| public GetLinearVelocityFromLocalPoint ( System.Vector2 localPoint ) : System.Vector2 | ||
| localPoint | System.Vector2 | A point in local coordinates. |
| return | System.Vector2 | |
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 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 override void Evaluate(ContactListener listener)
{
Body body = this._shape1.GetBody();
Body body2 = this._shape2.GetBody();
Manifold manifold = this._manifold.Clone();
Collision.Collision.CollideCircles(ref this._manifold, (CircleShape)this._shape1, body.GetXForm(), (CircleShape)this._shape2, body2.GetXForm());
ContactPoint contactPoint = new ContactPoint();
contactPoint.Shape1 = this._shape1;
contactPoint.Shape2 = this._shape2;
contactPoint.Friction = Settings.MixFriction(this._shape1.Friction, this._shape2.Friction);
contactPoint.Restitution = Settings.MixRestitution(this._shape1.Restitution, this._shape2.Restitution);
if (this._manifold.PointCount > 0)
{
this._manifoldCount = 1;
ManifoldPoint manifoldPoint = this._manifold.Points[0];
if (manifold.PointCount == 0)
{
manifoldPoint.NormalImpulse = 0f;
manifoldPoint.TangentImpulse = 0f;
if (listener != null)
{
contactPoint.Position = body.GetWorldPoint(manifoldPoint.LocalPoint1);
Vec2 linearVelocityFromLocalPoint = body.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint1);
Vec2 linearVelocityFromLocalPoint2 = body2.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint2);
contactPoint.Velocity = linearVelocityFromLocalPoint2 - linearVelocityFromLocalPoint;
contactPoint.Normal = this._manifold.Normal;
contactPoint.Separation = manifoldPoint.Separation;
contactPoint.ID = manifoldPoint.ID;
listener.Add(contactPoint);
}
}
else
{
ManifoldPoint manifoldPoint2 = manifold.Points[0];
manifoldPoint.NormalImpulse = manifoldPoint2.NormalImpulse;
manifoldPoint.TangentImpulse = manifoldPoint2.TangentImpulse;
if (listener != null)
{
contactPoint.Position = body.GetWorldPoint(manifoldPoint.LocalPoint1);
Vec2 linearVelocityFromLocalPoint = body.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint1);
Vec2 linearVelocityFromLocalPoint2 = body2.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint2);
contactPoint.Velocity = linearVelocityFromLocalPoint2 - linearVelocityFromLocalPoint;
contactPoint.Normal = this._manifold.Normal;
contactPoint.Separation = manifoldPoint.Separation;
contactPoint.ID = manifoldPoint.ID;
listener.Persist(contactPoint);
}
}
}
else
{
this._manifoldCount = 0;
if (manifold.PointCount > 0 && listener != null)
{
ManifoldPoint manifoldPoint2 = manifold.Points[0];
contactPoint.Position = body.GetWorldPoint(manifoldPoint2.LocalPoint1);
Vec2 linearVelocityFromLocalPoint = body.GetLinearVelocityFromLocalPoint(manifoldPoint2.LocalPoint1);
Vec2 linearVelocityFromLocalPoint2 = body2.GetLinearVelocityFromLocalPoint(manifoldPoint2.LocalPoint2);
contactPoint.Velocity = linearVelocityFromLocalPoint2 - linearVelocityFromLocalPoint;
contactPoint.Normal = manifold.Normal;
contactPoint.Separation = manifoldPoint2.Separation;
contactPoint.ID = manifoldPoint2.ID;
listener.Remove(contactPoint);
}
}
}
public override void Evaluate(ContactListener listener)
{
Body b1 = _shape1.GetBody();
Body b2 = _shape2.GetBody();
#warning "needfix"
//memcpy(&m0, &m_manifold, sizeof(b2Manifold));
Manifold m0 = _manifold.Clone();
Collision.Collision.CollidePolygons(ref _manifold, (PolygonShape)_shape1, b1.GetXForm(),
(PolygonShape)_shape2, b2.GetXForm());
bool[] persisted = new bool[] { false, false };
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);
// Match contact ids to facilitate warm starting.
if (_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 < _manifold.PointCount; ++i)
{
ManifoldPoint mp = _manifold.Points[i];
mp.NormalImpulse = 0.0f;
mp.TangentImpulse = 0.0f;
bool found = false;
ContactID id = mp.ID;
for (int j = 0; j < m0.PointCount; ++j)
{
if (persisted[j] == true)
{
continue;
}
ManifoldPoint mp0 = m0.Points[j];
if (mp0.ID.Key == id.Key)
{
persisted[j] = true;
mp.NormalImpulse = mp0.NormalImpulse;
mp.TangentImpulse = mp0.TangentImpulse;
// A persistent point.
found = true;
// Report persistent point.
if (listener != null)
{
cp.Position = b1.GetWorldPoint(mp.LocalPoint1);
Vec2 v1 = b1.GetLinearVelocityFromLocalPoint(mp.LocalPoint1);
Vec2 v2 = b2.GetLinearVelocityFromLocalPoint(mp.LocalPoint2);
cp.Velocity = v2 - v1;
cp.Normal = _manifold.Normal;
cp.Separation = mp.Separation;
cp.ID = id;
listener.Persist(cp);
}
break;
}
}
// Report added point.
if (found == false && listener != null)
{
cp.Position = b1.GetWorldPoint(mp.LocalPoint1);
Vec2 v1 = b1.GetLinearVelocityFromLocalPoint(mp.LocalPoint1);
Vec2 v2 = b2.GetLinearVelocityFromLocalPoint(mp.LocalPoint2);
cp.Velocity = v2 - v1;
cp.Normal = _manifold.Normal;
cp.Separation = mp.Separation;
cp.ID = id;
listener.Add(cp);
}
}
_manifoldCount = 1;
}
else
{
_manifoldCount = 0;
}
if (listener == null)
{
return;
}
// Report removed points.
for (int i = 0; i < m0.PointCount; ++i)
{
if (persisted[i])
{
continue;
}
ManifoldPoint mp0 = m0.Points[i];
cp.Position = b1.GetWorldPoint(mp0.LocalPoint1);
Vec2 v1 = b1.GetLinearVelocityFromLocalPoint(mp0.LocalPoint1);
Vec2 v2 = b2.GetLinearVelocityFromLocalPoint(mp0.LocalPoint2);
cp.Velocity = v2 - v1;
cp.Normal = m0.Normal;
cp.Separation = mp0.Separation;
cp.ID = mp0.ID;
listener.Remove(cp);
}
}
float limitVelocity(Body hull, float max)
{
Vec2 velocity = hull.GetLinearVelocityFromLocalPoint(Box2DX.Common.Vec2.Zero);
var vec1 = hull.GetXForm().R.Col2;
var projection = Vec2.Dot(velocity, vec1);
vec1 *= projection;
var A = vec1.Length();
if (A > max)
{
var k = max / A;
hull.SetLinearVelocity(vec1 * k);
}
return A;
}
void killWheelOrthogonalVelocity(Body hull, Body wheel)
{
var p_hull = hull.GetPosition();
var p_wheel = wheel.GetPosition();
var velocity = wheel.GetLinearVelocityFromLocalPoint(Vec2.Zero);
var vec1 = wheel.GetXForm().R.Col1;
var projection = Vec2.Dot(velocity, vec1);
vec1 *= projection;
var k = vec1.Length() / 0.001f; // превышение боковой скорости 1 мм / с
if (k < 0.1f) k = 0.1f; if (k > 10f) k = 10f;
float force = -k * 3000; //warning - mn
vec1.Normalize();
hull.ApplyForce(force * vec1, p_wheel);
}
public override void Evaluate(ContactListener listener)
{
Body b1 = _shape1.GetBody();
Body b2 = _shape2.GetBody();
#warning "needfix"
//memcpy(&m0, &m_manifold, sizeof(b2Manifold));
Manifold m0 = _manifold.Clone();
Collision.Collision.CollideCircles(ref _manifold, (CircleShape)_shape1, b1.GetXForm(),
(CircleShape)_shape2, b2.GetXForm());
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);
if (_manifold.PointCount > 0)
{
_manifoldCount = 1;
ManifoldPoint mp = _manifold.Points[0];
if (m0.PointCount == 0)
{
mp.NormalImpulse = 0.0f;
mp.TangentImpulse = 0.0f;
if (listener != null)
{
cp.Position = b1.GetWorldPoint(mp.LocalPoint1);
Vec2 v1 = b1.GetLinearVelocityFromLocalPoint(mp.LocalPoint1);
Vec2 v2 = b2.GetLinearVelocityFromLocalPoint(mp.LocalPoint2);
cp.Velocity = v2 - v1;
cp.Normal = _manifold.Normal;
cp.Separation = mp.Separation;
cp.ID = mp.ID;
listener.Add(cp);
}
}
else
{
ManifoldPoint mp0 = m0.Points[0];
mp.NormalImpulse = mp0.NormalImpulse;
mp.TangentImpulse = mp0.TangentImpulse;
if (listener != null)
{
cp.Position = b1.GetWorldPoint(mp.LocalPoint1);
Vec2 v1 = b1.GetLinearVelocityFromLocalPoint(mp.LocalPoint1);
Vec2 v2 = b2.GetLinearVelocityFromLocalPoint(mp.LocalPoint2);
cp.Velocity = v2 - v1;
cp.Normal = _manifold.Normal;
cp.Separation = mp.Separation;
cp.ID = mp.ID;
listener.Persist(cp);
}
}
}
else
{
_manifoldCount = 0;
if (m0.PointCount > 0 && listener != null)
{
ManifoldPoint mp0 = m0.Points[0];
cp.Position = b1.GetWorldPoint(mp0.LocalPoint1);
Vec2 v1 = b1.GetLinearVelocityFromLocalPoint(mp0.LocalPoint1);
Vec2 v2 = b2.GetLinearVelocityFromLocalPoint(mp0.LocalPoint2);
cp.Velocity = v2 - v1;
cp.Normal = m0.Normal;
cp.Separation = mp0.Separation;
cp.ID = mp0.ID;
listener.Remove(cp);
}
}
}
public override void Evaluate(ContactListener listener)
{
Body body = this._shape1.GetBody();
Body body2 = this._shape2.GetBody();
Manifold manifold = this._manifold.Clone();
Collision.Collision.CollidePolygons(ref this._manifold, (PolygonShape)this._shape1, body.GetXForm(), (PolygonShape)this._shape2, body2.GetXForm());
bool[] array = new bool[2];
bool[] array2 = array;
ContactPoint contactPoint = new ContactPoint();
contactPoint.Shape1 = this._shape1;
contactPoint.Shape2 = this._shape2;
contactPoint.Friction = Settings.MixFriction(this._shape1.Friction, this._shape2.Friction);
contactPoint.Restitution = Settings.MixRestitution(this._shape1.Restitution, this._shape2.Restitution);
if (this._manifold.PointCount > 0)
{
for (int i = 0; i < this._manifold.PointCount; i++)
{
ManifoldPoint manifoldPoint = this._manifold.Points[i];
manifoldPoint.NormalImpulse = 0f;
manifoldPoint.TangentImpulse = 0f;
bool flag = false;
ContactID iD = manifoldPoint.ID;
for (int j = 0; j < manifold.PointCount; j++)
{
if (!array2[j])
{
ManifoldPoint manifoldPoint2 = manifold.Points[j];
if (manifoldPoint2.ID.Key == iD.Key)
{
array2[j] = true;
manifoldPoint.NormalImpulse = manifoldPoint2.NormalImpulse;
manifoldPoint.TangentImpulse = manifoldPoint2.TangentImpulse;
flag = true;
if (listener != null)
{
contactPoint.Position = body.GetWorldPoint(manifoldPoint.LocalPoint1);
Vec2 linearVelocityFromLocalPoint = body.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint1);
Vec2 linearVelocityFromLocalPoint2 = body2.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint2);
contactPoint.Velocity = linearVelocityFromLocalPoint2 - linearVelocityFromLocalPoint;
contactPoint.Normal = this._manifold.Normal;
contactPoint.Separation = manifoldPoint.Separation;
contactPoint.ID = iD;
listener.Persist(contactPoint);
}
break;
}
}
}
if (!flag && listener != null)
{
contactPoint.Position = body.GetWorldPoint(manifoldPoint.LocalPoint1);
Vec2 linearVelocityFromLocalPoint = body.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint1);
Vec2 linearVelocityFromLocalPoint2 = body2.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint2);
contactPoint.Velocity = linearVelocityFromLocalPoint2 - linearVelocityFromLocalPoint;
contactPoint.Normal = this._manifold.Normal;
contactPoint.Separation = manifoldPoint.Separation;
contactPoint.ID = iD;
listener.Add(contactPoint);
}
}
this._manifoldCount = 1;
}
else
{
this._manifoldCount = 0;
}
if (listener != null)
{
for (int i = 0; i < manifold.PointCount; i++)
{
if (!array2[i])
{
ManifoldPoint manifoldPoint2 = manifold.Points[i];
contactPoint.Position = body.GetWorldPoint(manifoldPoint2.LocalPoint1);
Vec2 linearVelocityFromLocalPoint = body.GetLinearVelocityFromLocalPoint(manifoldPoint2.LocalPoint1);
Vec2 linearVelocityFromLocalPoint2 = body2.GetLinearVelocityFromLocalPoint(manifoldPoint2.LocalPoint2);
contactPoint.Velocity = linearVelocityFromLocalPoint2 - linearVelocityFromLocalPoint;
contactPoint.Normal = manifold.Normal;
contactPoint.Separation = manifoldPoint2.Separation;
contactPoint.ID = manifoldPoint2.ID;
listener.Remove(contactPoint);
}
}
}
}