protected void Init(b2Fixture fA, int indexA, b2Fixture fB, int indexB) { Flags = b2ContactFlags.e_enabledFlag; FixtureA = fA; FixtureB = fB; m_indexA = indexA; m_indexB = indexB; m_manifold.pointCount = 0; Prev = null; Next = null; NodeA.Contact = null; NodeA.hasPrev = false; NodeA.hasNext = false; NodeA.Other = null; NodeB.Contact = null; NodeB.hasPrev = false; NodeB.hasNext = false; NodeB.Other = null; m_toiCount = 0; Friction = b2Math.b2MixFriction(FixtureA.Friction, FixtureB.Friction); Restitution = b2Math.b2MixRestitution(FixtureA.Restitution, FixtureB.Restitution); }
public b2Contact(b2Fixture fA, int indexA, b2Fixture fB, int indexB) { m_flags = b2ContactFlags.e_enabledFlag; m_fixtureA = fA; m_fixtureB = fB; m_indexA = indexA; m_indexB = indexB; m_manifold = b2Manifold.Create(); m_manifold.pointCount = 0; Prev = null; Next = null; m_NodeA = new b2ContactEdge(); m_NodeA.Contact = null; m_NodeA.hasPrev = false; m_NodeA.hasNext = false; m_NodeA.Other = null; m_nodeB = new b2ContactEdge(); m_nodeB.Contact = null; m_nodeB.hasPrev = false; m_nodeB.hasNext = false; m_nodeB.Other = null; m_toiCount = 0; m_friction = b2Math.b2MixFriction(m_fixtureA.Friction, m_fixtureB.Friction); m_restitution = b2Math.b2MixRestitution(m_fixtureA.Restitution, m_fixtureB.Restitution); }
public virtual void SetEnabled(bool flag) { if (flag) { Flags |= b2ContactFlags.e_enabledFlag; } else { Flags &= ~b2ContactFlags.e_enabledFlag; } }
public virtual void FlagForFiltering() { Flags |= b2ContactFlags.e_filterFlag; }
// Update the contact manifold and touching status. // Note: do not assume the fixture AABBs are overlapping or are valid. public virtual void Update(b2ContactListener listener) { oldManifold.CopyFrom(m_manifold); // Re-enable this contact. Flags |= b2ContactFlags.e_enabledFlag; bool touching = false; bool wasTouching = (Flags & b2ContactFlags.e_touchingFlag) == b2ContactFlags.e_touchingFlag; bool sensor = FixtureA.m_isSensor || FixtureB.m_isSensor; b2Body bodyA = FixtureA.Body; b2Body bodyB = FixtureB.Body; b2Transform xfA = bodyA.Transform; b2Transform xfB = bodyB.Transform; // Is this contact a sensor? if (sensor) { b2Shape shapeA = FixtureA.Shape; b2Shape shapeB = FixtureB.Shape; touching = b2Collision.b2TestOverlap(shapeA, m_indexA, shapeB, m_indexB, ref xfA, ref xfB); // Sensors don't generate manifolds. m_manifold.pointCount = 0; } else { Evaluate(m_manifold, ref xfA, ref xfB); touching = m_manifold.pointCount > 0; // Match old contact ids to new contact ids and copy the // stored impulses to warm start the solver. for (int i = 0; i < m_manifold.pointCount; ++i) { b2ManifoldPoint mp2 = m_manifold.points[i]; mp2.normalImpulse = 0.0f; mp2.tangentImpulse = 0.0f; b2ContactFeature id2 = mp2.id; for (int j = 0; j < oldManifold.pointCount; ++j) { b2ManifoldPoint mp1 = oldManifold.points[j]; if (mp1.id.key == id2.key) { mp2.normalImpulse = mp1.normalImpulse; mp2.tangentImpulse = mp1.tangentImpulse; break; } } } if (touching != wasTouching) { bodyA.SetAwake(true); bodyB.SetAwake(true); } } if (touching) { Flags |= b2ContactFlags.e_touchingFlag; } else { Flags &= ~b2ContactFlags.e_touchingFlag; } if (wasTouching == false && touching == true && listener != null) { listener.BeginContact(this); } if (wasTouching == true && touching == false && listener != null) { listener.EndContact(this); } if (sensor == false && touching && listener != null) { listener.PreSolve(this, oldManifold); } }
public static bool HasFlag(this b2ContactFlags flag, b2ContactFlags testFlag) { return ((flag & testFlag) == testFlag); }
// Update the contact manifold and touching status. // Note: do not assume the fixture AABBs are overlapping or are valid. public virtual void Update(b2ContactListener listener) { b2Manifold oldManifold = m_manifold; oldManifold.points = m_manifold.CopyPoints(); // Re-enable this contact. m_flags |= b2ContactFlags.e_enabledFlag; bool touching = false; bool wasTouching = (m_flags & b2ContactFlags.e_touchingFlag) == b2ContactFlags.e_touchingFlag; bool sensorA = m_fixtureA.IsSensor; bool sensorB = m_fixtureB.IsSensor; bool sensor = sensorA || sensorB; b2Body bodyA = m_fixtureA.Body; b2Body bodyB = m_fixtureB.Body; b2Transform xfA = bodyA.Transform; b2Transform xfB = bodyB.Transform; // Is this contact a sensor? if (sensor) { b2Shape shapeA = m_fixtureA.Shape; b2Shape shapeB = m_fixtureB.Shape; touching = b2Collision.b2TestOverlap(shapeA, m_indexA, shapeB, m_indexB, ref xfA, ref xfB); // Sensors don't generate manifolds. m_manifold.pointCount = 0; } else { Evaluate(ref m_manifold, ref xfA, ref xfB); touching = m_manifold.pointCount > 0; // Match old contact ids to new contact ids and copy the // stored impulses to warm start the solver. for (int i = 0; i < m_manifold.pointCount; ++i) { b2ManifoldPoint mp2 = m_manifold.points[i]; mp2.normalImpulse = 0.0f; mp2.tangentImpulse = 0.0f; b2ContactFeature id2 = mp2.id; for (int j = 0; j < oldManifold.pointCount; ++j) { b2ManifoldPoint mp1 = oldManifold.points[j]; if (mp1.id.key == id2.key) { mp2.normalImpulse = mp1.normalImpulse; mp2.tangentImpulse = mp1.tangentImpulse; break; } } m_manifold.points[i] = mp2; } if (touching != wasTouching) { bodyA.SetAwake(true); bodyB.SetAwake(true); } } if (touching) { m_flags |= b2ContactFlags.e_touchingFlag; } else { m_flags &= ~b2ContactFlags.e_touchingFlag; } if (wasTouching == false && touching == true && listener != null) { listener.BeginContact(this); } if (wasTouching == true && touching == false && listener != null) { listener.EndContact(this); } if (sensor == false && touching && listener != null) { listener.PreSolve(this, ref oldManifold); } }
public virtual void SetEnabled(bool flag) { if (flag) { m_flags |= b2ContactFlags.e_enabledFlag; } else { m_flags &= ~b2ContactFlags.e_enabledFlag; } }
public virtual void FlagForFiltering() { m_flags |= b2ContactFlags.e_filterFlag; }
public b2Contact(b2Fixture fA, int indexA, b2Fixture fB, int indexB) { m_flags = b2ContactFlags.e_enabledFlag; m_fixtureA = fA; m_fixtureB = fB; m_indexA = indexA; m_indexB = indexB; m_manifold = b2Manifold.Create(); m_manifold.pointCount = 0; Prev = null; Next = null; m_NodeA = new b2ContactEdge(); m_NodeA.Contact = null; m_NodeA.hasPrev = false; m_NodeA.hasNext = false; m_NodeA.Other = null; m_nodeB = new b2ContactEdge(); m_nodeB.Contact = null; m_nodeB.hasPrev = false; m_nodeB.hasNext = false; m_nodeB.Other = null; m_toiCount = 0; m_friction = b2Math.b2MixFriction(m_fixtureA.Friction, m_fixtureB.Friction); m_restitution = b2Math.b2MixRestitution(m_fixtureA.Restitution, m_fixtureB.Restitution); }
public static bool HasFlag(this b2ContactFlags flag, b2ContactFlags testFlag) { return((flag & testFlag) == testFlag); }