|
public Initialize ( RigidBody body1, RigidBody body2, Jitter.LinearMath.JVector &point1, Jitter.LinearMath.JVector &point2, Jitter.LinearMath.JVector &n, float penetration, bool newContact, |
||
| body1 | RigidBody | The first body. |
| body2 | RigidBody | The second body. |
| point1 | Jitter.LinearMath.JVector | The collision point in worldspace |
| point2 | Jitter.LinearMath.JVector | The collision point in worldspace |
| n | Jitter.LinearMath.JVector | The normal pointing to body2. |
| penetration | float | The estimated penetration depth. |
| newContact | bool | |
| settings | ||
| return | void | |
/// <summary>
/// Adds a contact to the arbiter (threadsafe). No more than four contacts
/// are stored in the contactList. When adding a new contact
/// to the arbiter the existing are checked and the best are kept.
/// </summary>
/// <param name="point1">Point on body1. In world space.</param>
/// <param name="point2">Point on body2. In world space.</param>
/// <param name="normal">The normal pointing to body2.</param>
/// <param name="penetration">The estimated penetration depth.</param>
public Contact AddContact(JVector point1, JVector point2, JVector normal, float penetration,
ContactSettings contactSettings)
{
JVector relPos1;
JVector.Subtract(ref point1, ref body1.position, out relPos1);
int index;
lock (contactList)
{
if (this.contactList.Count == 4)
{
index = SortCachedPoints(ref relPos1, penetration);
ReplaceContact(ref point1, ref point2, ref normal, penetration, index, contactSettings);
return(null);
}
index = GetCacheEntry(ref relPos1, contactSettings.breakThreshold);
if (index >= 0)
{
ReplaceContact(ref point1, ref point2, ref normal, penetration, index, contactSettings);
return(null);
}
else
{
Contact contact = Contact.Pool.GetNew();
contact.Initialize(body1, body2, ref point1, ref point2, ref normal, penetration, true, contactSettings);
contactList.Add(contact);
return(contact);
}
}
}
private void ReplaceContact(ref JVector point1, ref JVector point2, ref JVector n, float p, int index,
ContactSettings contactSettings)
{
Contact contact = contactList[index];
Debug.Assert(body1 == contact.body1, "Body1 and Body2 not consistent.");
contact.Initialize(body1, body2, ref point1, ref point2, ref n, p, false, contactSettings);
}
/// <summary>
/// Adds a contact to the arbiter (threadsafe). No more than four contacts
/// are stored in the contactList. When adding a new contact
/// to the arbiter the existing are checked and the best are kept.
/// </summary>
/// <param name="point1">Point on body1. In world space.</param>
/// <param name="point2">Point on body2. In world space.</param>
/// <param name="normal">The normal pointing to body2.</param>
/// <param name="penetration">The estimated penetration depth.</param>
public void AddContact(JVector point1, JVector point2, JVector normal, JVector[] triangle,
float penetration, ContactSettings contactSettings)
{
// Returning false means that the contact doesn't need to be kept (likely because data from the contact
// was used to manually update controllers).
if (!World.Events.RaiseContactCreated(body1, body2, point1, point2, normal, triangle, penetration))
{
return;
}
JVector.Subtract(ref point1, ref body1.position, out var relPos1);
lock (contactList)
{
int index;
if (contactList.Count == 4)
{
index = SortCachedPoints(ref relPos1, penetration);
ReplaceContact(ref point1, ref point2, ref normal, triangle, penetration, index, contactSettings);
// TODO: I added this return (to prevent contact count blowing up). Is this correct?
return;
}
index = GetCacheEntry(ref relPos1, contactSettings.breakThreshold);
if (index >= 0)
{
ReplaceContact(ref point1, ref point2, ref normal, triangle, penetration, index, contactSettings);
}
Contact contact = Contact.Pool.GetNew();
contact.Initialize(body1, body2, ref point1, ref point2, ref normal, triangle, penetration, true,
contactSettings);
contactList.Add(contact);
}
}
