/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
public void RefreshContactPoints(ref IndexedMatrix trA, ref IndexedMatrix trB)
{
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugPersistentManifold)
{
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "refreshContactPoints trA", trA._origin);
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "refreshContactPoints trB", trB._origin);
}
#endif
/// first refresh worldspace positions and distance
int numContacts = GetNumContacts() - 1;
for (int i = numContacts; i >= 0; i--)
{
ManifoldPoint manifoldPoint = m_pointCache[i];
IndexedVector3 pointA = trA * manifoldPoint.GetLocalPointA();
IndexedVector3 pointB = trB * manifoldPoint.GetLocalPointB();
manifoldPoint.SetPositionWorldOnA(ref pointA);
manifoldPoint.SetPositionWorldOnB(ref pointB);
manifoldPoint.SetDistance(IndexedVector3.Dot((manifoldPoint.GetPositionWorldOnA() - manifoldPoint.GetPositionWorldOnB()), manifoldPoint.GetNormalWorldOnB()));
manifoldPoint.SetLifeTime(manifoldPoint.GetLifeTime() + 1);
m_pointCache[i] = manifoldPoint;
}
/// then
float distance2d;
IndexedVector3 projectedDifference, projectedPoint;
for (int i = numContacts; i >= 0; i--)
{
ManifoldPoint manifoldPoint = m_pointCache[i];
//contact becomes invalid when signed distance exceeds margin (projected on contactnormal direction)
if (!ValidContactDistance(manifoldPoint))
{
RemoveContactPoint(i);
}
else
{
//contact also becomes invalid when relative movement orthogonal to normal exceeds margin
projectedPoint = manifoldPoint.GetPositionWorldOnA() - manifoldPoint.GetNormalWorldOnB() * manifoldPoint.GetDistance();
projectedDifference = manifoldPoint.GetPositionWorldOnB() - projectedPoint;
distance2d = IndexedVector3.Dot(projectedDifference, projectedDifference);
if (distance2d > GetContactBreakingThreshold() * GetContactBreakingThreshold())
{
RemoveContactPoint(i);
}
else
{
//contact point processed callback
if (gContactProcessedCallback != null)
{
gContactProcessedCallback.Callback(manifoldPoint, m_body0, m_body1);
}
}
}
}
DebugPersistency();
}
public virtual void AddContactPoint(ref IndexedVector3 normalOnBInWorld, ref IndexedVector3 pointInWorld, float depth)
{
Debug.Assert(m_manifoldPtr != null);
//order in manifold needs to match
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugManifoldResult)
{
BulletGlobals.g_streamWriter.WriteLine("AddContactPoint depth[{0}]", depth);
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "normalOnBInWorld", normalOnBInWorld);
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "pointInWorld", pointInWorld);
}
#endif
//if (depth > m_manifoldPtr.GetContactProcessingThreshold())
if (depth > m_manifoldPtr.GetContactBreakingThreshold())
{
return;
}
bool isSwapped = m_manifoldPtr.GetBody0() != m_body0;
IndexedVector3 pointA = pointInWorld + normalOnBInWorld * depth;
IndexedVector3 localA;
IndexedVector3 localB;
if (isSwapped)
{
MathUtil.InverseTransform(ref m_rootTransB, ref pointA, out localA);
MathUtil.InverseTransform(ref m_rootTransA, ref pointInWorld, out localB);
}
else
{
MathUtil.InverseTransform(ref m_rootTransA, ref pointA, out localA);
MathUtil.InverseTransform(ref m_rootTransB, ref pointInWorld, out localB);
}
ManifoldPoint newPt = BulletGlobals.ManifoldPointPool.Get();
newPt.Initialise(ref localA, ref localB, ref normalOnBInWorld, depth);
newPt.SetPositionWorldOnA(ref pointA);
newPt.SetPositionWorldOnB(ref pointInWorld);
int insertIndex = m_manifoldPtr.GetCacheEntry(newPt);
newPt.SetCombinedFriction(CalculateCombinedFriction(m_body0, m_body1));
newPt.SetCombinedRestitution(CalculateCombinedRestitution(m_body0, m_body1));
//BP mod, store contact triangles.
if (isSwapped)
{
newPt.m_partId0 = m_partId1;
newPt.m_partId1 = m_partId0;
newPt.m_index0 = m_index1;
newPt.m_index1 = m_index0;
}
else
{
newPt.m_partId0 = m_partId0;
newPt.m_partId1 = m_partId1;
newPt.m_index0 = m_index0;
newPt.m_index1 = m_index1;
}
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugManifoldResult)
{
MathUtil.PrintContactPoint(BulletGlobals.g_streamWriter, newPt);
}
#endif
//printf("depth=%f\n",depth);
///@todo, check this for any side effects
if (insertIndex >= 0)
{
//const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex);
m_manifoldPtr.ReplaceContactPoint(newPt, insertIndex);
}
else
{
insertIndex = m_manifoldPtr.AddManifoldPoint(newPt);
}
//User can override friction and/or restitution
if (BulletGlobals.gContactAddedCallback != null &&
//and if either of the two bodies requires custom material
((m_body0.GetCollisionFlags() & CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK) != 0 ||
(m_body1.GetCollisionFlags() & CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK) != 0))
{
//experimental feature info, for per-triangle material etc.
CollisionObject obj0 = isSwapped ? m_body1 : m_body0;
CollisionObject obj1 = isSwapped ? m_body0 : m_body1;
//gContactAddedCallback.callback(m_manifoldPtr.getContactPoint(insertIndex),obj0,m_partId0,m_index0,obj1,m_partId1,m_index1);
ManifoldPoint point = m_manifoldPtr.GetContactPoint(insertIndex);
BulletGlobals.gContactAddedCallback.Callback(ref point, obj0, newPt.m_partId0, newPt.m_index0, obj1, newPt.m_partId1, newPt.m_index1);
}
}
