void OnEndContact(Box2DX.Dynamics.Contact contact)
{
if ((contact.GetShape1().UserData is Actor) && (contact.GetShape2().UserData is Actor))
{
(contact.GetShape1().UserData as Actor).OnEndContact((contact.GetShape2().UserData as Actor), contact.GetShape1(), contact.GetShape2());
(contact.GetShape2().UserData as Actor).OnEndContact((contact.GetShape1().UserData as Actor), contact.GetShape2(), contact.GetShape1());
}
else
{
throw new Exceptions.PhysicsBodyDataIsBroken("This contact listener requires for user data to be owner of the component to properly operate");
}
}
public void Report(ContactConstraint[] constraints)
{
if (this._listener != null)
{
for (int i = 0; i < this._contactCount; i++)
{
Contact contact = this._contacts[i];
ContactConstraint contactConstraint = constraints[i];
ContactResult contactResult = new ContactResult();
contactResult.Shape1 = contact.GetShape1();
contactResult.Shape2 = contact.GetShape2();
Body body = contactResult.Shape1.GetBody();
int manifoldCount = contact.GetManifoldCount();
Manifold[] manifolds = contact.GetManifolds();
for (int j = 0; j < manifoldCount; j++)
{
Manifold manifold = manifolds[j];
contactResult.Normal = manifold.Normal;
for (int k = 0; k < manifold.PointCount; k++)
{
ManifoldPoint manifoldPoint = manifold.Points[k];
ContactConstraintPoint contactConstraintPoint = contactConstraint.Points[k];
contactResult.Position = body.GetWorldPoint(manifoldPoint.LocalPoint1);
contactResult.NormalImpulse = contactConstraintPoint.NormalImpulse;
contactResult.TangentImpulse = contactConstraintPoint.TangentImpulse;
contactResult.ID = manifoldPoint.ID;
this._listener.Result(contactResult);
}
}
}
}
}
public static void Destroy(Contact contact)
{
Box2DXDebug.Assert(Contact.s_initialized);
if (contact.GetManifoldCount() > 0)
{
contact.GetShape1().GetBody().WakeUp();
contact.GetShape2().GetBody().WakeUp();
}
ShapeType type = contact.GetShape1().GetType();
ShapeType type2 = contact.GetShape2().GetType();
Box2DXDebug.Assert(ShapeType.UnknownShape < type && type < ShapeType.ShapeTypeCount);
Box2DXDebug.Assert(ShapeType.UnknownShape < type2 && type2 < ShapeType.ShapeTypeCount);
ContactDestroyFcn destroyFcn = Contact.s_registers[(int)type][(int)type2].DestroyFcn;
destroyFcn(contact);
}
public void Collide()
{
for (Contact contact = this._world._contactList; contact != null; contact = contact.GetNext())
{
Body body = contact.GetShape1().GetBody();
Body body2 = contact.GetShape2().GetBody();
if (!body.IsSleeping() || !body2.IsSleeping())
{
contact.Update(this._world._contactListener);
}
}
}
// This is the top level collision call for the time step. Here
// all the narrow phase collision is processed for the world
// contact list.
public void Collide()
{
// Update awake contacts.
for (Contact c = _world._contactList; c != null; c = c.GetNext())
{
Body body1 = c.GetShape1().GetBody();
Body body2 = c.GetShape2().GetBody();
if (body1.IsSleeping() && body2.IsSleeping())
{
continue;
}
c.Update(_world._contactListener);
}
}
// This is a callback from the broadphase when two AABB proxies begin
// to overlap. We create a Contact to manage the narrow phase.
public override object PairAdded(object proxyUserData1, object proxyUserData2)
{
Shape shape1 = proxyUserData1 as Shape;
Shape shape2 = proxyUserData2 as Shape;
Body body1 = shape1.GetBody();
Body body2 = shape2.GetBody();
if (body1.IsStatic() && body2.IsStatic())
{
return(_nullContact);
}
if (shape1.GetBody() == shape2.GetBody())
{
return(_nullContact);
}
if (body2.IsConnected(body1))
{
return(_nullContact);
}
if (_world._contactFilter != null && _world._contactFilter.ShouldCollide(shape1, shape2) == false)
{
return(_nullContact);
}
// Call the factory.
Contact c = Contact.Create(shape1, shape2);
if (c == null)
{
return(_nullContact);
}
// Contact creation may swap shapes.
shape1 = c.GetShape1();
shape2 = c.GetShape2();
body1 = shape1.GetBody();
body2 = shape2.GetBody();
// Insert into the world.
c._prev = null;
c._next = _world._contactList;
if (_world._contactList != null)
{
_world._contactList._prev = c;
}
_world._contactList = c;
// Connect to island graph.
// Connect to body 1
c._node1.Contact = c;
c._node1.Other = body2;
c._node1.Prev = null;
c._node1.Next = body1._contactList;
if (body1._contactList != null)
{
body1._contactList.Prev = c._node1;
}
body1._contactList = c._node1;
// Connect to body 2
c._node2.Contact = c;
c._node2.Other = body1;
c._node2.Prev = null;
c._node2.Next = body2._contactList;
if (body2._contactList != null)
{
body2._contactList.Prev = c._node2;
}
body2._contactList = c._node2;
++_world._contactCount;
return(c);
}
public void Destroy(Contact c)
{
Shape shape1 = c.GetShape1();
Shape shape2 = c.GetShape2();
Body body1 = shape1.GetBody();
Body body2 = shape2.GetBody();
ContactPoint cp = new ContactPoint();
cp.Shape1 = shape1;
cp.Shape2 = shape2;
cp.Friction = Settings.MixFriction(shape1.Friction, shape2.Friction);
cp.Restitution = Settings.MixRestitution(shape1.Restitution, shape2.Restitution);
// Inform the user that this contact is ending.
int manifoldCount = c.GetManifoldCount();
if (manifoldCount > 0 && _world._contactListener != null)
{
Manifold[] manifolds = c.GetManifolds();
for (int i = 0; i < manifoldCount; ++i)
{
Manifold manifold = manifolds[i];
cp.Normal = manifold.Normal;
for (int j = 0; j < manifold.PointCount; ++j)
{
ManifoldPoint mp = manifold.Points[j];
cp.Position = body1.GetWorldPoint(mp.LocalPoint1);
Vec2 v1 = body1.GetLinearVelocityFromLocalPoint(mp.LocalPoint1);
Vec2 v2 = body2.GetLinearVelocityFromLocalPoint(mp.LocalPoint2);
cp.Velocity = v2 - v1;
cp.Separation = mp.Separation;
cp.ID = mp.ID;
_world._contactListener.Remove(cp);
}
}
}
// Remove from the world.
if (c._prev != null)
{
c._prev._next = c._next;
}
if (c._next != null)
{
c._next._prev = c._prev;
}
if (c == _world._contactList)
{
_world._contactList = c._next;
}
// Remove from body 1
if (c._node1.Prev != null)
{
c._node1.Prev.Next = c._node1.Next;
}
if (c._node1.Next != null)
{
c._node1.Next.Prev = c._node1.Prev;
}
if (c._node1 == body1._contactList)
{
body1._contactList = c._node1.Next;
}
// Remove from body 2
if (c._node2.Prev != null)
{
c._node2.Prev.Next = c._node2.Next;
}
if (c._node2.Next != null)
{
c._node2.Next.Prev = c._node2.Prev;
}
if (c._node2 == body2._contactList)
{
body2._contactList = c._node2.Next;
}
// Call the factory.
Contact.Destroy(c);
--_world._contactCount;
}
public void Destroy(Contact c)
{
Shape shape1 = c.GetShape1();
Shape shape2 = c.GetShape2();
Body body1 = shape1.GetBody();
Body body2 = shape2.GetBody();
ContactPoint cp = new ContactPoint();
cp.Shape1 = shape1;
cp.Shape2 = shape2;
cp.Friction = Settings.MixFriction(shape1.Friction, shape2.Friction);
cp.Restitution = Settings.MixRestitution(shape1.Restitution, shape2.Restitution);
// Inform the user that this contact is ending.
int manifoldCount = c.GetManifoldCount();
if (manifoldCount > 0 && _world._contactListener!=null)
{
Manifold[] manifolds = c.GetManifolds();
for (int i = 0; i < manifoldCount; ++i)
{
Manifold manifold = manifolds[i];
cp.Normal = manifold.Normal;
for (int j = 0; j < manifold.PointCount; ++j)
{
ManifoldPoint mp = manifold.Points[j];
cp.Position = body1.GetWorldPoint(mp.LocalPoint1);
Vec2 v1 = body1.GetLinearVelocityFromLocalPoint(mp.LocalPoint1);
Vec2 v2 = body2.GetLinearVelocityFromLocalPoint(mp.LocalPoint2);
cp.Velocity = v2 - v1;
cp.Separation = mp.Separation;
cp.ID = mp.ID;
_world._contactListener.Remove(cp);
}
}
}
// Remove from the world.
if (c._prev != null)
{
c._prev._next = c._next;
}
if (c._next != null)
{
c._next._prev = c._prev;
}
if (c == _world._contactList)
{
_world._contactList = c._next;
}
// Remove from body 1
if (c._node1.Prev != null)
{
c._node1.Prev.Next = c._node1.Next;
}
if (c._node1.Next != null)
{
c._node1.Next.Prev = c._node1.Prev;
}
if (c._node1 == body1._contactList)
{
body1._contactList = c._node1.Next;
}
// Remove from body 2
if (c._node2.Prev != null)
{
c._node2.Prev.Next = c._node2.Next;
}
if (c._node2.Next != null)
{
c._node2.Next.Prev = c._node2.Prev;
}
if (c._node2 == body2._contactList)
{
body2._contactList = c._node2.Next;
}
// Call the factory.
Contact.Destroy(c);
--_world._contactCount;
}
public static void Destroy(Contact contact)
{
//Box2DXDebug.Assert(s_initialized == true); // COMMENT IS HACK HACK HACK
if (contact.GetManifoldCount() > 0)
{
contact.GetShape1().GetBody().WakeUp();
contact.GetShape2().GetBody().WakeUp();
}
ShapeType type1 = contact.GetShape1().GetType();
ShapeType type2 = contact.GetShape2().GetType();
Box2DXDebug.Assert(ShapeType.UnknownShape < type1 && type1 < ShapeType.ShapeTypeCount);
Box2DXDebug.Assert(ShapeType.UnknownShape < type2 && type2 < ShapeType.ShapeTypeCount);
try
{
ContactDestroyFcn destroyFcn = s_registers[(int)type1][(int)type2].DestroyFcn;
destroyFcn(contact);
}
catch (NullReferenceException e)
{
Console.WriteLine("NullReferenceException caught in Box2DX.Dynamics.Contact#Destroy");
}
}
public override object PairAdded(object proxyUserData1, object proxyUserData2)
{
Shape shape = proxyUserData1 as Shape;
Shape shape2 = proxyUserData2 as Shape;
Body body = shape.GetBody();
Body body2 = shape2.GetBody();
object result;
if (body.IsStatic() && body2.IsStatic())
{
result = this._nullContact;
}
else
{
if (shape.GetBody() == shape2.GetBody())
{
result = this._nullContact;
}
else
{
if (body2.IsConnected(body))
{
result = this._nullContact;
}
else
{
if (this._world._contactFilter != null && !this._world._contactFilter.ShouldCollide(shape, shape2))
{
result = this._nullContact;
}
else
{
Contact contact = Contact.Create(shape, shape2);
if (contact == null)
{
result = this._nullContact;
}
else
{
shape = contact.GetShape1();
shape2 = contact.GetShape2();
body = shape.GetBody();
body2 = shape2.GetBody();
contact._prev = null;
contact._next = this._world._contactList;
if (this._world._contactList != null)
{
this._world._contactList._prev = contact;
}
this._world._contactList = contact;
contact._node1.Contact = contact;
contact._node1.Other = body2;
contact._node1.Prev = null;
contact._node1.Next = body._contactList;
if (body._contactList != null)
{
body._contactList.Prev = contact._node1;
}
body._contactList = contact._node1;
contact._node2.Contact = contact;
contact._node2.Other = body;
contact._node2.Prev = null;
contact._node2.Next = body2._contactList;
if (body2._contactList != null)
{
body2._contactList.Prev = contact._node2;
}
body2._contactList = contact._node2;
this._world._contactCount++;
result = contact;
}
}
}
}
}
return(result);
}
public void Destroy(Contact c)
{
Shape shape = c.GetShape1();
Shape shape2 = c.GetShape2();
Body body = shape.GetBody();
Body body2 = shape2.GetBody();
ContactPoint contactPoint = new ContactPoint();
contactPoint.Shape1 = shape;
contactPoint.Shape2 = shape2;
contactPoint.Friction = Settings.MixFriction(shape.Friction, shape2.Friction);
contactPoint.Restitution = Settings.MixRestitution(shape.Restitution, shape2.Restitution);
int manifoldCount = c.GetManifoldCount();
if (manifoldCount > 0 && this._world._contactListener != null)
{
Manifold[] manifolds = c.GetManifolds();
for (int i = 0; i < manifoldCount; i++)
{
Manifold manifold = manifolds[i];
contactPoint.Normal = manifold.Normal;
for (int j = 0; j < manifold.PointCount; j++)
{
ManifoldPoint manifoldPoint = manifold.Points[j];
contactPoint.Position = body.GetWorldPoint(manifoldPoint.LocalPoint1);
Vec2 linearVelocityFromLocalPoint = body.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint1);
Vec2 linearVelocityFromLocalPoint2 = body2.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint2);
contactPoint.Velocity = linearVelocityFromLocalPoint2 - linearVelocityFromLocalPoint;
contactPoint.Separation = manifoldPoint.Separation;
contactPoint.ID = manifoldPoint.ID;
this._world._contactListener.Remove(contactPoint);
}
}
}
if (c._prev != null)
{
c._prev._next = c._next;
}
if (c._next != null)
{
c._next._prev = c._prev;
}
if (c == this._world._contactList)
{
this._world._contactList = c._next;
}
if (c._node1.Prev != null)
{
c._node1.Prev.Next = c._node1.Next;
}
if (c._node1.Next != null)
{
c._node1.Next.Prev = c._node1.Prev;
}
if (c._node1 == body._contactList)
{
body._contactList = c._node1.Next;
}
if (c._node2.Prev != null)
{
c._node2.Prev.Next = c._node2.Next;
}
if (c._node2.Next != null)
{
c._node2.Next.Prev = c._node2.Prev;
}
if (c._node2 == body2._contactList)
{
body2._contactList = c._node2.Next;
}
Contact.Destroy(c);
this._world._contactCount--;
}
public static void Destroy(Contact contact)
{
Box2DXDebug.Assert(s_initialized == true);
if (contact.GetManifoldCount() > 0)
{
contact.GetShape1().GetBody().WakeUp();
contact.GetShape2().GetBody().WakeUp();
}
ShapeType type1 = contact.GetShape1().GetType();
ShapeType type2 = contact.GetShape2().GetType();
Box2DXDebug.Assert(ShapeType.UnknownShape < type1 && type1 < ShapeType.ShapeTypeCount);
Box2DXDebug.Assert(ShapeType.UnknownShape < type2 && type2 < ShapeType.ShapeTypeCount);
ContactDestroyFcn destroyFcn = s_registers[(int)type1][(int)type2].DestroyFcn;
destroyFcn(contact);
}
public void Destroy(Contact c)
{
Shape shape = c.GetShape1();
Shape shape2 = c.GetShape2();
Body body = shape.GetBody();
Body body2 = shape2.GetBody();
ContactPoint contactPoint = new ContactPoint();
contactPoint.Shape1 = shape;
contactPoint.Shape2 = shape2;
contactPoint.Friction = Settings.MixFriction(shape.Friction, shape2.Friction);
contactPoint.Restitution = Settings.MixRestitution(shape.Restitution, shape2.Restitution);
int manifoldCount = c.GetManifoldCount();
if (manifoldCount > 0 && this._world._contactListener != null)
{
Manifold[] manifolds = c.GetManifolds();
for (int i = 0; i < manifoldCount; i++)
{
Manifold manifold = manifolds[i];
contactPoint.Normal = manifold.Normal;
for (int j = 0; j < manifold.PointCount; j++)
{
ManifoldPoint manifoldPoint = manifold.Points[j];
contactPoint.Position = body.GetWorldPoint(manifoldPoint.LocalPoint1);
Vec2 linearVelocityFromLocalPoint = body.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint1);
Vec2 linearVelocityFromLocalPoint2 = body2.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint2);
contactPoint.Velocity = linearVelocityFromLocalPoint2 - linearVelocityFromLocalPoint;
contactPoint.Separation = manifoldPoint.Separation;
contactPoint.ID = manifoldPoint.ID;
this._world._contactListener.Remove(contactPoint);
}
}
}
if (c._prev != null)
{
c._prev._next = c._next;
}
if (c._next != null)
{
c._next._prev = c._prev;
}
if (c == this._world._contactList)
{
this._world._contactList = c._next;
}
if (c._node1.Prev != null)
{
c._node1.Prev.Next = c._node1.Next;
}
if (c._node1.Next != null)
{
c._node1.Next.Prev = c._node1.Prev;
}
if (c._node1 == body._contactList)
{
body._contactList = c._node1.Next;
}
if (c._node2.Prev != null)
{
c._node2.Prev.Next = c._node2.Next;
}
if (c._node2.Next != null)
{
c._node2.Next.Prev = c._node2.Prev;
}
if (c._node2 == body2._contactList)
{
body2._contactList = c._node2.Next;
}
Contact.Destroy(c);
this._world._contactCount--;
}
