public virtual void ReleaseManifold(PersistentManifold manifold) { _manifoldCount--; ClearManifold(manifold); _manifolds.Remove(manifold); }
public override void ProcessCollision(CollisionObject bodyA, CollisionObject bodyB, DispatcherInfo dispatchInfo, ManifoldResult resultOut) { if (_manifold == null) { //swapped? _manifold = Dispatcher.GetNewManifold(bodyA, bodyB); _ownManifold = true; } resultOut.SetPersistentManifold(_manifold); ConvexShape min0 = bodyA.CollisionShape as ConvexShape; ConvexShape min1 = bodyB.CollisionShape as ConvexShape; GjkPairDetector.ClosestPointInput input = new DiscreteCollisionDetectorInterface.ClosestPointInput(); //TODO: if (dispatchInfo.m_useContinuous) _gjkPairDetector.setMinkowskiA(min0); _gjkPairDetector.setMinkowskiB(min1); input.MaximumDistanceSquared = min0.Margin + min1.Margin + PersistentManifold.ContactBreakingThreshold; input.MaximumDistanceSquared *= input.MaximumDistanceSquared; // input.m_maximumDistanceSquared = 1e30f; input.TransformA = bodyA.WorldTransform; input.TransformB = bodyB.WorldTransform; _gjkPairDetector.GetClosestPoints(input, resultOut, dispatchInfo.DebugDraw); }
public ConvexConvexAlgorithm(PersistentManifold manifold, CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB, ISimplexSolver simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver) : base(collisionAlgorithmConstructionInfo) { _gjkPairDetector = new GjkPairDetector(null, null, simplexSolver, penetrationDepthSolver); _ownManifold = false; _manifold = manifold; _lowLevelOfDetail = false; }
private static int GetIslandId(PersistentManifold lhs) { int islandId; CollisionObject rcolObjA = lhs.BodyA as CollisionObject; CollisionObject rcolObjB = lhs.BodyB as CollisionObject; islandId = rcolObjA.IslandTag >= 0 ? rcolObjA.IslandTag : rcolObjB.IslandTag; return(islandId); }
public ConvexTriangleCallback(IDispatcher dispatcher, CollisionObject bodyA, CollisionObject bodyB, bool isSwapped) { _dispatcher = dispatcher; _dispatchInfo = null; _convexBody = isSwapped ? bodyB : bodyA; _triBody = isSwapped ? bodyA : bodyB; // create the manifold from the dispatcher 'manifold pool' _manifold = _dispatcher.GetNewManifold(_convexBody, _triBody); ClearCache(); }
public SphereSphereCollisionAlgorithm(PersistentManifold manifold, CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB) : base(collisionAlgorithmConstructionInfo) { _ownManifold = false; _manifold = manifold; if (_manifold == null) { _manifold = Dispatcher.GetNewManifold(bodyA, bodyB); _ownManifold = true; } }
public virtual PersistentManifold GetNewManifold(object bodyA, object bodyB) { _manifoldCount++; CollisionObject body0 = bodyA as CollisionObject; CollisionObject body1 = bodyB as CollisionObject; PersistentManifold manifold = new PersistentManifold(body0, body1); _manifolds.Add(manifold); return(manifold); }
private static int PersistentManifoldSortPredicate(PersistentManifold lhs, PersistentManifold rhs) { int rIslandIdA, lIslandIdB; rIslandIdA = GetIslandId(rhs); lIslandIdB = GetIslandId(lhs); //return lIslandId0 < rIslandId0; if (lIslandIdB < rIslandIdA) { return(-1); } //else if (lIslandIdB > rIslandIdA) // return 1; return(1); }
public SphereBoxCollisionAlgorithm(PersistentManifold manifold, CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject collisionObjectA, CollisionObject collisionObjectB, bool isSwapped) : base(collisionAlgorithmConstructionInfo) { _ownManifold = false; _manifold = manifold; _isSwapped = isSwapped; CollisionObject sphereObject = _isSwapped ? collisionObjectB : collisionObjectA; CollisionObject boxObject = _isSwapped ? collisionObjectA : collisionObjectB; if (_manifold == null && Dispatcher.NeedsCollision(sphereObject, boxObject)) { _manifold = Dispatcher.GetNewManifold(sphereObject, boxObject); _ownManifold = true; } }
public void FindUnions(IDispatcher dispatcher) { for (int i = 0; i < dispatcher.ManifoldCount; i++) { PersistentManifold manifold = dispatcher.GetManifoldByIndex(i); //static objects (invmass 0.f) don't merge ! CollisionObject colObjA = manifold.BodyA as CollisionObject; CollisionObject colObjB = manifold.BodyB as CollisionObject; if (((colObjA != null) && (colObjA.MergesSimulationIslands)) && ((colObjB != null) && (colObjB.MergesSimulationIslands))) { _unionFind.Unite(colObjA.IslandTag, colObjB.IslandTag); } } }
public void BuildAndProcessIslands(IDispatcher dispatcher, List <CollisionObject> collisionObjects, IIslandCallback callback) { //we are going to sort the unionfind array, and store the element id in the size //afterwards, we clean unionfind, to make sure no-one uses it anymore UnionFind.SortIslands(); int numElem = UnionFind.ElementCount; int endIslandIndex = 1; int startIslandIndex; //update the sleeping state for bodies, if all are sleeping for (startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex) { int islandId = UnionFind[startIslandIndex].ID; for (endIslandIndex = startIslandIndex + 1; (endIslandIndex < numElem) && (UnionFind[endIslandIndex].ID == islandId); endIslandIndex++) { } //int numSleeping = 0; bool allSleeping = true; int idx; for (idx = startIslandIndex; idx < endIslandIndex; idx++) { int i = UnionFind[idx].Size; CollisionObject colObjA = collisionObjects[i]; if ((colObjA.IslandTag != islandId) && (colObjA.IslandTag != -1)) { Console.WriteLine("error in island management"); } BulletDebug.Assert((colObjA.IslandTag == islandId) || (colObjA.IslandTag == -1)); if (colObjA.IslandTag == islandId) { if (colObjA.ActivationState == ActivationState.Active) { allSleeping = false; } if (colObjA.ActivationState == ActivationState.DisableDeactivation) { allSleeping = false; } } } if (allSleeping) { for (idx = startIslandIndex; idx < endIslandIndex; idx++) { int i = UnionFind[idx].Size; CollisionObject colObjA = collisionObjects[i]; if ((colObjA.IslandTag != islandId) && (colObjA.IslandTag != -1)) { Console.WriteLine("error in island management"); } BulletDebug.Assert((colObjA.IslandTag == islandId) || (colObjA.IslandTag == -1)); if (colObjA.IslandTag == islandId) { colObjA.ActivationState = ActivationState.IslandSleeping; } } } else { for (idx = startIslandIndex; idx < endIslandIndex; idx++) { int i = UnionFind[idx].Size; CollisionObject colObjA = collisionObjects[i]; if ((colObjA.IslandTag != islandId) && (colObjA.IslandTag != -1)) { Console.WriteLine("error in island management"); } BulletDebug.Assert((colObjA.IslandTag == islandId) || (colObjA.IslandTag == -1)); if (colObjA.IslandTag == islandId) { if (colObjA.ActivationState == ActivationState.IslandSleeping) { colObjA.ActivationState = ActivationState.WantsDeactivation; } } } } } //int maxNumManifolds = dispatcher.ManifoldCount; List <PersistentManifold> islandmanifold = new List <PersistentManifold>(dispatcher.ManifoldCount); for (int i = 0; i < dispatcher.ManifoldCount; i++) { PersistentManifold manifold = dispatcher.GetManifoldByIndex(i); CollisionObject colObjA = manifold.BodyA as CollisionObject; CollisionObject colObjB = manifold.BodyB as CollisionObject; //todo: check sleeping conditions! if (((colObjA != null) && colObjA.ActivationState != ActivationState.IslandSleeping) || ((colObjB != null) && colObjB.ActivationState != ActivationState.IslandSleeping)) { //kinematic objects don't merge islands, but wake up all connected objects if (colObjA.IsStaticOrKinematicObject && colObjA.ActivationState != ActivationState.IslandSleeping) { colObjB.Activate(); } if (colObjB.IsStaticOrKinematicObject && colObjB.ActivationState != ActivationState.IslandSleeping) { colObjA.Activate(); } //filtering for response if (dispatcher.NeedsResponse(colObjA, colObjB)) { islandmanifold.Add(manifold); } } } int numManifolds = islandmanifold.Count; // Sort manifolds, based on islands // Sort the vector using predicate and std::sort islandmanifold.Sort(new Comparison <PersistentManifold>(PersistentManifoldSortPredicate)); //now process all active islands (sets of manifolds for now) int startManifoldIndex = 0; int endManifoldIndex = 1; List <CollisionObject> islandBodies = new List <CollisionObject>(); for (startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex) { int islandId = UnionFind[startIslandIndex].ID; bool islandSleeping = false; for (endIslandIndex = startIslandIndex; (endIslandIndex < numElem) && (UnionFind[endIslandIndex].ID == islandId); endIslandIndex++) { int i = UnionFind[endIslandIndex].Size; CollisionObject colObjA = collisionObjects[i]; islandBodies.Add(colObjA); if (!colObjA.IsActive) { islandSleeping = true; } } //find the accompanying contact manifold for this islandId int numIslandManifolds = 0; List <PersistentManifold> startManifold = new List <PersistentManifold>(numIslandManifolds); if (startManifoldIndex < numManifolds) { int curIslandID = GetIslandId(islandmanifold[startManifoldIndex]); if (curIslandID == islandId) { for (int k = startManifoldIndex; k < islandmanifold.Count; k++) { startManifold.Add(islandmanifold[k]); } for (endManifoldIndex = startManifoldIndex + 1; (endManifoldIndex < numManifolds) && (islandId == GetIslandId(islandmanifold[endManifoldIndex])); endManifoldIndex++) { } // Process the actual simulation, only if not sleeping/deactivated numIslandManifolds = endManifoldIndex - startManifoldIndex; } } if (!islandSleeping) { callback.ProcessIsland(islandBodies, startManifold, numIslandManifolds, islandId); } if (numIslandManifolds != 0) { startManifoldIndex = endManifoldIndex; } islandBodies.Clear(); } }
public CollisionAlgorithm FindAlgorithm(CollisionObject bodyA, CollisionObject bodyB, PersistentManifold sharedManifold) { CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo = new CollisionAlgorithmConstructionInfo(); collisionAlgorithmConstructionInfo.Dispatcher = this; collisionAlgorithmConstructionInfo.Manifold = sharedManifold; CollisionAlgorithm collisionAlgorithm = _doubleDispatch[(int)bodyA.CollisionShape.ShapeType, (int)bodyB.CollisionShape.ShapeType].CreateCollisionAlgorithm(collisionAlgorithmConstructionInfo, bodyA, bodyB); return(collisionAlgorithm); }
public CollisionAlgorithm FindAlgorithm(CollisionObject bodyA, CollisionObject bodyB, PersistentManifold sharedManifold) { CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo = new CollisionAlgorithmConstructionInfo(); collisionAlgorithmConstructionInfo.Dispatcher = this; collisionAlgorithmConstructionInfo.Manifold = sharedManifold; CollisionAlgorithm collisionAlgorithm = _doubleDispatch[(int)bodyA.CollisionShape.ShapeType, (int)bodyB.CollisionShape.ShapeType].CreateCollisionAlgorithm(collisionAlgorithmConstructionInfo, bodyA, bodyB); return collisionAlgorithm; }
private static int PersistentManifoldSortPredicate(PersistentManifold lhs, PersistentManifold rhs) { int rIslandIdA, lIslandIdB; rIslandIdA = GetIslandId(rhs); lIslandIdB = GetIslandId(lhs); //return lIslandId0 < rIslandId0; if (lIslandIdB < rIslandIdA) return -1; //else if (lIslandIdB > rIslandIdA) // return 1; return 1; }
private static int GetIslandId(PersistentManifold lhs) { int islandId; CollisionObject rcolObjA = lhs.BodyA as CollisionObject; CollisionObject rcolObjB = lhs.BodyB as CollisionObject; islandId = rcolObjA.IslandTag >= 0 ? rcolObjA.IslandTag : rcolObjB.IslandTag; return islandId; }
public CollisionAlgorithmConstructionInfo(IDispatcher dispatcher) { _dispatcher = dispatcher; _manifold = null; }
public void SetPersistentManifold(PersistentManifold manifold) { _manifold = manifold; }
public virtual void ClearManifold(PersistentManifold manifold) { manifold.ClearManifold(); }
public virtual PersistentManifold GetNewManifold(object bodyA, object bodyB) { _manifoldCount++; CollisionObject body0 = bodyA as CollisionObject; CollisionObject body1 = bodyB as CollisionObject; PersistentManifold manifold = new PersistentManifold(body0, body1); _manifolds.Add(manifold); return manifold; }