void WorldItemImpl::extractCollisions(const CollisionPair& collisionPair)
{
CollisionLinkPairPtr collisionLinkPair = std::make_shared<CollisionLinkPair>();
collisionLinkPair->collisions = collisionPair.collisions();
BodyItem* bodyItem = 0;
for(int i=0; i < 2; ++i){
ColdetLinkInfo* linkInfo = static_cast<ColdetLinkInfo*>(collisionPair.object(i));
if(linkInfo->bodyItem != bodyItem){
bodyItem = linkInfo->bodyItem;
bodyItem->collisions().push_back(collisionLinkPair);
}
collisionLinkPair->body[i] = bodyItem->body();
Link* link = linkInfo->link;
collisionLinkPair->link[i] = link;
bodyItem->collisionsOfLink(link->index()).push_back(collisionLinkPair);
bodyItem->collisionLinkBitSet().set(link->index());
}
collisions->push_back(collisionLinkPair);
}
void WorldItemImpl::extractCollisions(const CollisionPair& collisionPair)
{
CollisionLinkPairPtr collisionLinkPair = std::make_shared<CollisionLinkPair>();
collisionLinkPair->collisions = collisionPair.collisions;
BodyItem* bodyItem = 0;
for(int i=0; i < 2; ++i){
const int geometryId = collisionPair.geometryId[i];
BodyItemInfoMap::const_iterator p = geometryIdToBodyInfoMap[geometryId];
const BodyItemInfo& info = p->second;
const int linkIndex = geometryId - info.geometryId;
if(p->first != bodyItem){
bodyItem = p->first;
bodyItem->collisions().push_back(collisionLinkPair);
}
const BodyPtr& body = bodyItem->body();
collisionLinkPair->body[i] = body;
collisionLinkPair->link[i] = body->link(linkIndex);
bodyItem->collisionsOfLink(linkIndex).push_back(collisionLinkPair);
bodyItem->collisionLinkBitSet().set(linkIndex);
}
collisions->push_back(collisionLinkPair);
}