public void Update(ContactListener listener)
{
int oldCount = GetManifoldCount();
Evaluate(listener);
int newCount = GetManifoldCount();
Body body1 = _shape1.GetBody();
Body body2 = _shape2.GetBody();
if (newCount == 0 && oldCount > 0)
{
body1.WakeUp();
body2.WakeUp();
}
// Slow contacts don't generate TOI events.
if (body1.IsStatic() || body1.IsBullet() || body2.IsStatic() || body2.IsBullet())
{
_flags &= ~CollisionFlags.Slow;
}
else
{
_flags |= CollisionFlags.Slow;
}
}
public void Update(ContactListener listener)
{
int manifoldCount = this.GetManifoldCount();
this.Evaluate(listener);
int manifoldCount2 = this.GetManifoldCount();
Body body = this._shape1.GetBody();
Body body2 = this._shape2.GetBody();
if (manifoldCount2 == 0 && manifoldCount > 0)
{
body.WakeUp();
body2.WakeUp();
}
if (body.IsStatic() || body.IsBullet() || body2.IsStatic() || body2.IsBullet())
{
this._flags &= ~Contact.CollisionFlags.Slow;
}
else
{
this._flags |= Contact.CollisionFlags.Slow;
}
}
public void Update(ContactListener listener)
{
Manifold oldManifold = _manifold.Clone();
Evaluate();
Body bodyA = _fixtureA.Body;
Body bodyB = _fixtureB.Body;
int oldCount = oldManifold.PointCount;
int newCount = _manifold.PointCount;
if (newCount == 0 && oldCount > 0)
{
bodyA.WakeUp();
bodyB.WakeUp();
}
// Slow contacts don't generate TOI events.
if (bodyA.IsStatic() || bodyA.IsBullet() || bodyB.IsStatic() || bodyB.IsBullet())
{
_flags &= ~CollisionFlags.Slow;
}
else
{
_flags |= CollisionFlags.Slow;
}
// 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 mp2 = _manifold.Points[i];
mp2.NormalImpulse = 0.0f;
mp2.TangentImpulse = 0.0f;
ContactID id2 = mp2.ID;
for (int j = 0; j < oldManifold.PointCount; ++j)
{
ManifoldPoint mp1 = oldManifold.Points[j];
if (mp1.ID.Key == id2.Key)
{
mp2.NormalImpulse = mp1.NormalImpulse;
mp2.TangentImpulse = mp1.TangentImpulse;
break;
}
}
}
if (oldCount == 0 && newCount > 0)
{
_flags |= CollisionFlags.Touch;
if (listener != null)
{
listener.BeginContact(this);
}
}
if (oldCount > 0 && newCount == 0)
{
_flags &= ~CollisionFlags.Touch;
if (listener != null)
{
listener.EndContact(this);
}
}
if ((_flags & CollisionFlags.NonSolid) == 0)
{
if (listener != null)
{
listener.PreSolve(this, oldManifold);
}
// The user may have disabled contact.
if (_manifold.PointCount == 0)
{
_flags &= ~CollisionFlags.Touch;
}
}
}
// Find TOI contacts and solve them.
private void SolveTOI(TimeStep step)
{
// Reserve an island and a queue for TOI island solution.
Island island = new Island(_bodyCount,
Settings.MaxTOIContactsPerIsland,
Settings.MaxTOIJointsPerIsland,
_contactManager._contactListener);
//Simple one pass queue
//Relies on the fact that we're only making one pass
//through and each body can only be pushed/popped once.
//To push:
// queue[queueStart+queueSize++] = newElement;
//To pop:
// poppedElement = queue[queueStart++];
// --queueSize;
int queueCapacity = _bodyCount;
Body[] queue = new Body[queueCapacity];
for (Body b = _bodyList; b != null; b = b._next)
{
b._flags &= ~Body.BodyFlags.Island;
b._sweep.T0 = 0.0f;
}
for (Contact c = _contactManager._contactList; c != null; c = c.Next)
{
// Invalidate TOI
c.Flags &= ~(ContactFlag.ToiFlag | ContactFlag.IslandFlag);
}
for (Joint j = _jointList; j != null; j = j._next)
{
j._islandFlag = false;
}
// Find TOI events and solve them.
for (; ;)
{
// Find the first TOI.
Contact minContact = null;
float minTOI = 1.0f;
for (Contact c = _contactManager._contactList; c != null; c = c.Next)
{
// Can this contact generate a solid TOI contact?
if (c.IsSolid() == false || c.IsContinuous() == false)
{
continue;
}
// TODO_ERIN keep a counter on the contact, only respond to M TOIs per contact.
float toi = 1.0f;
if ((c.Flags & ContactFlag.ToiFlag) != 0)
{
// This contact has a valid cached TOI.
toi = c.Toi;
}
else
{
// Compute the TOI for this contact.
Fixture s1 = c.GetFixtureA();
Fixture s2 = c.GetFixtureB();
Body b1 = s1.GetBody();
Body b2 = s2.GetBody();
if ((b1.IsStatic() || b1.IsSleeping()) && (b2.IsStatic() || b2.IsSleeping()))
{
continue;
}
// Put the sweeps onto the same time interval.
float t0 = b1._sweep.T0;
if (b1._sweep.T0 < b2._sweep.T0)
{
t0 = b2._sweep.T0;
b1._sweep.Advance(t0);
}
else if (b2._sweep.T0 < b1._sweep.T0)
{
t0 = b1._sweep.T0;
b2._sweep.Advance(t0);
}
Box2DXDebug.Assert(t0 < 1.0f);
// Compute the time of impact.
toi = c.ComputeTOI(b1._sweep, b2._sweep);
Box2DXDebug.Assert(0.0f <= toi && toi <= 1.0f);
// If the TOI is in range ...
if (0.0f < toi && toi < 1.0f)
{
// Interpolate on the actual range.
toi = Math.Min((1.0f - toi) * t0 + toi, 1.0f);
}
c.Toi = toi;
c.Flags |= ContactFlag.ToiFlag;
}
if (Settings.FLT_EPSILON < toi && toi < minTOI)
{
// This is the minimum TOI found so far.
minContact = c;
minTOI = toi;
}
}
if (minContact == null || 1.0f - 100.0f * Settings.FLT_EPSILON < minTOI)
{
// No more TOI events. Done!
break;
}
// Advance the bodies to the TOI.
Fixture f1 = minContact.GetFixtureA();
Fixture f2 = minContact.GetFixtureB();
Body b3 = f1.GetBody();
Body b4 = f2.GetBody();
Sweep backup1 = b3._sweep;
Sweep backup2 = b4._sweep;
b3.Advance(minTOI);
b4.Advance(minTOI);
// The TOI contact likely has some new contact points.
minContact.Update(_contactManager._contactListener);
minContact.Flags &= ~ContactFlag.ToiFlag;
// Is the contact solid?
if (minContact.IsSolid() == false)
{
// Restore the sweeps.
b3._sweep = backup1;
b4._sweep = backup2;
b3.SynchronizeTransform();
b4.SynchronizeTransform();
continue;
}
// Did numerical issues prevent a contact point from being generated?
if (minContact.IsTouching() == false)
{
// Give up on this TOI.
continue;
}
// Build the TOI island. We need a dynamic seed.
Body seed = b3;
if (seed.IsStatic())
{
seed = b4;
}
// Reset island and queue.
island.Clear();
int queueStart = 0; // starting index for queue
int queueSize = 0; // elements in queue
queue[queueStart + queueSize++] = seed;
seed._flags |= Body.BodyFlags.Island;
// Perform a breadth first search (BFS) on the contact/joint graph.
while (queueSize > 0)
{
// Grab the next body off the stack and add it to the island.
Body b = queue[queueStart++];
--queueSize;
island.Add(ref b);
// Make sure the body is awake.
b._flags &= ~Body.BodyFlags.Sleep;
// To keep islands as small as possible, we don't
// propagate islands across static bodies.
if (b.IsStatic())
{
continue;
}
// Search all contacts connected to this body.
for (ContactEdge cEdge = b._contactList; cEdge != null; cEdge = cEdge.Next)
{
// Does the TOI island still have space for contacts?
if (island.ContactCount == island.ContactCapacity)
{
break;
}
// Has this contact already been added to an island? Skip slow or non-solid contacts.
if ((cEdge.Contact.Flags & ContactFlag.IslandFlag) != 0)
{
continue;
}
// Is this contact touching? For performance we are not updating this contact.
if (cEdge.Contact.IsSolid() == false || cEdge.Contact.IsTouching() == false)
{
continue;
}
island.Add(ref cEdge.Contact);
cEdge.Contact.Flags |= ContactFlag.IslandFlag;
// Update other body.
Body other = cEdge.Other;
// Was the other body already added to this island?
if ((other._flags & Body.BodyFlags.Island) != 0)
{
continue;
}
// March forward, this can do no harm since this is the min TOI.
if (other.IsStatic() == false)
{
other.Advance(minTOI);
other.WakeUp();
}
Box2DXDebug.Assert(queueStart + queueSize < queueCapacity);
queue[queueStart + queueSize] = other;
++queueSize;
other._flags |= Body.BodyFlags.Island;
}
for (JointEdge jEdge = b._jointList; jEdge != null; jEdge = jEdge.Next)
{
if (island.JointCount == island.JointCapacity)
{
continue;
}
if (jEdge.Joint._islandFlag == true)
{
continue;
}
island.Add(jEdge.Joint);
jEdge.Joint._islandFlag = true;
Body other = jEdge.Other;
if ((other._flags & Body.BodyFlags.Island) != 0)
{
continue;
}
if (!other.IsStatic())
{
other.Advance(minTOI);
other.WakeUp();
}
Box2DXDebug.Assert(queueStart + queueSize < queueCapacity);
queue[queueStart + queueSize] = other;
++queueSize;
other._flags |= Body.BodyFlags.Island;
}
}
TimeStep subStep;
subStep.WarmStarting = false;
subStep.Dt = (1.0f - minTOI) * step.Dt;
subStep.Inv_Dt = 1.0f / subStep.Dt;
subStep.DtRatio = 0.0f;
subStep.VelocityIterations = step.VelocityIterations;
subStep.PositionIterations = step.PositionIterations;
island.SolveTOI(ref subStep);
// Post solve cleanup.
for (int i = 0; i < island.BodyCount; ++i)
{
// Allow bodies to participate in future TOI islands.
Body b = island.Bodies[i];
b._flags &= ~Body.BodyFlags.Island;
if ((b._flags & Body.BodyFlags.Sleep) != 0)
{
continue;
}
if (b.IsStatic())
{
continue;
}
b.SynchronizeFixtures();
// Invalidate all contact TOIs associated with this body. Some of these
// may not be in the island because they were not touching.
for (ContactEdge ce = b._contactList; ce != null; ce = ce.Next)
{
ce.Contact.Flags &= ~ContactFlag.ToiFlag;
}
}
for (int i = 0; i < island.ContactCount; ++i)
{
// Allow contacts to participate in future TOI islands.
Contact c = island.Contacts[i];
c.Flags &= ~(ContactFlag.ToiFlag | ContactFlag.IslandFlag);
}
for (int i = 0; i < island.JointCount; ++i)
{
// Allow joints to participate in future TOI islands.
Joint j = island.Joints[i];
j._islandFlag = false;
}
// Commit fixture proxy movements to the broad-phase so that new contacts are created.
// Also, some contacts can be destroyed.
_contactManager.FindNewContacts();
}
queue = null;
}
/// <summary>
/// Destroy a joint. This may cause the connected bodies to begin colliding.
/// @warning This function is locked during callbacks.
/// </summary>
/// <param name="j"></param>
public void DestroyJoint(Joint j)
{
Box2DXDebug.Assert(IsLocked() == false);
if (IsLocked())
{
return;
}
bool collideConnected = j._collideConnected;
// Remove from the doubly linked list.
if (j._prev != null)
{
j._prev._next = j._next;
}
if (j._next != null)
{
j._next._prev = j._prev;
}
if (j == _jointList)
{
_jointList = j._next;
}
// Disconnect from island graph.
Body bodyA = j._bodyA;
Body bodyB = j._bodyB;
// Wake up connected bodies.
bodyA.WakeUp();
bodyB.WakeUp();
// Remove from body 1.
if (j._edgeA.Prev != null)
{
j._edgeA.Prev.Next = j._edgeA.Next;
}
if (j._edgeA.Next != null)
{
j._edgeA.Next.Prev = j._edgeA.Prev;
}
if (j._edgeA == bodyA._jointList)
{
bodyA._jointList = j._edgeA.Next;
}
j._edgeA.Prev = null;
j._edgeA.Next = null;
// Remove from body 2
if (j._edgeB.Prev != null)
{
j._edgeB.Prev.Next = j._edgeB.Next;
}
if (j._edgeB.Next != null)
{
j._edgeB.Next.Prev = j._edgeB.Prev;
}
if (j._edgeB == bodyB._jointList)
{
bodyB._jointList = j._edgeB.Next;
}
j._edgeB.Prev = null;
j._edgeB.Next = null;
Joint.Destroy(j);
Box2DXDebug.Assert(_jointCount > 0);
--_jointCount;
// If the joint prevents collisions, then flag any contacts for filtering.
if (collideConnected == false)
{
ContactEdge edge = bodyB.GetContactList();
while (edge != null)
{
if (edge.Other == bodyA)
{
// Flag the contact for filtering at the next time step (where either
// body is awake).
edge.Contact.FlagForFiltering();
}
edge = edge.Next;
}
}
}
public void Update(ContactListener listener)
{
//Note: Manifold is a class, not a struct. It will reference the old manifest, not copy it - DONE
Manifold oldManifold = new Manifold();
oldManifold.LocalPlaneNormal = Manifold.LocalPlaneNormal;
oldManifold.LocalPoint = Manifold.LocalPoint;
oldManifold.PointCount = Manifold.PointCount;
oldManifold.Points = Manifold.Points;
oldManifold.Type = Manifold.Type;
// Re-enable this contact.
Flags &= ~ContactFlag.DisabledFlag;
if (Collision.Collision.TestOverlap(_fixtureA.Aabb, _fixtureB.Aabb))
{
Evaluate();
}
else
{
Manifold.PointCount = 0;
}
Body bodyA = _fixtureA.GetBody();
Body bodyB = _fixtureB.GetBody();
int oldCount = oldManifold.PointCount;
int newCount = Manifold.PointCount;
if (newCount == 0 && oldCount > 0)
{
bodyA.WakeUp();
bodyB.WakeUp();
}
// Slow contacts don't generate TOI events.
if (bodyA.IsStatic() || bodyA.IsBullet() || bodyB.IsStatic() || bodyB.IsBullet())
{
Flags |= ContactFlag.ContinuousFlag;
}
else
{
Flags &= ~ContactFlag.ContinuousFlag;
}
// 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 mp2 = Manifold.Points[i];
mp2.NormalImpulse = 0.0f;
mp2.TangentImpulse = 0.0f;
ContactID id2 = mp2.ID;
for (int j = 0; j < oldManifold.PointCount; ++j)
{
ManifoldPoint mp1 = oldManifold.Points[j];
if (mp1.ID.Key == id2.Key)
{
mp2.NormalImpulse = mp1.NormalImpulse;
mp2.TangentImpulse = mp1.TangentImpulse;
break;
}
}
}
if (newCount > 0)
{
Flags |= ContactFlag.TouchingFlag;
}
else
{
Flags &= ~ContactFlag.TouchingFlag;
}
if (oldCount == 0 && newCount > 0)
{
listener.BeginContact(this);
}
if (oldCount > 0 && newCount == 0)
{
listener.EndContact(this);
}
if ((Flags & ContactFlag.SensorFlag) == 0)
{
listener.PreSolve(this, oldManifold);
}
}
