Code/HumanoidRetargeter/Core/Formats/Mmd/Bullet/BulletCollision/DefaultNearCallback.cs
A collision callback used by the physics broadphase. When two broadphase proxies are near, it gets their CollisionObject instances, asks the dispatcher if they need collision, creates or reuses a collision algorithm, runs either discrete collision processing or continuous time-of-impact calculation, and updates dispatch info.
Native Interop
/* * C# / XNA port of Bullet (c) 2011 Mark Neale <[email protected]> * * Bullet Continuous Collision Detection and Physics Library * Copyright (c) 2003-2008 Erwin Coumans http://www.bulletphysics.com/ * * This software is provided 'as-is', without any express or implied warranty. * In no event will the authors be held liable for any damages arising from * the use of this software. * * Permission is granted to anyone to use this software for any purpose, * including commercial applications, and to alter it and redistribute it * freely, subject to the following restrictions: * * 1. The origin of this software must not be misrepresented; you must not * claim that you wrote the original software. If you use this software * in a product, an acknowledgment in the product documentation would be * appreciated but is not required. * 2. Altered source versions must be plainly marked as such, and must not be * misrepresented as being the original software. * 3. This notice may not be removed or altered from any source distribution. */ // Adapted from BulletXNA 73b2e1b9: namespace isolation, no XNA rendering, one type per file. #nullable disable #pragma warning disable CS1591, CS0168, CS0219, CS0414, CS0660, CS0661, CS0659, CS0693, CS8981, CS0108, CS0114 using System; using System.Collections.Generic; using System.Diagnostics; using HumanoidRetargeter.Core.Formats.Mmd.Bullet.LinearMath; namespace HumanoidRetargeter.Core.Formats.Mmd.Bullet.BulletCollision; internal class DefaultNearCallback : INearCallback { public void NearCallback(BroadphasePair collisionPair, CollisionDispatcher dispatcher, DispatcherInfo dispatchInfo) { CollisionObject colObj0 = collisionPair.m_pProxy0.GetClientObject() as CollisionObject; CollisionObject colObj1 = collisionPair.m_pProxy1.GetClientObject() as CollisionObject; if (dispatcher.NeedsCollision(colObj0, colObj1)) { //dispatcher will keep algorithms persistent in the collision pair if (collisionPair.m_algorithm == null) { collisionPair.m_algorithm = dispatcher.FindAlgorithm(colObj0, colObj1, null); } if (collisionPair.m_algorithm != null) { ManifoldResult contactPointResult = dispatcher.GetNewManifoldResult(colObj0, colObj1); if (dispatchInfo.GetDispatchFunc() == DispatchFunc.DISPATCH_DISCRETE) { //discrete collision detection query collisionPair.m_algorithm.ProcessCollision(colObj0, colObj1, dispatchInfo, contactPointResult); } else { //continuous collision detection query, time of impact (toi) float toi = collisionPair.m_algorithm.CalculateTimeOfImpact(colObj0, colObj1, dispatchInfo, contactPointResult); if (dispatchInfo.GetTimeOfImpact() > toi) { dispatchInfo.SetTimeOfImpact(toi); } } dispatcher.FreeManifoldResult(contactPointResult); } } } }