public virtual void ProcessTriangle(ObjectArray<Vector3> triangle, int partId, int triangleIndex)
{
TriangleShape triangleShape = new TriangleShape(triangle[0], triangle[1], triangle[2]);
triangleShape.Margin = m_triangleCollisionMargin;
VoronoiSimplexSolver simplexSolver = new VoronoiSimplexSolver();
GjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver = new GjkEpaPenetrationDepthSolver();
//#define USE_SUBSIMPLEX_CONVEX_CAST 1
//if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented ref code below
#if USE_SUBSIMPLEX_CONVEX_CAST
SubsimplexConvexCast convexCaster = new SubsimplexConvexCast(m_convexShape, triangleShape, simplexSolver);
#else
//btGjkConvexCast convexCaster(m_convexShape,&triangleShape,&simplexSolver);
ContinuousConvexCollision convexCaster = new ContinuousConvexCollision(m_convexShape,triangleShape,simplexSolver,gjkEpaPenetrationSolver);
#endif //#USE_SUBSIMPLEX_CONVEX_CAST
CastResult castResult = new CastResult();
castResult.m_fraction = 1f;
if (convexCaster.CalcTimeOfImpact(ref m_convexShapeFrom,ref m_convexShapeTo,ref m_triangleToWorld, ref m_triangleToWorld, castResult))
{
//add hit
if (castResult.m_normal.LengthSquared() > 0.0001f)
{
if (castResult.m_fraction < m_hitFraction)
{
/* btContinuousConvexCast's normal is already in world space */
/*
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
//rotate normal into worldspace
castResult.m_normal = m_convexShapeFrom.getBasis() * castResult.m_normal;
#endif //USE_SUBSIMPLEX_CONVEX_CAST
*/
castResult.m_normal.Normalize();
ReportHit (ref castResult.m_normal,ref castResult.m_hitPoint,castResult.m_fraction,partId,triangleIndex);
}
}
}
}
public void ProcessTriangle(ObjectArray<Vector3> triangle, int partId, int triangleIndex)
{
//do a swept sphere for now
Matrix ident = Matrix.Identity;
CastResult castResult = new CastResult();
castResult.m_fraction = m_hitFraction;
SphereShape pointShape = new SphereShape(m_ccdSphereRadius);
TriangleShape triShape = new TriangleShape(triangle[0],triangle[1],triangle[2]);
VoronoiSimplexSolver simplexSolver = new VoronoiSimplexSolver();
SubSimplexConvexCast convexCaster = new SubSimplexConvexCast(pointShape,triShape,simplexSolver);
//GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
//local space?
if (convexCaster.CalcTimeOfImpact(ref m_ccdSphereFromTrans,ref m_ccdSphereToTrans,
ref ident,ref ident,castResult))
{
if (m_hitFraction > castResult.m_fraction)
{
m_hitFraction = castResult.m_fraction;
}
}
}
public SphereTriangleDetector(SphereShape sphere,TriangleShape triangle, float contactBreakingThreshold)
{
m_sphere = sphere;
m_triangle = triangle;
m_contactBreakingThreshold = contactBreakingThreshold;
}
public virtual void ProcessTriangle(ObjectArray<Vector3> triangle, int partId, int triangleIndex)
{
//aabb filter is already applied!
CollisionAlgorithmConstructionInfo ci = new CollisionAlgorithmConstructionInfo();
ci.SetDispatcher(m_dispatcher);
CollisionObject ob = (CollisionObject)m_triBody;
///debug drawing of the overlapping triangles
///
if (m_dispatchInfoPtr != null && m_dispatchInfoPtr.getDebugDraw() != null&& ((m_dispatchInfoPtr.getDebugDraw().GetDebugMode() & DebugDrawModes.DBG_DrawWireframe) > 0))
{
Vector3 color = new Vector3(1,1,0);
Matrix tr = ob.GetWorldTransform();
Vector3[] transformedTriangles = new Vector3[3];
for(int i=0;i<transformedTriangles.Length;++i)
{
transformedTriangles[i] = Vector3.Transform(triangle[i],tr);
}
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);
}
if (m_convexBody.GetCollisionShape().IsConvex())
{
TriangleShape tm = new TriangleShape(triangle[0],triangle[1],triangle[2]);
tm.Margin = 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);
colAlgo.Cleanup();
ci.GetDispatcher().FreeCollisionAlgorithm(colAlgo);
colAlgo = null;
ob.InternalSetTemporaryCollisionShape( tmpShape);
}
}
