTrans,
collisionObject,
collisionObject.getCollisionShape(),
ref collisionObject.m_worldTransform,
m_resultCallback,
m_allowedCcdPenetration );
}
return true;
}
public virtual void addCollisionObject( btCollisionObject collisionObject
, btBroadphaseProxy.CollisionFilterGroups collisionFilterGroup = btBroadphaseProxy.CollisionFilterGroups.DefaultFilter
, btBroadphaseProxy.CollisionFilterGroups collisionFilterMask = btBroadphaseProxy.CollisionFilterGroups.AllFilter )
{
Debug.Assert( collisionObject != null );
//check that the object isn't already added
Debug.Assert( !m_collisionObjects.Contains( collisionObject ) );
m_collisionObjects.Add( collisionObject );
//calculate new AABB
btVector3 minAabb;
btVector3 maxAabb;
collisionObject.getCollisionShape().getAabb( ref collisionObject.m_worldTransform, out minAabb, out maxAabb );
BroadphaseNativeTypes type = collisionObject.getCollisionShape().getShapeType();
collisionObject.setBroadphaseHandle( getBroadphase().createProxy(
ref minAabb,
ref maxAabb,
type,
collisionObject,
collisionFilterGroup,
collisionFilterMask,
m_dispatcher1, null
) );
}
public override bool needsCollision( btBroadphaseProxy p )
{
return m_userCallback.needsCollision( p );
}
public bool process( btBroadphaseProxy proxy )
{
btCollisionObject collisionObject = (btCollisionObject)proxy.m_clientObject;
if( collisionObject == m_collisionObject )
return true;
//only perform raycast if filterMask matches
if( m_resultCallback.needsCollision( collisionObject.getBroadphaseHandle() ) )
{
btCollisionObjectWrapper ob0 = BulletGlobals.CollisionObjectWrapperPool.Get();
ob0.Initialize( null, m_collisionObject.getCollisionShape(), m_collisionObject, -1, -1 );
btCollisionObjectWrapper ob1 = BulletGlobals.CollisionObjectWrapperPool.Get();
ob1.Initialize( null, collisionObject.getCollisionShape(), collisionObject, -1, -1 );
btCollisionAlgorithm algorithm = m_world.m_dispatcher1.findAlgorithm( ob0, ob1, null );
if( algorithm != null )
{
btBridgedManifoldResult contactPointResult = BulletGlobals.BridgedManifoldResultPool.Get();
contactPointResult.Initialize( ob0, ob1, m_resultCallback );
//discrete collision detection query
algorithm.processCollision( ob0
, ref ob0.m_collisionObject.m_worldTransform
, ob1
, ref ob1.m_collisionObject.m_worldTransform, m_world.getDispatchInfo(), contactPointResult );
//algorithm.~btCollisionAlgorithm();
m_world.m_dispatcher1.freeCollisionAlgorithm( algorithm );
BulletGlobals.BridgedManifoldResultPool.Free( contactPointResult );
}
BulletGlobals.CollisionObjectWrapperPool.Free( ob0 );
BulletGlobals.CollisionObjectWrapperPool.Free( ob1 );
}
return true;
}
public virtual bool needsCollision( btBroadphaseProxy proxy0 )
{
bool collides = ( proxy0.m_collisionFilterGroup & m_collisionFilterMask ) != 0;
collides = collides && ( m_collisionFilterGroup & proxy0.m_collisionFilterMask ) != 0;
return collides;
}
internal btBroadphasePair( btBroadphaseProxy proxy0, btBroadphaseProxy proxy1 )
{
Initialize( proxy0, proxy1 );
}
virtual bool needsCollision( btBroadphaseProxy* proxy0 )
{
btCollisionObject otherObj = (btCollisionObject)proxy0.m_clientObject;
if( !otherObj.isStaticOrKinematicObject() )
return false;
return btClosestNotMeConvexResultCallback::needsCollision( proxy0 );
}
public abstract bool process( btBroadphaseProxy proxy );
public void addRigidBody( btRigidBody body, btBroadphaseProxy.CollisionFilterGroups group, btBroadphaseProxy.CollisionFilterGroups mask )
{
if( !body.isStaticOrKinematicObject() && 0 == ( body.getFlags() & btRigidBodyFlags.BT_DISABLE_WORLD_GRAVITY ) )
{
body.setGravity( ref m_gravity );
}
if( body.getCollisionShape() != null )
{
if( !body.isStaticObject() )
{
m_nonStaticRigidBodies.Add( body );
}
else
{
body.setActivationState( ActivationState.ISLAND_SLEEPING );
}
addCollisionObject( body, group, mask );
}
}
internal btBroadphasePair( ref btBroadphasePair other )
{
m_pProxy0 = other.m_pProxy0;
m_pProxy1 = other.m_pProxy1;
m_algorithm = other.m_algorithm;
m_internalInfo1 = other.m_internalInfo1;
}
