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feat: Allow Kinematic-Kinematic Contact generation to use as trigger in bepu #3111

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feat: Allow Kinematic-Kinematic Contact generation to use as trigger in bepu #3111

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8 changes: 5 additions & 3 deletions ...es/engine/Stride.BepuPhysics/Stride.BepuPhysics/Definitions/StrideNarrowPhaseCallbacks.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,9 @@ public void Initialize(Simulation simulation)
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public bool AllowContactGeneration(int workerIndex, CollidableReference a, CollidableReference b, ref float speculativeMargin)
{
return a.Mobility == CollidableMobility.Dynamic || b.Mobility == CollidableMobility.Dynamic;
var oneDynamic = (a.Mobility == CollidableMobility.Dynamic || b.Mobility == CollidableMobility.Dynamic);
var bothKinematic = (a.Mobility == CollidableMobility.Kinematic && b.Mobility == CollidableMobility.Kinematic);
return oneDynamic || bothKinematic;
}

[MethodImpl(MethodImplOptions.AggressiveInlining)]
Expand Down Expand Up @@ -88,10 +90,10 @@ public bool ConfigureContactManifold(int workerIndex, CollidablePair pair, int c
if (manifold.Count != 0)
{
contactEvents.StoreManifold(workerIndex, pair, childIndexA, childIndexB, ref manifold);
#if DEBUG
#if DEBUG
Debug.Assert(configuredChildIndex >= configuredManifold);
configuredChildIndex++;
#endif
#endif
}

return true;
Expand Down