public void ConvexVsConvexCollision(CollisionObject body0,
CollisionObject body1,
CollisionShape shape0,
CollisionShape shape1)
{
CollisionShape tmpShape0 = body0.GetCollisionShape();
CollisionShape tmpShape1 = body1.GetCollisionShape();
body0.InternalSetTemporaryCollisionShape(shape0);
body1.InternalSetTemporaryCollisionShape(shape1);
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
{
BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::ConvexVsConvex");
}
#endif
m_resultOut.SetShapeIdentifiersA(m_part0, m_triface0);
m_resultOut.SetShapeIdentifiersB(m_part1, m_triface1);
CheckConvexAlgorithm(body0, body1);
m_convex_algorithm.ProcessCollision(body0, body1, m_dispatchInfo, m_resultOut);
body0.InternalSetTemporaryCollisionShape(tmpShape0);
body1.InternalSetTemporaryCollisionShape(tmpShape1);
}
public void ShapeVsShapeCollision(
CollisionObject body0,
CollisionObject body1,
CollisionShape shape0,
CollisionShape shape1)
{
CollisionShape tmpShape0 = body0.GetCollisionShape();
CollisionShape tmpShape1 = body1.GetCollisionShape();
body0.InternalSetTemporaryCollisionShape(shape0);
body1.InternalSetTemporaryCollisionShape(shape1);
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
{
BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::ShapeVsShape");
}
#endif
{
CollisionAlgorithm algor = NewAlgorithm(body0, body1);
// post : checkManifold is called
m_resultOut.SetShapeIdentifiersA(m_part0, m_triface0);
m_resultOut.SetShapeIdentifiersB(m_part1, m_triface1);
algor.ProcessCollision(body0, body1, m_dispatchInfo, m_resultOut);
m_dispatcher.FreeCollisionAlgorithm(algor);
}
body0.InternalSetTemporaryCollisionShape(tmpShape0);
body1.InternalSetTemporaryCollisionShape(tmpShape1);
}
public virtual void ProcessTriangle(IndexedVector3[] triangle, int partId, int triangleIndex)
{
if (!AabbUtil2.TestTriangleAgainstAabb2(triangle, ref m_aabbMin, ref m_aabbMax))
{
return;
}
//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);
}
}
}