PfxInt32 pfxDetectCollision(PfxDetectCollisionParam ¶m)
{
PfxInt32 ret = pfxCheckParamOfDetectCollision(param);
if(ret != SCE_PFX_OK)
return ret;
SCE_PFX_PUSH_MARKER("pfxDetectCollision");
PfxConstraintPair *contactPairs = param.contactPairs;
PfxUInt32 numContactPairs = param.numContactPairs;
PfxContactManifold *offsetContactManifolds = param.offsetContactManifolds;
PfxRigidState *offsetRigidStates = param.offsetRigidStates;
PfxCollidable *offsetCollidables = param.offsetCollidables;
PfxUInt32 numRigidBodies = param.numRigidBodies;
for(PfxUInt32 i=0;i<numContactPairs;i++) {
const PfxBroadphasePair &pair = contactPairs[i];
if(!pfxCheckCollidableInCollision(pair)) {
continue;
}
PfxUInt32 iContact = pfxGetContactId(pair);
PfxUInt32 iA = pfxGetObjectIdA(pair);
PfxUInt32 iB = pfxGetObjectIdB(pair);
PfxContactManifold &contact = offsetContactManifolds[iContact];
SCE_PFX_ALWAYS_ASSERT(iA==contact.getRigidBodyIdA());
SCE_PFX_ALWAYS_ASSERT(iB==contact.getRigidBodyIdB());
PfxRigidState &stateA = offsetRigidStates[iA];
PfxRigidState &stateB = offsetRigidStates[iB];
PfxCollidable &collA = offsetCollidables[iA];
PfxCollidable &collB = offsetCollidables[iB];
PfxTransform3 tA0(stateA.getOrientation(), stateA.getPosition());
PfxTransform3 tB0(stateB.getOrientation(), stateB.getPosition());
PfxContactCache contactCache;
PfxShapeIterator itrShapeA(collA);
for(PfxUInt32 j=0;j<collA.getNumShapes();j++,++itrShapeA) {
const PfxShape &shapeA = *itrShapeA;
PfxTransform3 offsetTrA = shapeA.getOffsetTransform();
PfxTransform3 worldTrA = tA0 * offsetTrA;
PfxShapeIterator itrShapeB(collB);
for(PfxUInt32 k=0;k<collB.getNumShapes();k++,++itrShapeB) {
const PfxShape &shapeB = *itrShapeB;
PfxTransform3 offsetTrB = shapeB.getOffsetTransform();
PfxTransform3 worldTrB = tB0 * offsetTrB;
if( (shapeA.getContactFilterSelf()&shapeB.getContactFilterTarget()) &&
(shapeA.getContactFilterTarget()&shapeB.getContactFilterSelf()) ) {
pfxGetDetectCollisionFunc(shapeA.getType(),shapeB.getType())(
contactCache,
shapeA,offsetTrA,worldTrA,j,
shapeB,offsetTrB,worldTrB,k,
SCE_PFX_CONTACT_THRESHOLD);
}
}
}
for(int j=0;j<contactCache.getNumContacts();j++) {
const PfxCachedContactPoint &cp = contactCache.getContactPoint(j);
contact.addContactPoint(
cp.m_distance,
cp.m_normal,
cp.m_localPointA,
cp.m_localPointB,
cp.m_subData
);
}
}
SCE_PFX_POP_MARKER();
(void) numRigidBodies;
return SCE_PFX_OK;
}
