public void Reset(int bodyCapacity, int contactCapacity, int jointCapacity, IContactListener listener)
{
_bodyCapacity = bodyCapacity;
_contactCapacity = contactCapacity;
_jointCapacity = jointCapacity;
_bodyCount = 0;
_jointCount = 0;
_listener = listener;
if (_bodies == null || _bodies.Length < bodyCapacity)
{
_bodies = new Body[bodyCapacity];
}
if (_contacts == null || _contacts.Length < contactCapacity)
{
_contacts = new Contact[contactCapacity * 2];
}
if (_joints == null || _joints.Length < jointCapacity)
{
_joints = new Joint[jointCapacity * 2];
}
}
public void BeginContact(Contact contact)
{
GameObject A = (GameObject)contact.GetFixtureA().GetUserData();
GameObject B = (GameObject)contact.GetFixtureB().GetUserData();
Manifold manifold;
Transform xfA;
Transform xfB;
float radiusA;
float radiusB;
contact.GetFixtureA().GetBody().GetTransform(out xfA);
contact.GetFixtureB().GetBody().GetTransform(out xfB);
radiusA = contact.GetFixtureA().GetShape()._radius;
radiusB = contact.GetFixtureB().GetShape()._radius;
contact.GetManifold(out manifold);
WorldManifold worldManifold = new WorldManifold(ref manifold,ref xfA,radiusA,ref xfB,radiusB);
Vector2 ptA = worldManifold._points[0];
Vector2 ptB = worldManifold._points[1];
//System.Console.Write(" point {0} {1}\n", ptA, ptB);
ColHdr cHdr;
cHdr.goID1 = A.getIndexNum();
cHdr.goID2 = B.getIndexNum();
cHdr.pos = ptA;
InputHdr iHdr;
iHdr.colInfo = cHdr;
iHdr.input = InputType.Collision;
iHdr.player = PlayerID.none;
iHdr.networked = false;
OutputQueue.pushHeader(iHdr);
//if (A.CollideAvailable == true && B.CollideAvailable == true)
//{
// if (A.type < B.type)
// {
// A.Accept(B, ptA);
// }
// else
// {
// B.Accept(A, ptA);
// }
//}
//if (A.type == GameObjType.p1missiles || A.type == GameObjType.p2missiles)
//{
// A.CollideAvailable = false;
//}
//if (B.type == GameObjType.p1missiles || B.type == GameObjType.p2missiles)
//{
// B.CollideAvailable = false;
//}
}
internal ContactManager()
{
_addPair = AddPair;
_contactList = null;
_contactCount = 0;
ContactFilter = new DefaultContactFilter();
ContactListener = new DefaultContactListener();
}
public void PostSolve(Contact contact, ref ContactImpulse impulse)
{
Body[] bodies = new Body[2];
bodies[0] = contact.GetFixtureA().GetBody();
bodies[1] = contact.GetFixtureB().GetBody();
mBodies.Add(bodies);
if (mBodies.Count > 10000)
{
mBodies.Clear();
Console.WriteLine("Clear contacts.");
}
}
public void BeginContact(Contact contact)
{
Fixture fixtureA = contact.GetFixtureA();
Fixture fixtureB = contact.GetFixtureB();
var unitA = (Unit) fixtureA.GetBody().GetUserData();
var unitB = (Unit) fixtureB.GetBody().GetUserData();
bool shouldContact = GroupManager.Instance.ShouldContact(unitA.Group, unitB.Group);
if (shouldContact)
{
if (fixtureA.IsSensor())
{
var sensorData = (SensorInfo) fixtureA.GetUserData();
if (sensorData.Enable && !fixtureB.IsSensor())
{
if (unitB is Character && sensorData.SensorName == Constants.SURFACE_SENSOR)
{
}
sensorData.Add(unitB);
}
}
if (fixtureB.IsSensor())
{
var sensorData = (SensorInfo) fixtureB.GetUserData();
if (sensorData.Enable && !fixtureA.IsSensor())
{
sensorData.Add(unitA);
}
}
}
else
{
if (fixtureA.IsSensor())
{
var sensorData = (SensorInfo)fixtureA.GetUserData();
if (sensorData.SensorName == Constants.VISUAL_SENSOR && sensorData.Enable && !fixtureB.IsSensor() && unitB is Character)
{
sensorData.Add(unitB);
}
}
if (fixtureB.IsSensor())
{
var sensorData = (SensorInfo)fixtureB.GetUserData();
if (sensorData.SensorName == Constants.VISUAL_SENSOR && sensorData.Enable && !fixtureA.IsSensor() && unitA is Character)
{
sensorData.Add(unitA);
}
}
}
}
/// <summary>
/// Update the gameworld
/// </summary>
/// <param name="gameTime">GameTime</param>
public virtual void update(GameTime gameTime)
{
Vector2 t_CP = getCheckPoint(entityManager.player.my_Body.Position);
if (t_CP.X > lastCP.X)
{
lastCP = t_CP;
entityManager.player.copyInventory();
EntityManager.getEntityManager(game).pushAFloater("Checkpoint", Color.DarkBlue);
}
physicsWorld.Step((float)gameTime.ElapsedGameTime.TotalSeconds, 15, 6);
Box2D.XNA.Contact contact = physicsWorld.GetContactList();
if (contact != null)
{
entityManager.processContacts(contact);
}
entityManager.updateAIs(entities.ToArray());
}
public void BeginContact(Contact contact)
{
object obj1 = contact.GetFixtureA().GetBody().GetUserData();
object obj2 = contact.GetFixtureB().GetBody().GetUserData();
if (obj1 == TYPE_WATER || obj2 == TYPE_WATER)
{
if (obj1 is Sprite)
{
((Sprite)obj1).Drown = true;
}
else if (obj2 is Sprite)
{
((Sprite)obj2).Drown = true;
}
}
}
public void EndContact(Contact contact)
{
Fixture fixtureA = contact.GetFixtureA();
Fixture fixtureB = contact.GetFixtureB();
if (fixtureA.IsSensor())
{
var sensorData = (SensorInfo) fixtureA.GetUserData();
var unitB = (Unit) fixtureB.GetBody().GetUserData();
if (sensorData.Enable)
{
sensorData.Remove(unitB);
}
}
if (fixtureB.IsSensor())
{
var sensorData = (SensorInfo) fixtureB.GetUserData();
var unitA = (Unit) fixtureA.GetBody().GetUserData();
if (sensorData.Enable)
{
sensorData.Remove(unitA);
}
}
}
/// <summary> Call this to draw shapes and other debug draw data.
/// </summary>
public void DrawDebugData()
{
if (DebugDraw == null)
{
return;
}
DebugDrawFlags flags = DebugDraw.Flags;
if ((flags & DebugDrawFlags.Shape) == DebugDrawFlags.Shape)
{
for (Body b = _bodyList; b != null; b = b.GetNext())
{
Transform xf;
b.GetTransform(out xf);
for (Fixture f = b.GetFixtureList(); f != null; f = f.GetNext())
{
if (b.IsActive() == false)
{
DrawShape(f, xf, new Color(0.5f, 0.5f, 0.3f));
}
else if (b.GetType() == BodyType.Static)
{
DrawShape(f, xf, new Color(0.5f, 0.9f, 0.5f));
}
else if (b.GetType() == BodyType.Kinematic)
{
DrawShape(f, xf, new Color(0.5f, 0.5f, 0.9f));
}
else if (b.IsAwake() == false)
{
DrawShape(f, xf, new Color(0.6f, 0.6f, 0.6f));
}
else
{
DrawShape(f, xf, new Color(0.9f, 0.7f, 0.7f));
}
}
}
}
if ((flags & DebugDrawFlags.Joint) == DebugDrawFlags.Joint)
{
for (Joint j = _jointList; j != null; j = j.GetNext())
{
DrawJoint(j);
}
}
if ((flags & DebugDrawFlags.Pair) == DebugDrawFlags.Pair)
{
Color color = new Color(0.3f, 0.9f, 0.9f);
for (Contact c = _contactManager._contactList; c != null; c = c.GetNext())
{
/*
* Fixture fixtureA = c.GetFixtureA();
* Fixture fixtureB = c.GetFixtureB();
*
* AABB aabbA;
* AABB aabbB;
* fixtureA.GetAABB(out aabbA);
* fixtureB.GetAABB(out aabbB);
*
* Vector2 cA = aabbA.GetCenter();
* Vector2 cB = aabbB.GetCenter();
*
* DebugDraw.DrawSegment(cA, cB, color);
*/
}
}
if ((flags & DebugDrawFlags.AABB) == DebugDrawFlags.AABB)
{
Color color = new Color(0.9f, 0.3f, 0.9f);
BroadPhase bp = _contactManager._broadPhase;
for (Body b = _bodyList; b != null; b = b.GetNext())
{
if (b.IsActive() == false)
{
continue;
}
for (Fixture f = b.GetFixtureList(); f != null; f = f.GetNext())
{
for (int i = 0; i < f._proxyCount; ++i)
{
FixtureProxy proxy = f._proxies[i];
AABB aabb;
bp.GetFatAABB(proxy.proxyId, out aabb);
FixedArray8 <Vector2> vs = new FixedArray8 <Vector2>();
vs[0] = new Vector2(aabb.lowerBound.X, aabb.lowerBound.Y);
vs[1] = new Vector2(aabb.upperBound.X, aabb.lowerBound.Y);
vs[2] = new Vector2(aabb.upperBound.X, aabb.upperBound.Y);
vs[3] = new Vector2(aabb.lowerBound.X, aabb.upperBound.Y);
DebugDraw.DrawPolygon(ref vs, 4, color);
}
}
}
}
if ((flags & DebugDrawFlags.CenterOfMass) == DebugDrawFlags.CenterOfMass)
{
for (Body b = _bodyList; b != null; b = b.GetNext())
{
Transform xf;
b.GetTransform(out xf);
xf.Position = b.GetWorldCenter();
DebugDraw.DrawTransform(ref xf);
}
}
}
internal void Destroy(Contact c)
{
Fixture fixtureA = c.GetFixtureA();
Fixture fixtureB = c.GetFixtureB();
Body bodyA = fixtureA.GetBody();
Body bodyB = fixtureB.GetBody();
if (c.IsTouching())
{
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;
}
c.Destroy();
--_contactCount;
}
// Sequentially solve TOIs for each body. We bring each
// body to the time of contact and perform some position correction.
// Time is not conserved.
void SolveTOI()
{
// Prepare all contacts.
for (Contact c = _contactManager._contactList; c != null; c = c._next)
{
// Enable the contact
c._flags |= ContactFlags.Enabled;
// Set the number of TOI events for this contact to zero.
c._toiCount = 0;
}
// Initialize the TOI flag.
for (Body body = _bodyList; body != null; body = body._next)
{
// Kinematic, and static bodies will not be affected by the TOI event.
// If a body was not in an island then it did not move.
if ((body._flags & BodyFlags.Island) == 0 || body.GetType() == BodyType.Kinematic || body.GetType() == BodyType.Static)
{
body._flags |= BodyFlags.Toi;
}
else
{
body._flags &= ~BodyFlags.Toi;
}
}
// Collide non-bullets.
for (Body body = _bodyList; body != null; body = body._next)
{
if ((body._flags & BodyFlags.Toi) != BodyFlags.None)
{
continue;
}
if (body.IsBullet == true)
{
continue;
}
SolveTOI(body);
body._flags |= BodyFlags.Toi;
}
// Collide bullets.
for (Body body = _bodyList; body != null; body = body._next)
{
if ((body._flags & BodyFlags.Toi) != BodyFlags.None)
{
continue;
}
if (body.IsBullet == false)
{
continue;
}
SolveTOI(body);
body._flags |= BodyFlags.Toi;
}
}
/// <summary>
/// This is one the methods of the IContactListener interface.
/// No implementation.
/// </summary>
/// <param name="contact">Box2D Contact</param>
/// <param name="impulse">Box2D ContactImpulse</param>
public void PostSolve(Contact contact, ref ContactImpulse impulse)
{
}
/// <summary>
/// A callback function for Box2D to inform that two shapes are beginning to contact with
/// each other. Collects the information of the contacts and that information will be
/// handled after the physics simulation iterations are completed.
/// </summary>
/// <param name="contact">Box2D Contact</param>
public virtual void BeginContact(Contact contact)
{
if (!bike.OffTheBike)
{
UserData data = (UserData)contact.GetFixtureA().GetBody().GetUserData();
if (data != null)
{
if (data.Name == "finish")
{
if (Win != null)
Win(this);
}
else if (data.Name == "nail")
{
if (TireFail != null)
TireFail(this);
}
else if ( (data.Name == "head" && contact.GetFixtureB().GetBody().GetType() == BodyType.Static) ||
(data.Name == null && ((UserData)contact.GetFixtureB().GetBody().GetUserData()).Name == "head") )
{
bikeShouldBeReleased = true;
if (HeadFail != null)
HeadFail(this);
}
}
}
}
void Solve(ref TimeStep step)
{
// Size the island for the worst case.
_island.Reset(_bodyCount,
_contactManager._contactCount,
_jointCount,
_contactManager.ContactListener);
// Clear all the island flags.
for (Body b = _bodyList; b != null; b = b._next)
{
b._flags &= ~BodyFlags.Island;
}
for (Contact c = _contactManager._contactList; c != null; c = c._next)
{
c._flags &= ~ContactFlags.Island;
}
for (Joint j = _jointList; j != null; j = j._next)
{
j._islandFlag = false;
}
// Build and simulate all awake islands.
int stackSize = _bodyCount;
if (stackSize > stack.Length)
{
stack = new Body[Math.Max(stack.Length * 2, stackSize)];
}
for (Body seed = _bodyList; seed != null; seed = seed._next)
{
if ((seed._flags & (BodyFlags.Island)) != BodyFlags.None)
{
continue;
}
if (seed.IsAwake() == false || seed.IsActive() == false)
{
continue;
}
// The seed can be dynamic or kinematic.
if (seed.GetType() == BodyType.Static)
{
continue;
}
// Reset island and stack.
_island.Clear();
int stackCount = 0;
stack[stackCount++] = seed;
seed._flags |= BodyFlags.Island;
// Perform a depth first search (DFS) on the raint graph.
while (stackCount > 0)
{
// Grab the next body off the stack and add it to the island.
Body b = stack[--stackCount];
Debug.Assert(b.IsActive() == true);
_island.Add(b);
// Make sure the body is awake.
b.SetAwake(true);
// To keep islands as small as possible, we don't
// propagate islands across static bodies.
if (b.GetType() == BodyType.Static)
{
continue;
}
// Search all contacts connected to this body.
for (ContactEdge ce = b._contactList; ce != null; ce = ce.Next)
{
Contact contact = ce.Contact;
// Has this contact already been added to an island?
if ((contact._flags & ContactFlags.Island) != ContactFlags.None)
{
continue;
}
// Is this contact solid and touching?
if (!ce.Contact.IsEnabled() || !ce.Contact.IsTouching())
{
continue;
}
// Skip sensors.
bool sensorA = contact._fixtureA._isSensor;
bool sensorB = contact._fixtureB._isSensor;
if (sensorA || sensorB)
{
continue;
}
_island.Add(contact);
contact._flags |= ContactFlags.Island;
Body other = ce.Other;
// Was the other body already added to this island?
if ((other._flags & BodyFlags.Island) != BodyFlags.None)
{
continue;
}
Debug.Assert(stackCount < stackSize);
stack[stackCount++] = other;
other._flags |= BodyFlags.Island;
}
// Search all joints connect to this body.
for (JointEdge je = b._jointList; je != null; je = je.Next)
{
if (je.Joint._islandFlag == true)
{
continue;
}
Body other = je.Other;
// Don't simulate joints connected to inactive bodies.
if (other.IsActive() == false)
{
continue;
}
_island.Add(je.Joint);
je.Joint._islandFlag = true;
if ((other._flags & BodyFlags.Island) != BodyFlags.None)
{
continue;
}
Debug.Assert(stackCount < stackSize);
stack[stackCount++] = other;
other._flags |= BodyFlags.Island;
}
}
_island.Solve(ref step, Gravity, _allowSleep);
// Post solve cleanup.
for (int i = 0; i < _island._bodyCount; ++i)
{
// Allow static bodies to participate in other islands.
Body b = _island._bodies[i];
if (b.GetType() == BodyType.Static)
{
b._flags &= ~BodyFlags.Island;
}
}
}
// Synchronize fixtures, check for out of range bodies.
for (Body b = _bodyList; b != null; b = b.GetNext())
{
// If a body was not in an island then it did not move.
if ((b._flags & BodyFlags.Island) != BodyFlags.Island)
{
continue;
}
if (b.GetType() == BodyType.Static)
{
continue;
}
// Update fixtures (for broad-phase).
b.SynchronizeFixtures();
}
// Look for new contacts.
_contactManager.FindNewContacts();
}
public override void PostSolve(Contact contact, ref Box2D.XNA.ContactImpulse impulse)
{
float intensity = impulse.normalImpulses[0] / 2800F;
//intensity = Math.Min(1F, intensity);
if (intensity > 0.20F)
{
Camera.Shake(intensity);
OnShake(contact, intensity);
}
base.PostSolve(contact, ref impulse);
}
internal static Contact Create(Fixture fixtureA, int indexA, Fixture fixtureB, int indexB)
{
ShapeType type1 = fixtureA.ShapeType;
ShapeType type2 = fixtureB.ShapeType;
Debug.Assert(ShapeType.Unknown < type1 && type1 < ShapeType.TypeCount);
Debug.Assert(ShapeType.Unknown < type2 && type2 < ShapeType.TypeCount);
Contact c;
var pool = fixtureA._body._world._contactPool;
if (pool.Count > 0)
{
c = pool.Dequeue();
if ((type1 >= type2 || (type1 == ShapeType.Edge && type2 == ShapeType.Polygon))
&&
!(type2 == ShapeType.Edge && type1 == ShapeType.Polygon))
{
c.Reset(fixtureA, indexA, fixtureB, indexB);
}
else
{
c.Reset(fixtureB, indexB, fixtureA, indexA);
}
}
else
{
// Edge+Polygon is non-symetrical due to the way Erin handles collision type registration.
if ((type1 >= type2 || (type1 == ShapeType.Edge && type2 == ShapeType.Polygon))
&&
!(type2 == ShapeType.Edge && type1 == ShapeType.Polygon))
{
c = new Contact(fixtureA, indexA, fixtureB, indexB);
}
else
{
c = new Contact(fixtureB, indexB, fixtureA, indexA);
}
}
c._type = Contact.s_registers[(int)type1, (int)type2];
return c;
}
public override void BeginContact(Contact contact)
{
base.BeginContact(contact);
}
public void Initialize(Contact[] contacts, int count, Body toiBody)
{
_count = count;
_toiBody = toiBody;
if (_constraints.Length < _count)
_constraints = new TOIConstraint[Math.Max(_constraints.Length * 2, _count)];
for (int i = 0; i < _count; ++i)
{
Contact contact = contacts[i];
Fixture fixtureA = contact.GetFixtureA();
Fixture fixtureB = contact.GetFixtureB();
Shape shapeA = fixtureA.GetShape();
Shape shapeB = fixtureB.GetShape();
float radiusA = shapeA._radius;
float radiusB = shapeB._radius;
Body bodyA = fixtureA.GetBody();
Body bodyB = fixtureB.GetBody();
Manifold manifold;
contact.GetManifold(out manifold);
Debug.Assert(manifold._pointCount > 0);
TOIConstraint constraint = _constraints[i];
constraint.bodyA = bodyA;
constraint.bodyB = bodyB;
constraint.localNormal = manifold._localNormal;
constraint.localPoint = manifold._localPoint;
constraint.type = manifold._type;
constraint.pointCount = manifold._pointCount;
constraint.radius = radiusA + radiusB;
for (int j = 0; j < constraint.pointCount; ++j)
{
constraint.localPoints[j] = manifold._points[j].LocalPoint;
}
_constraints[i] = constraint;
}
}
public void PreSolve(Contact contact, ref Manifold oldManifold)
{
var unitA = (Unit) contact.GetFixtureA().GetBody().GetUserData();
var unitB = (Unit) contact.GetFixtureB().GetBody().GetUserData();
if (!(unitA.EnableCollision && unitB.EnableCollision
&& GroupManager.Instance.ShouldContact(unitA.Group, unitB.Group)))
{
contact.SetEnabled(false);
}
}
// Broad-phase callback.
internal void AddPair(Fixture proxyUserDataA, Fixture proxyUserDataB)
{
Fixture fixtureA = proxyUserDataA;
Fixture fixtureB = proxyUserDataB;
Body bodyA = fixtureA.GetBody();
Body bodyB = fixtureB.GetBody();
// Are the fixtures on the same body?
if (bodyA == bodyB)
{
return;
}
// Does a contact already exist?
ContactEdge edge = bodyB.GetContactList();
while (edge != null)
{
if (edge.Other == bodyA)
{
Fixture fA = edge.Contact.GetFixtureA();
Fixture fB = edge.Contact.GetFixtureB();
if (fA == fixtureA && fB == fixtureB)
{
// A contact already exists.
return;
}
if (fA == fixtureB && fB == fixtureA)
{
// 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.ShouldCollide(fixtureA, fixtureB) == false)
{
return;
}
// Call the factory.
Contact c = Contact.Create(fixtureA, fixtureB);
// Contact creation may swap fixtures.
fixtureA = c.GetFixtureA();
fixtureB = c.GetFixtureB();
bodyA = fixtureA.GetBody();
bodyB = fixtureB.GetBody();
// 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;
++_contactCount;
}
public void BeginContact(Contact contact)
{
}
public void EndContact(Contact contact)
{
while (contact != null)
{
var lhsInfo = new ContactInfo();
var rhsInfo = new ContactInfo();
lhsInfo.contact = contact;
rhsInfo.contact = contact;
lhsInfo.fixtureType = FixtureType.A;
rhsInfo.fixtureType = FixtureType.B;
var lhsGo = contact.GetFixtureA().GetBody().GetUserData() as GameObject;
var rhsGo = contact.GetFixtureB().GetBody().GetUserData() as GameObject;
lhsInfo.other = rhsGo;
rhsInfo.other = lhsGo;
if (lhsGo != null) { lhsGo.EndContact(lhsInfo); }
if (rhsGo != null) { rhsGo.EndContact(rhsInfo); }
contact = contact.GetNext();
}
}
// Advance a dynamic body to its first time of contact
// and adjust the position to ensure clearance.
void SolveTOI(Body body)
{
// Find the minimum contact.
Contact toiContact = null;
float toi = 1.0f;
Body toiOther = null;
bool found;
int count;
int iter = 0;
bool bullet = body.IsBullet;
// Iterate until all contacts agree on the minimum TOI. We have
// to iterate because the TOI algorithm may skip some intermediate
// collisions when objects rotate through each other.
do
{
count = 0;
found = false;
for (ContactEdge ce = body._contactList; ce != null; ce = ce.Next)
{
if (ce.Contact == toiContact)
{
continue;
}
Body other = ce.Other;
BodyType type = other.GetType();
// Only bullets perform TOI with dynamic bodies.
if (bullet == true)
{
// Bullets only perform TOI with bodies that have their TOI resolved.
if ((other._flags & BodyFlags.Toi) == 0)
{
continue;
}
// No repeated hits on non-static bodies
if (type != BodyType.Static && (ce.Contact._flags & ContactFlags.BulletHit) != 0)
{
continue;
}
}
else if (type == BodyType.Dynamic)
{
continue;
}
// Check for a disabled contact.
Contact contact = ce.Contact;
if (contact.IsEnabled() == false)
{
continue;
}
// Prevent infinite looping.
if (contact._toiCount > 10)
{
continue;
}
Fixture fixtureA = contact._fixtureA;
Fixture fixtureB = contact._fixtureB;
int indexA = contact._indexA;
int indexB = contact._indexB;
// Cull sensors.
if (fixtureA.IsSensor() || fixtureB.IsSensor())
{
continue;
}
Body bodyA = fixtureA._body;
Body bodyB = fixtureB._body;
// Compute the time of impact in interval [0, minTOI]
TOIInput input = new TOIInput();
input.proxyA.Set(fixtureA.GetShape(), indexA);
input.proxyB.Set(fixtureB.GetShape(), indexB);
input.sweepA = bodyA._sweep;
input.sweepB = bodyB._sweep;
input.tMax = toi;
TOIOutput output;
TimeOfImpact.CalculateTimeOfImpact(out output, ref input);
if (output.State == TOIOutputState.Touching && output.t < toi)
{
toiContact = contact;
toi = output.t;
toiOther = other;
found = true;
}
++count;
}
++iter;
} while (found && count > 1 && iter < 50);
if (toiContact == null)
{
body.Advance(1.0f);
return;
}
Sweep backup = body._sweep;
body.Advance(toi);
toiContact.Update(_contactManager.ContactListener);
if (toiContact.IsEnabled() == false)
{
// Contact disabled. Backup and recurse.
body._sweep = backup;
SolveTOI(body);
}
++toiContact._toiCount;
// Update all the valid contacts on this body and build a contact island.
count = 0;
for (ContactEdge ce = body._contactList; (ce != null) && (count < Settings.b2_maxTOIContacts); ce = ce.Next)
{
Body other = ce.Other;
BodyType type = other.GetType();
// Only perform correction with static bodies, so the
// body won't get pushed out of the world.
if (type == BodyType.Dynamic)
{
continue;
}
// Check for a disabled contact.
Contact contact = ce.Contact;
if (contact.IsEnabled() == false)
{
continue;
}
Fixture fixtureA = contact._fixtureA;
Fixture fixtureB = contact._fixtureB;
// Cull sensors.
if (fixtureA.IsSensor() || fixtureB.IsSensor())
{
continue;
}
// The contact likely has some new contact points. The listener
// gives the user a chance to disable the contact.
if (contact != toiContact)
{
contact.Update(_contactManager.ContactListener);
}
// Did the user disable the contact?
if (contact.IsEnabled() == false)
{
// Skip this contact.
continue;
}
if (contact.IsTouching() == false)
{
continue;
}
_toiContacts[count] = contact;
++count;
}
// Reduce the TOI body's overlap with the contact island.
_toiSolver.Initialize(_toiContacts, count, body);
float k_toiBaumgarte = 0.75f;
//bool solved = false;
for (int i = 0; i < 20; ++i)
{
bool contactsOkay = _toiSolver.Solve(k_toiBaumgarte);
if (contactsOkay)
{
//solved = true;
break;
}
}
if (toiOther.GetType() != BodyType.Static)
{
toiContact._flags |= ContactFlags.BulletHit;
}
}
public void Reset(Contact[] contacts, int contactCount, float impulseRatio)
{
_contacts = contacts;
_constraintCount = contactCount;
// grow the array
if (_constraints == null || _constraints.Length < _constraintCount)
{
_constraints = new ContactConstraint[_constraintCount * 2];
}
for (int i = 0; i < _constraintCount; ++i)
{
Contact contact = contacts[i];
Fixture fixtureA = contact._fixtureA;
Fixture fixtureB = contact._fixtureB;
Shape shapeA = fixtureA.GetShape();
Shape shapeB = fixtureB.GetShape();
float radiusA = shapeA._radius;
float radiusB = shapeB._radius;
Body bodyA = fixtureA.GetBody();
Body bodyB = fixtureB.GetBody();
Manifold manifold;
contact.GetManifold(out manifold);
float friction = Settings.b2MixFriction(fixtureA.GetFriction(), fixtureB.GetFriction());
float restitution = Settings.b2MixRestitution(fixtureA.GetRestitution(), fixtureB.GetRestitution());
Vector2 vA = bodyA._linearVelocity;
Vector2 vB = bodyB._linearVelocity;
float wA = bodyA._angularVelocity;
float wB = bodyB._angularVelocity;
Debug.Assert(manifold._pointCount > 0);
WorldManifold worldManifold = new WorldManifold(ref manifold, ref bodyA._xf, radiusA, ref bodyB._xf, radiusB);
ContactConstraint cc = _constraints[i];
cc.bodyA = bodyA;
cc.bodyB = bodyB;
cc.manifold = manifold;
cc.normal = worldManifold._normal;
cc.pointCount = manifold._pointCount;
cc.friction = friction;
cc.localNormal = manifold._localNormal;
cc.localPoint = manifold._localPoint;
cc.radius = radiusA + radiusB;
cc.type = manifold._type;
for (int j = 0; j < cc.pointCount; ++j)
{
ManifoldPoint cp = manifold._points[j];
ContactConstraintPoint ccp = cc.points[j];
ccp.normalImpulse = impulseRatio * cp.NormalImpulse;
ccp.tangentImpulse = impulseRatio * cp.TangentImpulse;
ccp.localPoint = cp.LocalPoint;
ccp.rA = worldManifold._points[j] - bodyA._sweep.c;
ccp.rB = worldManifold._points[j] - bodyB._sweep.c;
#if MATH_OVERLOADS
float rnA = MathUtils.Cross(ccp.rA, cc.normal);
float rnB = MathUtils.Cross(ccp.rB, cc.normal);
#else
float rnA = ccp.rA.X * cc.normal.Y - ccp.rA.Y * cc.normal.X;
float rnB = ccp.rB.X * cc.normal.Y - ccp.rB.Y * cc.normal.X;
#endif
rnA *= rnA;
rnB *= rnB;
float kNormal = bodyA._invMass + bodyB._invMass + bodyA._invI * rnA + bodyB._invI * rnB;
Debug.Assert(kNormal > Settings.b2_epsilon);
ccp.normalMass = 1.0f / kNormal;
#if MATH_OVERLOADS
Vector2 tangent = MathUtils.Cross(cc.normal, 1.0f);
float rtA = MathUtils.Cross(ccp.rA, tangent);
float rtB = MathUtils.Cross(ccp.rB, tangent);
#else
Vector2 tangent = new Vector2(cc.normal.Y, -cc.normal.X);
float rtA = ccp.rA.X * tangent.Y - ccp.rA.Y * tangent.X;
float rtB = ccp.rB.X * tangent.Y - ccp.rB.Y * tangent.X;
#endif
rtA *= rtA;
rtB *= rtB;
float kTangent = bodyA._invMass + bodyB._invMass + bodyA._invI * rtA + bodyB._invI * rtB;
Debug.Assert(kTangent > Settings.b2_epsilon);
ccp.tangentMass = 1.0f / kTangent;
// Setup a velocity bias for restitution.
ccp.velocityBias = 0.0f;
float vRel = Vector2.Dot(cc.normal, vB + MathUtils.Cross(wB, ccp.rB) - vA - MathUtils.Cross(wA, ccp.rA));
if (vRel < -Settings.b2_velocityThreshold)
{
ccp.velocityBias = -restitution * vRel;
}
cc.points[j] = ccp;
}
// If we have two points, then prepare the block solver.
if (cc.pointCount == 2)
{
ContactConstraintPoint ccp1 = cc.points[0];
ContactConstraintPoint ccp2 = cc.points[1];
float invMassA = bodyA._invMass;
float invIA = bodyA._invI;
float invMassB = bodyB._invMass;
float invIB = bodyB._invI;
float rn1A = MathUtils.Cross(ccp1.rA, cc.normal);
float rn1B = MathUtils.Cross(ccp1.rB, cc.normal);
float rn2A = MathUtils.Cross(ccp2.rA, cc.normal);
float rn2B = MathUtils.Cross(ccp2.rB, cc.normal);
float k11 = invMassA + invMassB + invIA * rn1A * rn1A + invIB * rn1B * rn1B;
float k22 = invMassA + invMassB + invIA * rn2A * rn2A + invIB * rn2B * rn2B;
float k12 = invMassA + invMassB + invIA * rn1A * rn2A + invIB * rn1B * rn2B;
// Ensure a reasonable condition number.
const float k_maxConditionNumber = 100.0f;
if (k11 * k11 < k_maxConditionNumber * (k11 * k22 - k12 * k12))
{
// K is safe to invert.
cc.K = new Mat22(new Vector2(k11, k12), new Vector2(k12, k22));
cc.normalMass = cc.K.GetInverse();
}
else
{
// The constraints are redundant, just use one.
// TODO_ERIN use deepest?
cc.pointCount = 1;
}
}
_constraints[i] = cc;
}
}
internal static Contact Create(Fixture fixtureA, Fixture fixtureB)
{
ShapeType type1 = fixtureA.ShapeType;
ShapeType type2 = fixtureB.ShapeType;
Debug.Assert(ShapeType.Unknown < type1 && type1 < ShapeType.TypeCount);
Debug.Assert(ShapeType.Unknown < type2 && type2 < ShapeType.TypeCount);
Contact c;
var pool = fixtureA._body._world._contactPool;
if (pool.Count > 0)
{
c = pool.Dequeue();
if (type1 >= type2)
{
c.Reset(fixtureA, fixtureB);
}
else
{
c.Reset(fixtureB, fixtureA);
}
}
else
{
if (type1 >= type2)
{
c = new Contact(fixtureA, fixtureB);
}
else
{
c = new Contact(fixtureB, fixtureA);
}
}
c._type = Contact.s_registers[(int)type1, (int)type2];
return c;
}
//public override void BeginContact(Contact contact)
//{
// base.BeginContact(contact);
// object objA = contact.GetFixtureA().GetBody().GetUserData();
// object objB = contact.GetFixtureB().GetBody().GetUserData();
// foreach (Type t in contactTypes.Keys)
// {
// if (objA.GetType() == t)
// {
// contactTypes[t](objA, objB);
// break;
// }
// else if (objB.GetType() == t)
// {
// contactTypes[t](objB, objA);
// break;
// }
// }
//}
public override void EndContact(Contact contact)
{
base.EndContact(contact);
object objA = contact.GetFixtureA().GetBody().GetUserData();
object objB = contact.GetFixtureB().GetBody().GetUserData();
if (objA is Walker || objB is Walker)
{
walker.EndContact();
}
}
internal void Reset(Fixture fA, Fixture fB)
{
_flags = ContactFlags.Enabled;
_fixtureA = fA;
_fixtureB = fB;
_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;
}
protected virtual void OnShake(Contact contact, float intensity)
{
if (!(contact.GetFixtureA().GetBody().GetUserData() is Walker) && !(contact.GetFixtureB().GetBody().GetUserData() is Walker))
{
if (stage != null)
{
if (intensity < .5f)
{
Cue c = stage.audio.PlaySound(Sfx.woodHit);
c.SetVariable("Volume", 1);
}
else
{
float vol = intensity / 4 + .75f;
vol = vol > 1 ? 1f : vol < 0.75f ? 0.75f : vol;
Cue c = stage.audio.PlaySound(Sfx.smash);
c.SetVariable("Volume", vol);
}
}
}
}
public void Add(Contact contact)
{
Debug.Assert(_contactCount < _contactCapacity);
_contacts[_contactCount++] = contact;
}
public void EndContact(Contact contact)
{
}
public virtual void EndContact(Contact contact)
{
object objA = contact.GetFixtureA().GetBody().GetUserData();
object objB = contact.GetFixtureB().GetBody().GetUserData();
foreach (Type t in contactEndTypes.Keys)
{
if (objA.GetType() == t)
{
contactEndTypes[t](objA, objB, contact.GetFixtureA(), contact.GetFixtureB());
break;
}
else if (objB.GetType() == t)
{
contactEndTypes[t](objB, objA, contact.GetFixtureB(), contact.GetFixtureA());
break;
}
}
}
/// <summary>
/// This is one the methods of the IContactListener interface.
/// No implementation.
/// </summary>
/// <param name="contact">Box2D Contact</param>
public virtual void EndContact(Contact contact)
{
}
public virtual void PreSolve(Contact contact, ref Manifold oldManifold)
{
// call this in the base class if points are needed
// PreSolveCalcPoints(contact, ref oldManifold);
}
/// <summary>
/// This is one the methods of the IContactListener interface.
/// No implementation.
/// </summary>
/// <param name="contact">Box2D Contact</param>
/// <param name="oldManifold">Box2D Manifold</param>
public void PreSolve(Contact contact, ref Manifold oldManifold)
{
}
protected void PreSolveCalcPoints(Contact contact, ref Manifold oldManifold)
{
Manifold manifold;
contact.GetManifold(out manifold);
if (manifold._pointCount == 0)
{
return;
}
Fixture fixtureA = contact.GetFixtureA();
Fixture fixtureB = contact.GetFixtureB();
FixedArray2<PointState> state1, state2;
Collision.GetPointStates(out state1, out state2, ref oldManifold, ref manifold);
WorldManifold worldManifold;
contact.GetWorldManifold(out worldManifold);
for (int i = 0; i < manifold._pointCount && _pointCount < k_maxContactPoints; ++i)
{
if (fixtureA == null)
{
_points[i] = new ContactPoint();
}
ContactPoint cp = _points[_pointCount];
cp.fixtureA = fixtureA;
cp.fixtureB = fixtureB;
cp.position = worldManifold._points[i];
cp.normal = worldManifold._normal;
cp.state = state2[i];
_points[_pointCount] = cp;
++_pointCount;
}
}
