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 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 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 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));
}