public void ProcessTriangle(Vector3[] triangle, int partId, int triangleIndex)
{
//do a swept sphere for now
Matrix ident = Matrix.Identity;
CastResult castResult = new CastResult();
castResult.Fraction = _hitFraction;
SphereShape pointShape = new SphereShape(_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(_ccdSphereFromTrans, _ccdSphereToTrans,
ident, ident, castResult))
{
if (_hitFraction > castResult.Fraction)
{
_hitFraction = castResult.Fraction;
}
}
}
public void ProcessTriangle(Vector3[] triangle, int partID, int triangleIndex)
{
//aabb filter is already applied!
CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo = new CollisionAlgorithmConstructionInfo();
collisionAlgorithmConstructionInfo.Dispatcher = _dispatcher;
CollisionObject collisionObject = _triBody;
//debug drawing of the overlapping triangles
/*if (m_dispatchInfoPtr && m_dispatchInfoPtr.m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() > 0)
* {
* Vector3 color = new Vector3(255, 255, 0);
* btTransform & tr = ob->WorldTransform;
* m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]), tr(triangle[1]), color);
* m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]), tr(triangle[2]), color);
* m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]), tr(triangle[0]), color);
* }*/
if (_convexBody.CollisionShape.IsConvex)
{
TriangleShape triangleShape = new TriangleShape(triangle[0], triangle[1], triangle[2]);
triangleShape.Margin = _collisionMarginTriangle;
CollisionShape tempShape = collisionObject.CollisionShape;
collisionObject.CollisionShape = triangleShape;
CollisionAlgorithm collisionAlgorithm = collisionAlgorithmConstructionInfo.Dispatcher.FindAlgorithm(_convexBody, _triBody, _manifold);
_resultOut.SetShapeIdentifiers(-1, -1, partID, triangleIndex);
collisionAlgorithm.ProcessCollision(_convexBody, _triBody, _dispatchInfo, _resultOut);
collisionObject.CollisionShape = tempShape;
}
}
public override void ProcessCollision(CollisionObject bodyA, CollisionObject bodyB, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
if (_manifold == null)
{
return;
}
SphereShape sphere = bodyA.CollisionShape as SphereShape;
TriangleShape triangle = bodyB.CollisionShape as TriangleShape;
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut.SetPersistentManifold(_manifold);
SphereTriangleDetector detector = new SphereTriangleDetector(sphere, triangle);
DiscreteCollisionDetectorInterface.ClosestPointInput input = new DiscreteCollisionDetectorInterface.ClosestPointInput();
input.MaximumDistanceSquared = 1e30f; //todo: tighter bounds
input.TransformA = bodyA.WorldTransform;
input.TransformB = bodyB.WorldTransform;
detector.GetClosestPoints(input, resultOut, null);
}
public SphereTriangleDetector(SphereShape sphere, TriangleShape triangle)
{
this._sphere = sphere;
this._triangle = triangle;
}
public void ProcessTriangle(Vector3[] triangle, int partID, int triangleIndex)
{
//aabb filter is already applied!
CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo = new CollisionAlgorithmConstructionInfo();
collisionAlgorithmConstructionInfo.Dispatcher = _dispatcher;
CollisionObject collisionObject = _triBody;
//debug drawing of the overlapping triangles
/*if (m_dispatchInfoPtr && m_dispatchInfoPtr.m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() > 0)
{
Vector3 color = new Vector3(255, 255, 0);
btTransform & tr = ob->WorldTransform;
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]), tr(triangle[1]), color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]), tr(triangle[2]), color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]), tr(triangle[0]), color);
}*/
if (_convexBody.CollisionShape.IsConvex)
{
TriangleShape triangleShape = new TriangleShape(triangle[0], triangle[1], triangle[2]);
triangleShape.Margin=_collisionMarginTriangle;
CollisionShape tempShape = collisionObject.CollisionShape;
collisionObject.CollisionShape = triangleShape;
CollisionAlgorithm collisionAlgorithm = collisionAlgorithmConstructionInfo.Dispatcher.FindAlgorithm(_convexBody, _triBody, _manifold);
_resultOut.SetShapeIdentifiers(-1, -1, partID, triangleIndex);
collisionAlgorithm.ProcessCollision(_convexBody, _triBody, _dispatchInfo, _resultOut);
collisionObject.CollisionShape = tempShape;
}
}
public SphereTriangleDetector(SphereShape sphere, TriangleShape triangle)
{
this._sphere = sphere;
this._triangle = triangle;
}
public void ProcessTriangle(Vector3[] triangle, int partId, int triangleIndex)
{
//do a swept sphere for now
Matrix ident = Matrix.Identity;
CastResult castResult = new CastResult();
castResult.Fraction = _hitFraction;
SphereShape pointShape = new SphereShape(_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(_ccdSphereFromTrans, _ccdSphereToTrans,
ident, ident, castResult))
{
if (_hitFraction > castResult.Fraction)
_hitFraction = castResult.Fraction;
}
}
