public void Destroy(Contact c)
{
Fixture fixtureA = c.FixtureA;
Fixture fixtureB = c.FixtureB;
Body bodyA = fixtureA.GetBody();
Body bodyB = fixtureB.GetBody();
if (m_contactListener != null && c.IsTouching())
{
m_contactListener.EndContact(c);
}
// Remove from the world.
m_contactList.Remove(c);
// Remove from body 1
c.m_nodeA.other.m_contactList.Remove(c.m_nodeA);
// Remove from body 2
c.m_nodeB.other.m_contactList.Remove(c.m_nodeA);
// Call the factory.
}
internal void Destroy(Contact c)
{
Fixture fixtureA = c.GetFixtureA();
Fixture fixtureB = c.GetFixtureB();
Body bodyA = fixtureA.GetBody();
Body bodyB = fixtureB.GetBody();
if (ContactListener != null && 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;
}
// Update the contact manifold and touching status.
// Note: do not assume the fixture AABBs are overlapping or are valid.
internal void Update(ContactListener listener){
Manifold oldManifold = m_manifold;
// Re-enable this contact.
m_flags |= ContactFlags.e_enabledFlag;
bool touching = false;
bool wasTouching = (m_flags & ContactFlags.e_touchingFlag) == ContactFlags.e_touchingFlag;
bool sensorA = m_fixtureA.IsSensor;
bool sensorB = m_fixtureB.IsSensor;
bool sensor = sensorA || sensorB;
Body bodyA = m_fixtureA.GetBody();
Body bodyB = m_fixtureB.GetBody();
Transform xfA = bodyA.GetTransform();
Transform xfB = bodyB.GetTransform();
// Is this contact a sensor?
if (sensor)
{
Shape shapeA = m_fixtureA.GetShape();
Shape shapeB = m_fixtureB.GetShape();
touching = Collision.TestOverlap(shapeA, m_indexA, shapeB, m_indexB, xfA, xfB);
// Sensors don't generate manifolds.
m_manifold.points.Clear();
}
else
{
Evaluate(out m_manifold, xfA, xfB);
touching = m_manifold.points.Count() > 0;
// Match old contact ids to new contact ids and copy the
// stored impulses to warm start the solver.
for (int i = 0; i < m_manifold.points.Count(); ++i)
{
ManifoldPoint mp2 = m_manifold.points[i];
mp2.normalImpulse = 0.0f;
mp2.tangentImpulse = 0.0f;
ContactID id2 = mp2.id;
for (int j = 0; j < oldManifold.points.Count(); ++j) {
ManifoldPoint mp1 = oldManifold.points[j];
if (mp1.id.key == id2.key) {
mp2.normalImpulse = mp1.normalImpulse;
mp2.tangentImpulse = mp1.tangentImpulse;
break;
}
}
}
if (touching != wasTouching)
{
bodyA.SetAwake(true);
bodyB.SetAwake(true);
}
}
if (touching)
{
m_flags |= ContactFlags.e_touchingFlag;
}
else
{
m_flags &= ~ContactFlags.e_touchingFlag;
}
if (wasTouching == false && touching == true && listener != null)
{
listener.BeginContact(this);
}
if (wasTouching == true && touching == false && listener != null)
{
listener.EndContact(this);
}
if (sensor == false && touching && listener != null)
{
listener.PreSolve(this, oldManifold);
}
}
// Update the contact manifold and touching status.
// Note: do not assume the fixture AABBs are overlapping or are valid.
internal void Update(ContactListener listener)
{
Manifold oldManifold = m_manifold;
// Re-enable this contact.
m_flags |= ContactFlags.e_enabledFlag;
bool touching = false;
bool wasTouching = (m_flags & ContactFlags.e_touchingFlag) == ContactFlags.e_touchingFlag;
bool sensorA = m_fixtureA.IsSensor;
bool sensorB = m_fixtureB.IsSensor;
bool sensor = sensorA || sensorB;
Body bodyA = m_fixtureA.GetBody();
Body bodyB = m_fixtureB.GetBody();
Transform xfA = bodyA.GetTransform();
Transform xfB = bodyB.GetTransform();
// Is this contact a sensor?
if (sensor)
{
Shape shapeA = m_fixtureA.GetShape();
Shape shapeB = m_fixtureB.GetShape();
touching = Collision.TestOverlap(shapeA, m_indexA, shapeB, m_indexB, xfA, xfB);
// Sensors don't generate manifolds.
m_manifold.points.Clear();
}
else
{
Evaluate(out m_manifold, xfA, xfB);
touching = m_manifold.points.Count() > 0;
// Match old contact ids to new contact ids and copy the
// stored impulses to warm start the solver.
for (int i = 0; i < m_manifold.points.Count(); ++i)
{
ManifoldPoint mp2 = m_manifold.points[i];
mp2.normalImpulse = 0.0f;
mp2.tangentImpulse = 0.0f;
ContactID id2 = mp2.id;
for (int j = 0; j < oldManifold.points.Count(); ++j)
{
ManifoldPoint mp1 = oldManifold.points[j];
if (mp1.id.key == id2.key)
{
mp2.normalImpulse = mp1.normalImpulse;
mp2.tangentImpulse = mp1.tangentImpulse;
break;
}
}
}
if (touching != wasTouching)
{
bodyA.SetAwake(true);
bodyB.SetAwake(true);
}
}
if (touching)
{
m_flags |= ContactFlags.e_touchingFlag;
}
else
{
m_flags &= ~ContactFlags.e_touchingFlag;
}
if (wasTouching == false && touching == true && listener != null)
{
listener.BeginContact(this);
}
if (wasTouching == true && touching == false && listener != null)
{
listener.EndContact(this);
}
if (sensor == false && touching && listener != null)
{
listener.PreSolve(this, oldManifold);
}
}
