public void Report(ContactConstraint[] constraints)
{
if (this._listener != null)
{
for (int i = 0; i < this._contactCount; i++)
{
Contact contact = this._contacts[i];
ContactConstraint contactConstraint = constraints[i];
ContactResult contactResult = new ContactResult();
contactResult.Shape1 = contact.GetShape1();
contactResult.Shape2 = contact.GetShape2();
Body body = contactResult.Shape1.GetBody();
int manifoldCount = contact.GetManifoldCount();
Manifold[] manifolds = contact.GetManifolds();
for (int j = 0; j < manifoldCount; j++)
{
Manifold manifold = manifolds[j];
contactResult.Normal = manifold.Normal;
for (int k = 0; k < manifold.PointCount; k++)
{
ManifoldPoint manifoldPoint = manifold.Points[k];
ContactConstraintPoint contactConstraintPoint = contactConstraint.Points[k];
contactResult.Position = body.GetWorldPoint(manifoldPoint.LocalPoint1);
contactResult.NormalImpulse = contactConstraintPoint.NormalImpulse;
contactResult.TangentImpulse = contactConstraintPoint.TangentImpulse;
contactResult.ID = manifoldPoint.ID;
this._listener.Result(contactResult);
}
}
}
}
}
/// <summary>
/// Called after a contact point is solved.
/// </summary>
public virtual void Result(ContactResult point)
{
return;
}
public virtual void Result(ContactResult point)
{
}
public void Report(ContactConstraint[] constraints)
{
if (_listener == null)
{
return;
}
for (int i = 0; i < _contactCount; ++i)
{
Contact c = _contacts[i];
ContactConstraint cc = constraints[i];
ContactResult cr = new ContactResult();
cr.Shape1 = c.GetShape1();
cr.Shape2 = c.GetShape2();
Body b1 = cr.Shape1.GetBody();
int manifoldCount = c.GetManifoldCount();
Manifold[] manifolds = c.GetManifolds();
for (int j = 0; j < manifoldCount; ++j)
{
Manifold manifold = manifolds[j];
cr.Normal = manifold.Normal;
for (int k = 0; k < manifold.PointCount; ++k)
{
ManifoldPoint point = manifold.Points[k];
ContactConstraintPoint ccp = cc.Points[k];
cr.Position = b1.GetWorldPoint(point.LocalPoint1);
// TOI constraint results are not stored, so get
// the result from the constraint.
cr.NormalImpulse = ccp.NormalImpulse;
cr.TangentImpulse = ccp.TangentImpulse;
cr.ID = point.ID;
_listener.Result(cr);
}
}
}
}
public void Report(ContactConstraint[] constraints)
{
if (this._listener != null)
{
for (int i = 0; i < this._contactCount; i++)
{
Contact contact = this._contacts[i];
ContactConstraint contactConstraint = constraints[i];
ContactResult contactResult = new ContactResult();
contactResult.Shape1 = contact.GetShape1();
contactResult.Shape2 = contact.GetShape2();
Body body = contactResult.Shape1.GetBody();
int manifoldCount = contact.GetManifoldCount();
Manifold[] manifolds = contact.GetManifolds();
for (int j = 0; j < manifoldCount; j++)
{
Manifold manifold = manifolds[j];
contactResult.Normal = manifold.Normal;
for (int k = 0; k < manifold.PointCount; k++)
{
ManifoldPoint manifoldPoint = manifold.Points[k];
ContactConstraintPoint contactConstraintPoint = contactConstraint.Points[k];
contactResult.Position = body.GetWorldPoint(manifoldPoint.LocalPoint1);
contactResult.NormalImpulse = contactConstraintPoint.NormalImpulse;
contactResult.TangentImpulse = contactConstraintPoint.TangentImpulse;
contactResult.ID = manifoldPoint.ID;
this._listener.Result(contactResult);
}
}
}
}
}
