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);
}
