public virtual void GetAabb(BroadphaseProxy proxy, out IndexedVector3 aabbMin, out IndexedVector3 aabbMax)
{
MultiSapProxy multiProxy = (MultiSapProxy)(proxy);
aabbMin = multiProxy.m_aabbMin;
aabbMax = multiProxy.m_aabbMax;
}
public bool TestAabbOverlap(BroadphaseProxy childProxy0, BroadphaseProxy childProxy1)
{
MultiSapProxy multiSapProxy0 = (MultiSapProxy)childProxy0.m_multiSapParentProxy;
MultiSapProxy multiSapProxy1 = (MultiSapProxy)childProxy1.m_multiSapParentProxy;
return(AabbUtil2.TestAabbAgainstAabb2(ref multiSapProxy0.m_aabbMin, ref multiSapProxy0.m_aabbMax,
ref multiSapProxy1.m_aabbMin, ref multiSapProxy1.m_aabbMax));
}
public void AddToChildBroadphase(MultiSapProxy parentMultiSapProxy, BroadphaseProxy childProxy, IBroadphaseInterface childBroadphase)
{
BridgeProxy bridgeProxyRef = new BridgeProxy();
bridgeProxyRef.m_childProxy = childProxy;
bridgeProxyRef.m_childBroadphase = childBroadphase;
parentMultiSapProxy.m_bridgeProxies.Add(bridgeProxyRef);
}
public virtual BroadphaseProxy CreateProxy(ref IndexedVector3 aabbMin, ref IndexedVector3 aabbMax, BroadphaseNativeTypes shapeType, Object userPtr, CollisionFilterGroups collisionFilterGroup, CollisionFilterGroups collisionFilterMask, IDispatcher dispatcher, Object multiSapProxy)
{
//void* ignoreMe -> we could think of recursive multi-sap, if someone is interested
MultiSapProxy proxy = new MultiSapProxy(ref aabbMin, ref aabbMax, shapeType, userPtr, collisionFilterGroup, collisionFilterMask);
m_multiSapProxies.Add(proxy);
///this should deal with inserting/removal into child broadphases
SetAabb(proxy, ref aabbMin, ref aabbMax, dispatcher);
return proxy;
}
public virtual BroadphaseProxy CreateProxy(ref IndexedVector3 aabbMin, ref IndexedVector3 aabbMax, BroadphaseNativeTypes shapeType, Object userPtr, CollisionFilterGroups collisionFilterGroup, CollisionFilterGroups collisionFilterMask, IDispatcher dispatcher, Object multiSapProxy)
{
//void* ignoreMe -> we could think of recursive multi-sap, if someone is interested
MultiSapProxy proxy = new MultiSapProxy(ref aabbMin, ref aabbMax, shapeType, userPtr, collisionFilterGroup, collisionFilterMask);
m_multiSapProxies.Add(proxy);
///this should deal with inserting/removal into child broadphases
SetAabb(proxy, ref aabbMin, ref aabbMax, dispatcher);
return(proxy);
}
public MyNodeOverlapCallback(MultiSapBroadphase multiSap, MultiSapProxy multiProxy, IDispatcher dispatcher)
{
m_multiSap = multiSap;
m_multiProxy = multiProxy;
m_dispatcher = dispatcher;
}
public void AddToChildBroadphase(MultiSapProxy parentMultiSapProxy, BroadphaseProxy childProxy, IBroadphaseInterface childBroadphase)
{
BridgeProxy bridgeProxyRef = new BridgeProxy();
bridgeProxyRef.m_childProxy = childProxy;
bridgeProxyRef.m_childBroadphase = childBroadphase;
parentMultiSapProxy.m_bridgeProxies.Add(bridgeProxyRef);
}
public virtual void SetAabb(BroadphaseProxy proxy, ref IndexedVector3 aabbMin, ref IndexedVector3 aabbMax, IDispatcher dispatcher)
{
MultiSapProxy multiProxy = (MultiSapProxy)proxy;
multiProxy.m_aabbMin = aabbMin;
multiProxy.m_aabbMax = aabbMax;
MyNodeOverlapCallback myNodeCallback = new MyNodeOverlapCallback(this, multiProxy, dispatcher);
if (m_optimizedAabbTree != null)
{
m_optimizedAabbTree.ReportAabbOverlappingNodex(myNodeCallback, ref aabbMin, ref aabbMax);
}
for (int i = 0; i < multiProxy.m_bridgeProxies.Count; i++)
{
IndexedVector3 worldAabbMin;
IndexedVector3 worldAabbMax;
multiProxy.m_bridgeProxies[i].m_childBroadphase.GetBroadphaseAabb(out worldAabbMin, out worldAabbMax);
bool overlapsBroadphase = AabbUtil2.TestAabbAgainstAabb2(ref worldAabbMin, ref worldAabbMax, ref multiProxy.m_aabbMin, ref multiProxy.m_aabbMax);
if (!overlapsBroadphase)
{
//remove it now
BridgeProxy bridgeProxy = multiProxy.m_bridgeProxies[i];
BroadphaseProxy childProxy = bridgeProxy.m_childProxy;
bridgeProxy.m_childBroadphase.DestroyProxy(childProxy, dispatcher);
multiProxy.m_bridgeProxies.RemoveAtQuick(i);
}
}
/*
*
* if (1)
* {
*
* //find broadphase that contain this multiProxy
* int numChildBroadphases = getBroadphaseArray().size();
* for (int i=0;i<numChildBroadphases;i++)
* {
* btBroadphaseInterface* childBroadphase = getBroadphaseArray()[i];
* btVector3 worldAabbMin,worldAabbMax;
* childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax);
* bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
*
* // fullyContained = fullyContained || boxIsContainedWithinBox(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
* int containingBroadphaseIndex = -1;
*
* //if already contains this
*
* for (int i=0;i<multiProxy->m_bridgeProxies.size();i++)
* {
* if (multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase)
* {
* containingBroadphaseIndex = i;
* }
* alreadyInSimple = alreadyInSimple || (multiProxy->m_bridgeProxies[i]->m_childBroadphase == m_simpleBroadphase);
* }
*
* if (overlapsBroadphase)
* {
* if (containingBroadphaseIndex<0)
* {
* btBroadphaseProxy* childProxy = childBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
* childProxy->m_multiSapParentProxy = multiProxy;
* addToChildBroadphase(multiProxy,childProxy,childBroadphase);
* }
* } else
* {
* if (containingBroadphaseIndex>=0)
* {
* //remove
* btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[containingBroadphaseIndex];
*
* btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy;
* bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher);
*
* multiProxy->m_bridgeProxies.swap( containingBroadphaseIndex,multiProxy->m_bridgeProxies.size()-1);
* multiProxy->m_bridgeProxies.pop_back();
* }
* }
* }
*
*
* ///If we are in no other child broadphase, stick the proxy in the global 'simple' broadphase (brute force)
* ///hopefully we don't end up with many entries here (can assert/provide feedback on stats)
* if (0)//!multiProxy->m_bridgeProxies.size())
* {
* ///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision
* ///this is needed to be able to calculate the aabb overlap
* btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
* childProxy->m_multiSapParentProxy = multiProxy;
* addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase);
* }
* }
*
* if (!multiProxy->m_bridgeProxies.size())
* {
* ///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision
* ///this is needed to be able to calculate the aabb overlap
* btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
* childProxy->m_multiSapParentProxy = multiProxy;
* addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase);
* }
*/
//update
for (int i = 0; i < multiProxy.m_bridgeProxies.Count; i++)
{
BridgeProxy bridgeProxyRef = multiProxy.m_bridgeProxies[i];
bridgeProxyRef.m_childBroadphase.SetAabb(bridgeProxyRef.m_childProxy, ref aabbMin, ref aabbMax, dispatcher);
}
}
public MyNodeOverlapCallback(MultiSapBroadphase multiSap, MultiSapProxy multiProxy, IDispatcher dispatcher)
{
m_multiSap = multiSap;
m_multiProxy = multiProxy;
m_dispatcher = dispatcher;
}
///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
public void CalculateOverlappingPairs(IDispatcher dispatcher)
{
if (!m_stopUpdating && GetOverlappingPairCache().HasDeferredRemoval())
{
IList <BroadphasePair> overlappingPairArray = GetOverlappingPairCache().GetOverlappingPairArray();
((List <BroadphasePair>)overlappingPairArray).Sort();
m_invalidPair = 0;
int i;
BroadphasePair previousPair = new BroadphasePair();
previousPair.m_pProxy0 = null;
previousPair.m_pProxy1 = null;
previousPair.m_algorithm = null;
for (i = 0; i < overlappingPairArray.Count; i++)
{
BroadphasePair pair = overlappingPairArray[i];
MultiSapProxy aProxy0 = pair.m_pProxy0 != null ? (MultiSapProxy)pair.m_pProxy0.m_multiSapParentProxy : null;
MultiSapProxy aProxy1 = pair.m_pProxy1 != null ? (MultiSapProxy)pair.m_pProxy1.m_multiSapParentProxy : null;
MultiSapProxy bProxy0 = previousPair.m_pProxy0 != null ? (MultiSapProxy)previousPair.m_pProxy0.m_multiSapParentProxy : null;
MultiSapProxy bProxy1 = previousPair.m_pProxy1 != null ? (MultiSapProxy)previousPair.m_pProxy1.m_multiSapParentProxy : null;
bool isDuplicate = (aProxy0 == bProxy0) && (aProxy1 == bProxy1);
previousPair = pair;
bool needsRemoval = false;
if (!isDuplicate)
{
bool hasOverlap = TestAabbOverlap(pair.m_pProxy0, pair.m_pProxy1);
if (hasOverlap)
{
needsRemoval = false;//callback->processOverlap(pair);
}
else
{
needsRemoval = true;
}
}
else
{
//remove duplicate
needsRemoval = true;
//should have no algorithm
Debug.Assert(pair.m_algorithm == null);
}
if (needsRemoval)
{
GetOverlappingPairCache().CleanOverlappingPair(pair, dispatcher);
// m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
// m_overlappingPairArray.pop_back();
pair.m_pProxy0 = null;
pair.m_pProxy1 = null;
m_invalidPair++;
BulletGlobals.gOverlappingPairs--;
}
}
///if you don't like to skip the invalid pairs in the array, execute following code:
//#define CLEAN_INVALID_PAIRS 1
//#ifdef CLEAN_INVALID_PAIRS
// //perform a sort, to sort 'invalid' pairs to the end
// //overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate());
// overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate());
// overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
// m_invalidPair = 0;
//#endif//CLEAN_INVALID_PAIRS
//printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size());
}
}