public void refreshContactPoints() {
assert (manifoldPtr != null);
if (manifoldPtr.getNumContacts() == 0) {
return;
}
boolean isSwapped = manifoldPtr.getBody0() != body0;
if (isSwapped) {
manifoldPtr.refreshContactPoints(rootTransB, rootTransA);
} else {
manifoldPtr.refreshContactPoints(rootTransA, rootTransB);
}
}
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();
}
}
