public override void GenerateContacts(ref List <RigidBody2D> bodies, ref List <Contact2D> contacts, float dt)
{
//Clear all cells
for (int i = 0; i < cells.Length; i++)
{
cells[i].Clear();
}
//Insert bodies into all cells they overlap
for (int i = 0; i < bodies.Count; i++)
{
AABB2D bounds = bodies[i].MotionBounds;
Vector2 min = bounds.GetMin();
Vector2 max = bounds.GetMax();
int startRow = (int)(min.X * invWidth * rows);
startRow = (int)Math.Max(startRow, 0);
int startCol = (int)(min.Y * invHeight * cols);
startCol = (int)Math.Max(startCol, 0);
int endRow = (int)(max.X * invWidth * rows);
endRow = (int)Math.Min(endRow, rows - 1);
int endCol = (int)(max.Y * invHeight * cols);
endCol = (int)Math.Min(endCol, cols - 1);
for (int j = startRow; j <= endRow; j++)
{
for (int k = startCol; k <= endCol; k++)
{
cells[(j * cols) + k].AddObject(i);
}
}
}
//Loop through each cell, add speculative contacts to each object in the cell
for (int i = 0; i < cells.Length; i++)
{
if (cells[i].Indices.Count <= 0)
{
continue;
}
Cell currentCell = cells[i];
foreach (int index1 in currentCell.Indices)
{
foreach (int index2 in currentCell.Indices)
{
if (index1 == index2)
{
continue;
}
RigidBody2D a = bodies[index1];
RigidBody2D b = bodies[index2];
if (a.InvMass != 0 || b.InvMass != 0)
{
//Add a speculative contact
a.AddContacts(b, dt, ref contacts);
}
}
}
}
}
