//public void AttachGhost()
//{
// // add a callback for the ghost object to detect collisions
// PhysicsHandler.World.Broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback());
// // attach a ghost object to the collider
// Ghost = new GhostObject();
// Ghost.CollisionShape = Body.CollisionShape;
// Ghost.WorldTransform = Body.WorldTransform;
// Ghost.CollisionFlags |= CollisionFlags.NoContactResponse;
// // add the ghost object to the world
// PhysicsHandler.World.AddCollisionObject(Ghost, CollisionFilterGroups.SensorTrigger, CollisionFilterGroups.AllFilter);
//}
//public bool CollisionTestGhost()
//{
// if (Ghost != null)
// {
// // if base ---> ignore
// // if prev/next neighbour ---> ignore
// // if any original manipulator collider ---> ignore
// Console.WriteLine($"Collisions: {Ghost.NumOverlappingObjects}");
// return Ghost.NumOverlappingObjects > 0;
// }
// else
// throw new ArgumentNullException("The ghost object is undefined!", "Ghost");
//}
public Collider DeepCopy()
{
// body cannot be cloned directly, so the only way is to re-initialize it
Collider collider = default;
switch (Type)
{
case RigidBodyType.Static:
collider = PhysicsHandler.CreateStaticCollider(Body.CollisionShape, Body.MotionState.WorldTransform);
break;
case RigidBodyType.Kinematic:
collider = PhysicsHandler.CreateKinematicCollider(Body.CollisionShape, Body.MotionState.WorldTransform);
break;
case RigidBodyType.Dynamic:
collider = PhysicsHandler.CreateDynamicCollider(Body.CollisionShape, 1.0f / Body.InvMass, Body.MotionState.WorldTransform);
break;
}
// disable collider to prevent it from producing collision impulses
collider.Body.CollisionFlags |= CollisionFlags.NoContactResponse;
// copy callback
collider.CollisionCallback = new CollisionCallback(collider.Body, null);
return(collider);
}
public void Convert(RigidBodyType type, float mass)
{
PhysicsHandler.RemoveRigidBody(Body);
// set mass properties
if (type != RigidBodyType.Dynamic)
{
mass = 0;
}
Body.SetMassProps(mass, Body.CollisionShape.CalculateLocalInertia(mass));
// set body type
switch (type)
{
case RigidBodyType.Static:
Body.CollisionFlags = CollisionFlags.StaticObject;
Body.ForceActivationState(ActivationState.ActiveTag);
break;
case RigidBodyType.Kinematic:
Body.CollisionFlags = CollisionFlags.StaticObject | CollisionFlags.KinematicObject;
Body.ForceActivationState(ActivationState.DisableDeactivation);
break;
case RigidBodyType.Dynamic:
Body.CollisionFlags = CollisionFlags.None;
Body.ForceActivationState(ActivationState.ActiveTag);
Body.Activate();
break;
}
PhysicsHandler.AddRigidBody(Body);
}
public bool CollisionTest()
{
return(PhysicsHandler.ContactTest(Body, CollisionCallback));
}
public bool CollisionPairTest(Collider other)
{
return(PhysicsHandler.ContactPairTest(Body, other.Body, CollisionCallback));
}
