public b2ContactFeature(b2ContactFeature other)
{
indexA = other.indexA;
indexB = other.indexB;
typeA = other.typeA;
typeB = other.typeB;
}
// 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);
}
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(b2ContactFeature obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
