internal void Initialize(Fixture fixtureA, int indexA, Fixture fixtureB, int indexB)
{
Flags = ContactFlag.EnabledFlag;
FixtureA = fixtureA;
FixtureB = fixtureB;
NodeA = SimpleObjectPool <ContactEdge> .Shared.Get();
NodeB = SimpleObjectPool <ContactEdge> .Shared.Get();
ChildIndexA = indexA;
ChildIndexB = indexB;
ToiCount = 0;
Friction = MixFriction(FixtureA.Friction, FixtureB.Friction);
Restitution = MixRestitution(FixtureA.Restitution, FixtureB.Restitution);
TangentSpeed = 0.0f;
}
internal virtual void Reset()
{
FixtureA = default;
FixtureB = default;
Flags = default;
Friction = default;
ChildIndexA = default;
ChildIndexB = default;
Manifold = default;
Node = default;
SimpleObjectPool <ContactEdge> .Shared.Return(NodeA);
SimpleObjectPool <ContactEdge> .Shared.Return(NodeB);
NodeA = default;
NodeB = default;
Restitution = default;
TangentSpeed = default;
Toi = default;
ToiCount = default;
}
internal void Initialize(Fixture fixtureA, int indexA, Fixture fixtureB, int indexB)
{
Flags = ContactFlag.EnabledFlag;
FixtureA = fixtureA;
FixtureB = fixtureB;
ChildIndexA = indexA;
ChildIndexB = indexB;
ToiCount = 0;
Friction = MixFriction(FixtureA.Friction, FixtureB.Friction);
Restitution = MixRestitution(FixtureA.Restitution, FixtureB.Restitution);
TangentSpeed = 0.0f;
Manifold = new Manifold()
{
Points = FixedArray2 <ManifoldPoint> .Create()
};
}
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);
}
}
public void SetAsSensor(bool sensor)
{
if (sensor)
{
Flags |= ContactFlag.SensorFlag;
}
else
{
Flags &= ~ContactFlag.SensorFlag;
}
}
public void FlagForFiltering()
{
Flags |= ContactFlag.FilterFlag;
}
public void Disable()
{
Flags |= ContactFlag.DisabledFlag;
}
public Contact(Fixture fixtureA, Fixture fixtureB)
{
Flags = 0;
if (fixtureA.IsSensor || fixtureB.IsSensor)
{
Flags |= ContactFlag.SensorFlag;
}
Body bodyA = fixtureA.GetBody();
Body bodyB = fixtureB.GetBody();
if (bodyA.IsStatic() || bodyA.IsBullet() || bodyB.IsStatic() || bodyB.IsBullet())
{
Flags |= ContactFlag.ContinuousFlag;
}
else
{
Flags &= ~ContactFlag.ContinuousFlag;
}
_fixtureA = fixtureA;
_fixtureB = fixtureB;
Manifold = new Manifold();
Manifold.PointCount = 0;
Prev = null;
Next = null;
NodeA = new ContactEdge();
NodeA.Contact = null;
NodeA.Prev = null;
NodeA.Next = null;
NodeA.Other = null;
NodeB = new ContactEdge();
NodeB.Contact = null;
NodeB.Prev = null;
NodeB.Next = null;
NodeB.Other = null;
}
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);
}
}
public void FlagForFiltering()
{
Flags |= ContactFlag.FilterFlag;
}
public void Disable()
{
Flags |= ContactFlag.DisabledFlag;
}
