// Broad-phase callback.
private void AddPair(ref FixtureProxy proxyA, ref FixtureProxy proxyB)
{
Fixture fixtureA = proxyA.Fixture;
Fixture fixtureB = proxyB.Fixture;
int indexA = proxyA.ChildIndex;
int indexB = proxyB.ChildIndex;
Body bodyA = fixtureA.Body;
Body bodyB = fixtureB.Body;
// Are the fixtures on the same body?
if (bodyA == bodyB)
{
return;
}
// Does a contact already exist?
ContactEdge edge = bodyB.ContactList;
while (edge != null)
{
if (edge.Other == bodyA)
{
Fixture fA = edge.Contact.FixtureA;
Fixture fB = edge.Contact.FixtureB;
int iA = edge.Contact.ChildIndexA;
int iB = edge.Contact.ChildIndexB;
if (fA == fixtureA && fB == fixtureB && iA == indexA && iB == indexB)
{
// A contact already exists.
return;
}
if (fA == fixtureB && fB == fixtureA && iA == indexB && iB == indexA)
{
// A contact already exists.
return;
}
}
edge = edge.Next;
}
// Does a joint override collision? Is at least one body dynamic?
if (bodyB.ShouldCollide(bodyA) == false)
{
return;
}
// Check default filter
if (ShouldCollide(fixtureA, fixtureB) == false)
{
return;
}
// Check user filtering.
if (OnContactFilter != null && OnContactFilter(fixtureA, fixtureB) == false)
{
return;
}
// FPE feature: BeforeCollision delegate
if (fixtureA.BeforeCollision != null && fixtureA.BeforeCollision(fixtureA, fixtureB) == false)
{
return;
}
if (fixtureB.BeforeCollision != null && fixtureB.BeforeCollision(fixtureB, fixtureA) == false)
{
return;
}
// Call the factory.
Contact c = Contact.Create(fixtureA, indexA, fixtureB, indexB);
if (c == null)
{
return;
}
// Contact creation may swap fixtures.
fixtureA = c.FixtureA;
fixtureB = c.FixtureB;
bodyA = fixtureA.Body;
bodyB = fixtureB.Body;
// Insert into the world.
ContactList.Add(c);
#if USE_ACTIVE_CONTACT_SET
ActiveContacts.Add(c);
#endif
// Connect to island graph.
// Connect to body A
c._nodeA.Contact = c;
c._nodeA.Other = bodyB;
c._nodeA.Prev = null;
c._nodeA.Next = bodyA.ContactList;
if (bodyA.ContactList != null)
{
bodyA.ContactList.Prev = c._nodeA;
}
bodyA.ContactList = c._nodeA;
// Connect to body B
c._nodeB.Contact = c;
c._nodeB.Other = bodyA;
c._nodeB.Prev = null;
c._nodeB.Next = bodyB.ContactList;
if (bodyB.ContactList != null)
{
bodyB.ContactList.Prev = c._nodeB;
}
bodyB.ContactList = c._nodeB;
// Wake up the bodies
if (fixtureA.IsSensor == false && fixtureB.IsSensor == false)
{
bodyA.IsAwake = true;
bodyB.IsAwake = true;
}
}
// Broad-phase callback.
private void AddPair(ref FixtureProxy proxyA, ref FixtureProxy proxyB)
{
Fixture fixtureA = proxyA.Fixture;
Fixture fixtureB = proxyB.Fixture;
int indexA = proxyA.ChildIndex;
int indexB = proxyB.ChildIndex;
Body bodyA = fixtureA.Body;
Body bodyB = fixtureB.Body;
// Are the fixtures on the same body?
if (bodyA == bodyB)
{
return;
}
// Does a contact already exist?
ContactEdge edge = bodyB.ContactList;
while (edge != null)
{
if (edge.Other == bodyA)
{
Fixture fA = edge.Contact.FixtureA;
Fixture fB = edge.Contact.FixtureB;
int iA = edge.Contact.ChildIndexA;
int iB = edge.Contact.ChildIndexB;
if (fA == fixtureA && fB == fixtureB && iA == indexA && iB == indexB)
{
// A contact already exists.
return;
}
if (fA == fixtureB && fB == fixtureA && iA == indexB && iB == indexA)
{
// A contact already exists.
return;
}
}
edge = edge.Next;
}
// Does a joint override collision? Is at least one body dynamic?
if (bodyB.ShouldCollide(bodyA) == false)
{
return;
}
// Check user filtering.
if (ContactFilter != null && ContactFilter(fixtureA, fixtureB) == false)
{
return;
}
// Call the factory.
Contact c = Contact.Create(fixtureA, indexA, fixtureB, indexB);
// Contact creation may swap fixtures.
fixtureA = c.FixtureA;
fixtureB = c.FixtureB;
indexA = c.ChildIndexA;
indexB = c.ChildIndexB;
bodyA = fixtureA.Body;
bodyB = fixtureB.Body;
// Insert into the world.
c.Prev = null;
c.Next = ContactList;
if (ContactList != null)
{
ContactList.Prev = c;
}
ContactList = c;
// Connect to island graph.
// Connect to body A
c.NodeA.Contact = c;
c.NodeA.Other = bodyB;
c.NodeA.Prev = null;
c.NodeA.Next = bodyA.ContactList;
if (bodyA.ContactList != null)
{
bodyA.ContactList.Prev = c.NodeA;
}
bodyA.ContactList = c.NodeA;
// Connect to body B
c.NodeB.Contact = c;
c.NodeB.Other = bodyA;
c.NodeB.Prev = null;
c.NodeB.Next = bodyB.ContactList;
if (bodyB.ContactList != null)
{
bodyB.ContactList.Prev = c.NodeB;
}
bodyB.ContactList = c.NodeB;
++ContactCount;
}
internal void Collide()
{
// Update awake contacts.
#if USE_ACTIVE_CONTACT_SET
ActiveList.AddRange(ActiveContacts);
foreach (var c in ActiveList)
{
#else
for (int i = 0; i < ContactList.Count; i++)
{
Contact c = ContactList[i];
#endif
Fixture fixtureA = c.FixtureA;
Fixture fixtureB = c.FixtureB;
int indexA = c.ChildIndexA;
int indexB = c.ChildIndexB;
Body bodyA = fixtureA.Body;
Body bodyB = fixtureB.Body;
// Do no try to collide disabled bodies
if (!bodyA.Enabled || !bodyB.Enabled)
{
continue;
}
// Is this contact flagged for filtering?
if (c.filterFlag)
{
// Should these bodies collide?
if (bodyB.ShouldCollide(bodyA) == false)
{
Contact cNuke = c;
Destroy(cNuke);
continue;
}
// Check default filtering
if (ShouldCollide(fixtureA, fixtureB) == false)
{
Contact cNuke = c;
Destroy(cNuke);
continue;
}
// Check user filtering.
if (OnContactFilter != null && OnContactFilter(fixtureA, fixtureB) == false)
{
Contact cNuke = c;
Destroy(cNuke);
continue;
}
// Clear the filtering flag.
c.filterFlag = false;
}
bool activeA = bodyA.IsAwake && bodyA.BodyType != BodyType.Static;
bool activeB = bodyB.IsAwake && bodyB.BodyType != BodyType.Static;
// At least one body must be awake and it must be dynamic or kinematic.
if (activeA == false && activeB == false)
{
#if USE_ACTIVE_CONTACT_SET
ActiveContacts.Remove(c);
#endif
continue;
}
int proxyIdA = fixtureA.Proxies[indexA].ProxyId;
int proxyIdB = fixtureB.Proxies[indexB].ProxyId;
bool overlap = BroadPhase.TestOverlap(proxyIdA, proxyIdB);
// Here we destroy contacts that cease to overlap in the broad-phase.
if (overlap == false)
{
Contact cNuke = c;
Destroy(cNuke);
continue;
}
// The contact persists.
c.Update(this);
}
#if USE_ACTIVE_CONTACT_SET
ActiveList.Clear();
#endif
}
internal void Collide()
{
// Update awake contacts.
var elements = ContactList.Elements;
for (int i = 0, count = ContactList.count; i < count; i++)
{
Contact c = elements[i];
Fixture fixtureA = c.FixtureA;
Fixture fixtureB = c.FixtureB;
int indexA = c.ChildIndexA;
int indexB = c.ChildIndexB;
Body bodyA = fixtureA.Body;
Body bodyB = fixtureB.Body;
if (bodyA.Awake == false && bodyB.Awake == false)
{
continue;
}
// Is this contact flagged for filtering?
if ((c.Flags & ContactFlags.Filter) == ContactFlags.Filter)
{
// Should these bodies collide?
if (bodyB.ShouldCollide(bodyA) == false)
{
Destroy(c, i);
count--;
continue;
}
// Check default filtering
if (ShouldCollide(fixtureA, fixtureB) == false)
{
Destroy(c, i);
count--;
continue;
}
// Check user filtering.
if (ContactFilter != null && ContactFilter(fixtureA, fixtureB) == false)
{
Destroy(c, i);
count--;
continue;
}
// Clear the filtering flag.
c.Flags &= ~ContactFlags.Filter;
}
int proxyIdA = fixtureA.Proxies[indexA].ProxyId;
int proxyIdB = fixtureB.Proxies[indexB].ProxyId;
bool overlap = BroadPhase.TestOverlap(proxyIdA, proxyIdB);
// Here we destroy contacts that cease to overlap in the broad-phase.
if (overlap == false)
{
Destroy(c, i);
count--;
continue;
}
// The contact persists.
c.Update(this);
}
}
internal void Collide()
{
// Update awake contacts.
Contact c = ContactList;
while (c != null)
{
Fixture fixtureA = c.FixtureA;
Fixture fixtureB = c.FixtureB;
int indexA = c.ChildIndexA;
int indexB = c.ChildIndexB;
Body bodyA = fixtureA.Body;
Body bodyB = fixtureB.Body;
if (bodyA.Awake == false && bodyB.Awake == false)
{
c = c.Next;
continue;
}
// Is this contact flagged for filtering?
if ((c.Flags & ContactFlags.Filter) == ContactFlags.Filter)
{
// Should these bodies collide?
if (bodyB.ShouldCollide(bodyA) == false)
{
Contact cNuke = c;
c = cNuke.Next;
Destroy(cNuke);
continue;
}
// Check user filtering.
if (ContactFilter != null && ContactFilter(fixtureA, fixtureB) == false)
{
Contact cNuke = c;
c = cNuke.Next;
Destroy(cNuke);
continue;
}
// Clear the filtering flag.
c.Flags &= ~ContactFlags.Filter;
}
int proxyIdA = fixtureA.Proxies[indexA].ProxyId;
int proxyIdB = fixtureB.Proxies[indexB].ProxyId;
bool overlap = BroadPhase.TestOverlap(proxyIdA, proxyIdB);
// Here we destroy contacts that cease to overlap in the broad-phase.
if (overlap == false)
{
Contact cNuke = c;
c = cNuke.Next;
Destroy(cNuke);
continue;
}
// The contact persists.
c.Update(this);
c = c.Next;
}
}
internal void Collide()
{
// Update awake contacts.
#if USE_ACTIVE_CONTACT_SET
ActiveList.AddRange(ActiveContacts);
foreach (var c in ActiveList)
{
#else
for (int i = 0; i < ContactList.Count; i++)
{
Contact c = ContactList[i];
#endif
Fixture fixtureA = c.FixtureA;
Fixture fixtureB = c.FixtureB;
int indexA = c.ChildIndexA;
int indexB = c.ChildIndexB;
Body bodyA = fixtureA.Body;
Body bodyB = fixtureB.Body;
if (bodyA.Awake == false && bodyB.Awake == false)
{
#if USE_ACTIVE_CONTACT_SET
ActiveContacts.Remove(c);
#endif
continue;
}
// Is this contact flagged for filtering?
if ((c.Flags & ContactFlags.Filter) == ContactFlags.Filter)
{
// Should these bodies collide?
if (bodyB.ShouldCollide(bodyA) == false)
{
Contact cNuke = c;
Destroy(cNuke);
continue;
}
// Check default filtering
if (ShouldCollide(fixtureA, fixtureB) == false)
{
Contact cNuke = c;
Destroy(cNuke);
continue;
}
// Check user filtering.
if (ContactFilter != null && ContactFilter(fixtureA, fixtureB) == false)
{
Contact cNuke = c;
Destroy(cNuke);
continue;
}
// Clear the filtering flag.
c.Flags &= ~ContactFlags.Filter;
}
int proxyIdA = fixtureA.Proxies[indexA].ProxyId;
int proxyIdB = fixtureB.Proxies[indexB].ProxyId;
bool overlap = BroadPhase.TestOverlap(proxyIdA, proxyIdB);
// Here we destroy contacts that cease to overlap in the broad-phase.
if (overlap == false)
{
Contact cNuke = c;
Destroy(cNuke);
continue;
}
// The contact persists.
c.Update(this);
}
#if USE_ACTIVE_CONTACT_SET
ActiveList.Clear();
#endif
}
internal void CollideMultiCore()
{
int lockOrder = 0;
// Update awake contacts.
#if USE_ACTIVE_CONTACT_SET
ActiveList.AddRange(ActiveContacts);
foreach (var tmpc in ActiveList)
{
Contact c = tmpc;
#else
for (Contact c = ContactList.Next; c != ContactList;)
{
#endif
Fixture fixtureA = c.FixtureA;
Fixture fixtureB = c.FixtureB;
int indexA = c.ChildIndexA;
int indexB = c.ChildIndexB;
Body bodyA = fixtureA.Body;
Body bodyB = fixtureB.Body;
//Do no try to collide disabled bodies
if (!bodyA.Enabled || !bodyB.Enabled)
{
c = c.Next;
continue;
}
// Is this contact flagged for filtering?
if (c.FilterFlag)
{
// Should these bodies collide?
if (bodyB.ShouldCollide(bodyA) == false)
{
Contact cNuke = c;
c = c.Next;
Destroy(cNuke);
continue;
}
// Check default filtering
if (ShouldCollide(fixtureA, fixtureB) == false)
{
Contact cNuke = c;
c = c.Next;
Destroy(cNuke);
continue;
}
// Check user filtering.
var contactFilterHandler = ContactFilter;
if (contactFilterHandler != null)
{
if (contactFilterHandler(fixtureA, fixtureB) == false)
{
Contact cNuke = c;
c = c.Next;
Destroy(cNuke);
continue;
}
}
// Clear the filtering flag.
c.FilterFlag = false;
}
bool activeA = bodyA.Awake && bodyA.BodyType != BodyType.Static;
bool activeB = bodyB.Awake && bodyB.BodyType != BodyType.Static;
// At least one body must be awake and it must be dynamic or kinematic.
if (activeA == false && activeB == false)
{
#if USE_ACTIVE_CONTACT_SET
ActiveContacts.Remove(c);
#endif
c = c.Next;
continue;
}
int proxyIdA = fixtureA.Proxies[indexA].ProxyId;
int proxyIdB = fixtureB.Proxies[indexB].ProxyId;
bool overlap = BroadPhase.TestOverlap(proxyIdA, proxyIdB);
// Here we destroy contacts that cease to overlap in the broad-phase.
if (overlap == false)
{
Contact cNuke = c;
c = c.Next;
Destroy(cNuke);
continue;
}
// The contact persists.
updateList.Add(c);
// Assign a unique id for lock order
bodyA._lockOrder = lockOrder++;
bodyB._lockOrder = lockOrder++;
c = c.Next;
}
#if USE_ACTIVE_CONTACT_SET
ActiveList.Clear();
#endif
// TODO: Jää joskus tänne jumiin.
// update contacts
System.Threading.Tasks.Parallel.ForEach <Contact>(updateList, (c) =>
{
// find lower order item
Fixture fixtureA = c.FixtureA;
Fixture fixtureB = c.FixtureB;
// find lower order item
Body orderedBodyA = fixtureA.Body;
Body orderedBodyB = fixtureB.Body;
int idA = orderedBodyA._lockOrder;
int idB = orderedBodyB._lockOrder;
if (idA == idB)
{
throw new System.Exception();
}
if (idA > idB)
{
orderedBodyA = fixtureB.Body;
orderedBodyB = fixtureA.Body;
}
// obtain lock
for (; ;)
{
if (System.Threading.Interlocked.CompareExchange(ref orderedBodyA._lock, 1, 0) == 0)
{
if (System.Threading.Interlocked.CompareExchange(ref orderedBodyB._lock, 1, 0) == 0)
{
break;
}
System.Threading.Interlocked.Exchange(ref orderedBodyA._lock, 0);
}
#if NET40 || NET45 || NETSTANDARD2_0
System.Threading.Thread.Sleep(0);
#endif
}
c.Update(this);
System.Threading.Interlocked.Exchange(ref orderedBodyB._lock, 0);
System.Threading.Interlocked.Exchange(ref orderedBodyA._lock, 0);
});
updateList.Clear();
}
internal void Collide()
{
#if NET40 || NET45 || NETSTANDARD2_0 || PORTABLE40 || PORTABLE45 || W10 || W8_1 || WP8_1
if (this.ContactCount > CollideMultithreadThreshold && ThreadsToUse > 1)
{
CollideMultiCore();
return;
}
#endif
// Update awake contacts.
#if USE_ACTIVE_CONTACT_SET
ActiveList.AddRange(ActiveContacts);
foreach (var tmpc in ActiveList)
{
Contact c = tmpc;
#else
for (Contact c = ContactList.Next; c != ContactList;)
{
#endif
Fixture fixtureA = c.FixtureA;
Fixture fixtureB = c.FixtureB;
int indexA = c.ChildIndexA;
int indexB = c.ChildIndexB;
Body bodyA = fixtureA.Body;
Body bodyB = fixtureB.Body;
//Do no try to collide disabled bodies
if (!bodyA.Enabled || !bodyB.Enabled)
{
c = c.Next;
continue;
}
// Is this contact flagged for filtering?
if (c.FilterFlag)
{
// Should these bodies collide?
if (bodyB.ShouldCollide(bodyA) == false)
{
Contact cNuke = c;
c = c.Next;
Destroy(cNuke);
continue;
}
// Check default filtering
if (ShouldCollide(fixtureA, fixtureB) == false)
{
Contact cNuke = c;
c = c.Next;
Destroy(cNuke);
continue;
}
// Check user filtering.
var contactFilterHandler = ContactFilter;
if (contactFilterHandler != null)
{
if (contactFilterHandler(fixtureA, fixtureB) == false)
{
Contact cNuke = c;
c = c.Next;
Destroy(cNuke);
continue;
}
}
// Clear the filtering flag.
c.FilterFlag = false;
}
bool activeA = bodyA.Awake && bodyA.BodyType != BodyType.Static;
bool activeB = bodyB.Awake && bodyB.BodyType != BodyType.Static;
// At least one body must be awake and it must be dynamic or kinematic.
if (activeA == false && activeB == false)
{
#if USE_ACTIVE_CONTACT_SET
ActiveContacts.Remove(c);
#endif
c = c.Next;
continue;
}
int proxyIdA = fixtureA.Proxies[indexA].ProxyId;
int proxyIdB = fixtureB.Proxies[indexB].ProxyId;
bool overlap = BroadPhase.TestOverlap(proxyIdA, proxyIdB);
// Here we destroy contacts that cease to overlap in the broad-phase.
if (overlap == false)
{
Contact cNuke = c;
c = c.Next;
Destroy(cNuke);
continue;
}
// The contact persists.
c.Update(this);
c = c.Next;
}
#if USE_ACTIVE_CONTACT_SET
ActiveList.Clear();
#endif
}
/// <summary>
/// A temporary list of contacts to be updated during Collide().
/// </summary>
List <Contact> updateList = new List <Contact>();
// Broad-phase callback.
private void AddPair(int proxyIdA, int proxyIdB)
{
FixtureProxy proxyA = BroadPhase.GetProxy(proxyIdA);
FixtureProxy proxyB = BroadPhase.GetProxy(proxyIdB);
Fixture fixtureA = proxyA.Fixture;
Fixture fixtureB = proxyB.Fixture;
int indexA = proxyA.ChildIndex;
int indexB = proxyB.ChildIndex;
Body bodyA = fixtureA.Body;
Body bodyB = fixtureB.Body;
// Are the fixtures on the same body?
if (bodyA == bodyB)
{
return;
}
// Does a contact already exist?
for (ContactEdge ceB = bodyB.ContactList; ceB != null; ceB = ceB.Next)
{
if (ceB.Other == bodyA)
{
Fixture fA = ceB.Contact.FixtureA;
Fixture fB = ceB.Contact.FixtureB;
int iA = ceB.Contact.ChildIndexA;
int iB = ceB.Contact.ChildIndexB;
if (fA == fixtureA && fB == fixtureB && iA == indexA && iB == indexB)
{
// A contact already exists.
return;
}
if (fA == fixtureB && fB == fixtureA && iA == indexB && iB == indexA)
{
// A contact already exists.
return;
}
}
}
// Does a joint override collision? Is at least one body dynamic?
if (bodyB.ShouldCollide(bodyA) == false)
{
return;
}
//Check default filter
if (ShouldCollide(fixtureA, fixtureB) == false)
{
return;
}
// Check user filtering.
var contactFilterHandler = ContactFilter;
if (contactFilterHandler != null)
{
if (contactFilterHandler(fixtureA, fixtureB) == false)
{
return;
}
}
//FPE feature: BeforeCollision delegate
var beforeCollisionHandlerA = fixtureA.BeforeCollision;
if (beforeCollisionHandlerA != null)
{
if (beforeCollisionHandlerA(fixtureA, fixtureB) == false)
{
return;
}
}
var beforeCollisionHandlerB = fixtureB.BeforeCollision;
if (beforeCollisionHandlerB != null)
{
if (beforeCollisionHandlerB(fixtureB, fixtureA) == false)
{
return;
}
}
// Call the factory.
Contact c = Contact.Create(this, fixtureA, indexA, fixtureB, indexB);
if (c == null)
{
return;
}
// Contact creation may swap fixtures.
fixtureA = c.FixtureA;
fixtureB = c.FixtureB;
bodyA = fixtureA.Body;
bodyB = fixtureB.Body;
// Insert into the world.
c.Prev = ContactList;
c.Next = c.Prev.Next;
c.Prev.Next = c;
c.Next.Prev = c;
ContactCount++;
#if USE_ACTIVE_CONTACT_SET
ActiveContacts.Add(c);
#endif
// Connect to island graph.
// Connect to body A
c._nodeA.Contact = c;
c._nodeA.Other = bodyB;
c._nodeA.Prev = null;
c._nodeA.Next = bodyA.ContactList;
if (bodyA.ContactList != null)
{
bodyA.ContactList.Prev = c._nodeA;
}
bodyA.ContactList = c._nodeA;
// Connect to body B
c._nodeB.Contact = c;
c._nodeB.Other = bodyA;
c._nodeB.Prev = null;
c._nodeB.Next = bodyB.ContactList;
if (bodyB.ContactList != null)
{
bodyB.ContactList.Prev = c._nodeB;
}
bodyB.ContactList = c._nodeB;
// Wake up the bodies
if (fixtureA.IsSensor == false && fixtureB.IsSensor == false)
{
bodyA.Awake = true;
bodyB.Awake = true;
}
}
internal void Collide()
{
// Update awake contacts.
for (int i = 0; i < ContactList.Count; i++)
{
Contact c = ContactList[i];
Fixture fixtureA = c.FixtureA;
Fixture fixtureB = c.FixtureB;
int indexA = c.ChildIndexA;
int indexB = c.ChildIndexB;
Body bodyA = fixtureA.Body;
Body bodyB = fixtureB.Body;
if (bodyA.Awake == false && bodyB.Awake == false)
{
// If one or both of the fixtures are sensors, it is OK that they are not awake.
if (!fixtureA.IsSensor && !fixtureB.IsSensor)
{
continue;
}
}
// Is this contact flagged for filtering?
if ((c.Flags & ContactFlags.Filter) == ContactFlags.Filter)
{
// Should these bodies collide?
if (bodyB.ShouldCollide(bodyA) == false)
{
Contact cNuke = c;
Destroy(cNuke);
continue;
}
// Check default filtering
if (ShouldCollide(fixtureA, fixtureB) == false)
{
Contact cNuke = c;
Destroy(cNuke);
continue;
}
// Check user filtering.
if (ContactFilter != null && ContactFilter(fixtureA, fixtureB) == false)
{
Contact cNuke = c;
Destroy(cNuke);
continue;
}
// Clear the filtering flag.
c.Flags &= ~ContactFlags.Filter;
}
int proxyIdA = fixtureA.Proxies[indexA].ProxyId;
int proxyIdB = fixtureB.Proxies[indexB].ProxyId;
bool overlap = BroadPhase.TestOverlap(proxyIdA, proxyIdB);
// Here we destroy contacts that cease to overlap in the broad-phase.
if (overlap == false)
{
Contact cNuke = c;
Destroy(cNuke);
continue;
}
// The contact persists.
c.Update(this);
}
}