void ConvexTriangleCallback::SetTimeStepAndCounters(float collisionMarginTriangle,const DispatcherInfo& dispatchInfo)
{
m_dispatchInfoPtr = &dispatchInfo;
m_collisionMarginTriangle = collisionMarginTriangle;
//recalc aabbs
CollisionObject* convexBody = (CollisionObject* )m_convexProxy->m_clientObject;
CollisionObject* triBody = (CollisionObject* )m_triangleProxy.m_clientObject;
SimdTransform convexInTriangleSpace;
convexInTriangleSpace = triBody->m_worldTransform.inverse() * convexBody->m_worldTransform;
CollisionShape* convexShape = static_cast<CollisionShape*>(convexBody->m_collisionShape);
//CollisionShape* triangleShape = static_cast<CollisionShape*>(triBody->m_collisionShape);
convexShape->GetAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
float extraMargin = collisionMarginTriangle;//CONVEX_DISTANCE_MARGIN;//+0.1f;
SimdVector3 extra(extraMargin,extraMargin,extraMargin);
m_aabbMax += extra;
m_aabbMin -= extra;
}
void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
{
RigidBody* body = ctrl->GetRigidBody();
//this m_userPointer is just used for triggers, see CallbackTriggers
body->m_userPointer = ctrl;
body->setGravity( m_gravity );
m_controllers.push_back(ctrl);
m_collisionWorld->AddCollisionObject(body,ctrl->GetCollisionFilterGroup(),ctrl->GetCollisionFilterMask());
assert(body->m_broadphaseHandle);
BroadphaseInterface* scene = GetBroadphase();
CollisionShape* shapeinterface = ctrl->GetCollisionShape();
assert(shapeinterface);
const SimdTransform& t = ctrl->GetRigidBody()->getCenterOfMassTransform();
body->m_cachedInvertedWorldTransform = body->m_worldTransform.inverse();
SimdPoint3 minAabb,maxAabb;
shapeinterface->GetAabb(t,minAabb,maxAabb);
float timeStep = 0.02f;
//extent it with the motion
SimdVector3 linMotion = body->getLinearVelocity()*timeStep;
float maxAabbx = maxAabb.getX();
float maxAabby = maxAabb.getY();
float maxAabbz = maxAabb.getZ();
float minAabbx = minAabb.getX();
float minAabby = minAabb.getY();
float minAabbz = minAabb.getZ();
if (linMotion.x() > 0.f)
maxAabbx += linMotion.x();
else
minAabbx += linMotion.x();
if (linMotion.y() > 0.f)
maxAabby += linMotion.y();
else
minAabby += linMotion.y();
if (linMotion.z() > 0.f)
maxAabbz += linMotion.z();
else
minAabbz += linMotion.z();
minAabb = SimdVector3(minAabbx,minAabby,minAabbz);
maxAabb = SimdVector3(maxAabbx,maxAabby,maxAabbz);
}