public ContactManager(World argPool)
{
ContactList = null;
ContactCount = 0;
ContactFilter = new ContactFilter();
ContactListener = null;
BroadPhase = new BroadPhase();
pool = argPool;
}
public virtual void pushContact(Contact contact)
{
if (contact.m_manifold.pointCount > 0)
{
contact.FixtureA.Body.Awake = true;
contact.FixtureB.Body.Awake = true;
}
ShapeType type1 = contact.FixtureA.Type;
ShapeType type2 = contact.FixtureB.Type;
IDynamicStack<Contact> creator = contactStacks[(int)type1][(int)type2].creator;
creator.push(contact);
}
/// <summary>
/// initialization for pooling
/// </summary>
public virtual void init(Fixture fA, int indexA, Fixture fB, int indexB)
{
m_flags = 0;
m_fixtureA = fA;
m_fixtureB = fB;
m_indexA = indexA;
m_indexB = indexB;
m_manifold.pointCount = 0;
m_prev = null;
m_next = null;
m_nodeA.contact = null;
m_nodeA.prev = null;
m_nodeA.next = null;
m_nodeA.other = null;
m_nodeB.contact = null;
m_nodeB.prev = null;
m_nodeB.next = null;
m_nodeB.other = null;
m_toiCount = 0;
m_friction = mixFriction(fA.m_friction, fB.m_friction);
m_restitution = mixRestitution(fA.m_restitution, fB.m_restitution);
m_tangentSpeed = 0;
}
public void Add(Contact contact)
{
Debug.Assert(ContactCount < ContactCapacity);
Contacts[ContactCount++] = contact;
}
/// <summary>
/// initialization for pooling
/// </summary>
public virtual void Init(Fixture fA, int indexA, Fixture fB, int indexB)
{
Flags = 0;
FixtureA = fA;
FixtureB = fB;
ChildIndexA = indexA;
ChildIndexB = indexB;
Manifold.PointCount = 0;
Prev = null;
Next = null;
NodeA.Contact = null;
NodeA.Prev = null;
NodeA.Next = null;
NodeA.Other = null;
NodeB.Contact = null;
NodeB.Prev = null;
NodeB.Next = null;
NodeB.Other = null;
ToiCount = 0;
Friction = MixFriction(fA.Friction, fB.Friction);
Restitution = MixRestitution(fA.Restitution, fB.Restitution);
TangentSpeed = 0;
}
/// <summary>
/// Broad-phase callback.
/// </summary>
/// <param name="proxyUserDataA"></param>
/// <param name="proxyUserDataB"></param>
public void AddPair(object proxyUserDataA, object proxyUserDataB)
{
FixtureProxy proxyA = (FixtureProxy)proxyUserDataA;
FixtureProxy proxyB = (FixtureProxy)proxyUserDataB;
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;
}
// TODO_ERIN use a hash table to remove a potential bottleneck when both
// bodies have a lot of contacts.
// 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 && iA == indexA && fB == fixtureB && iB == indexB)
{
// A contact already exists.
return;
}
if (fA == fixtureB && iA == indexB && fB == fixtureA && 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.ShouldCollide(fixtureA, fixtureB) == false)
{
return;
}
// Call the factory.
Contact c = pool.PopContact(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 = 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;
// wake up the bodies
bodyA.Awake = true;
bodyB.Awake = true;
++ContactCount;
}
public void Destroy(Contact c)
{
Fixture fixtureA = c.FixtureA;
Fixture fixtureB = c.FixtureB;
Body bodyA = fixtureA.Body;
Body bodyB = fixtureB.Body;
if (ContactListener != null && c.Touching)
{
ContactListener.EndContact(c);
}
// Remove from the world.
if (c.Prev != null)
{
c.Prev.Next = c.Next;
}
if (c.Next != null)
{
c.Next.Prev = c.Prev;
}
if (c == ContactList)
{
ContactList = c.Next;
}
// Remove from body 1
if (c.NodeA.Prev != null)
{
c.NodeA.Prev.Next = c.NodeA.Next;
}
if (c.NodeA.Next != null)
{
c.NodeA.Next.Prev = c.NodeA.Prev;
}
if (c.NodeA == bodyA.ContactList)
{
bodyA.ContactList = c.NodeA.Next;
}
// Remove from body 2
if (c.NodeB.Prev != null)
{
c.NodeB.Prev.Next = c.NodeB.Next;
}
if (c.NodeB.Next != null)
{
c.NodeB.Next.Prev = c.NodeB.Prev;
}
if (c.NodeB == bodyB.ContactList)
{
bodyB.ContactList = c.NodeB.Next;
}
// Call the factory.
pool.PushContact(c);
--ContactCount;
}
public virtual void add(Contact contact)
{
Debug.Assert(m_contactCount < m_contactCapacity);
m_contacts[m_contactCount++] = contact;
}
