/// User can override this material combiner by implementing gContactAddedCallback and setting
// body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
private static float calculateCombinedFriction(CollisionObject body0, CollisionObject body1) {
float friction = body0.getFriction() * body1.getFriction();
float MAX_FRICTION = 10f;
if (friction < -MAX_FRICTION) {
friction = -MAX_FRICTION;
}
if (friction > MAX_FRICTION) {
friction = MAX_FRICTION;
}
return friction;
}
// 衝突したか？
public boolean isCollided(CollisionObject obj) {
if (obj.getBoundBox().intersects(m_BoundBox)) {
return true;
}
return false;
}
public void addContactPoint(Vector3f normalOnBInWorld, Vector3f pointInWorld, float depth) {
assert (manifoldPtr != null);
// order in manifold needs to match
if (depth > manifoldPtr.getContactBreakingThreshold()) {
return;
}
stack.vectors.push();
try {
boolean isSwapped = manifoldPtr.getBody0() != body0;
Vector3f pointA = stack.vectors.get();
pointA.scaleAdd(depth, normalOnBInWorld, pointInWorld);
Vector3f localA = stack.vectors.get();
Vector3f localB = stack.vectors.get();
if (isSwapped) {
rootTransB.invXform(pointA, localA);
rootTransA.invXform(pointInWorld, localB);
} else {
rootTransA.invXform(pointA, localA);
rootTransB.invXform(pointInWorld, localB);
}
ManifoldPoint newPt = pointsPool.get();
newPt.init(localA, localB, normalOnBInWorld, depth);
newPt.positionWorldOnA.set(pointA);
newPt.positionWorldOnB.set(pointInWorld);
int insertIndex = manifoldPtr.getCacheEntry(newPt);
newPt.combinedFriction = calculateCombinedFriction(body0, body1);
newPt.combinedRestitution = calculateCombinedRestitution(body0, body1);
/// todo, check this for any side effects
if (insertIndex >= 0) {
// const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex);
manifoldPtr.replaceContactPoint(newPt, insertIndex);
} else {
manifoldPtr.addManifoldPoint(newPt);
}
// User can override friction and/or restitution
if (BulletGlobals.gContactAddedCallback != null
&&
// and if either of the two bodies requires custom material
((body0.getCollisionFlags() & CollisionFlags.CUSTOM_MATERIAL_CALLBACK) != 0
|| (body1.getCollisionFlags() & CollisionFlags.CUSTOM_MATERIAL_CALLBACK) != 0)) {
// experimental feature info, for per-triangle material etc.
CollisionObject obj0 = isSwapped ? body1 : body0;
CollisionObject obj1 = isSwapped ? body0 : body1;
BulletGlobals.gContactAddedCallback.invoke(
newPt, obj0, partId0, index0, obj1, partId1, index1);
}
pointsPool.release(newPt);
} finally {
stack.vectors.pop();
}
}
public void init(CollisionObject body0, CollisionObject body1) {
this.body0 = body0;
this.body1 = body1;
this.rootTransA.set(body0.getWorldTransform());
this.rootTransB.set(body1.getWorldTransform());
}
private static float calculateCombinedRestitution(CollisionObject body0, CollisionObject body1) {
return body0.getRestitution() * body1.getRestitution();
}
// 詳細な衝突判定
public int getIntersectSide(CollisionObject obj) {
Rectangle peer = obj.getBoundBox();
int result = 0;
int weight = 0; // 当たり判定に寄与した度合い
int mostEffected = 0; // 最も寄与した辺
// 自分自身の当たり判定
int selfTop = m_BoundBox.y;
int selfBottom = m_BoundBox.y + m_BoundBox.height;
int selfLeft = m_BoundBox.x;
int selfRight = m_BoundBox.x + m_BoundBox.width;
// 相手の当たり判定
int peerTop = peer.y;
int peerBottom = peer.y + peer.height;
int peerLeft = peer.x;
int peerRight = peer.x + peer.width;
// 上辺が交差
if (peerTop > selfTop && peerTop < selfBottom && peerLeft < selfRight && peerRight > selfLeft) {
int w = 0; // 影響度
if (peerTop > selfTop) {
w = peerTop - selfTop;
} else if (peerTop < selfBottom) {
w = selfBottom - peerTop;
}
// 影響度の更新
if (w > weight) {
weight = w;
mostEffected = INTERSECT_TOP;
}
result |= INTERSECT_TOP;
}
// 下辺が交差
if (peerBottom > selfTop
&& peerBottom < selfBottom
&& peerLeft < selfRight
&& peerRight > selfLeft) {
int w = 0; // 影響度
if (peerBottom > selfTop) {
w = peerBottom - selfTop;
} else if (peerBottom < selfBottom) {
w = selfBottom - peerBottom;
}
// 影響度の更新
if (w > weight) {
weight = w;
mostEffected = INTERSECT_BOTTOM;
}
result |= INTERSECT_BOTTOM;
}
// 左辺が交差
if (peerLeft > selfLeft
&& peerLeft < selfRight
&& peerTop < selfBottom
&& peerBottom > selfTop) {
int w = 0; // 影響度
if (peerLeft > selfLeft) {
w = peerLeft - selfLeft;
} else if (peerLeft < selfRight) {
w = selfRight - peerLeft;
}
// 影響度の更新
if (w > weight) {
weight = w;
mostEffected = INTERSECT_LEFT;
}
result |= INTERSECT_LEFT;
}
// 右辺が交差
if (peerRight > selfLeft
&& peerRight < selfRight
&& peerTop < selfBottom
&& peerBottom > selfTop) {
int w = 0; // 影響度
if (peerRight > selfLeft) {
w = peerRight - selfLeft;
} else if (peerRight < selfRight) {
w = selfRight - peerRight;
}
// 影響度の更新
if (w > weight) {
weight = w;
mostEffected = INTERSECT_RIGHT;
}
result |= INTERSECT_RIGHT;
}
return result | mostEffected << 8;
}
