public void Clone(Contact contact)
{
this.settings = contact.settings;
this.body1 = contact.body1;
this.body2 = contact.body2;
this.normal = contact.normal;
this.tangent = contact.tangent;
this.realRelPos1 = contact.realRelPos1;
this.realRelPos2 = contact.realRelPos2;
this.relativePos1 = contact.relativePos1;
this.relativePos2 = contact.relativePos2;
this.p1 = contact.p1;
this.p2 = contact.p2;
this.accumulatedNormalImpulse = contact.accumulatedNormalImpulse;
this.accumulatedTangentImpulse = contact.accumulatedTangentImpulse;
this.penetration = contact.penetration;
this.initialPen = contact.initialPen;
this.staticFriction = contact.staticFriction;
this.dynamicFriction = contact.dynamicFriction;
this.restitution = contact.restitution;
this.friction = contact.friction;
this.massNormal = contact.massNormal;
this.massTangent = contact.massTangent;
this.restitutionBias = contact.restitutionBias;
this.newContact = contact.newContact;
this.treatBody1AsStatic = contact.treatBody1AsStatic;
this.treatBody2AsStatic = contact.treatBody2AsStatic;
this.body1IsMassPoint = contact.body1IsMassPoint;
this.body2IsMassPoint = contact.body2IsMassPoint;
this.lostSpeculativeBounce = contact.lostSpeculativeBounce;
this.speculativeVelocity = contact.speculativeVelocity;
this.lastTimeStep = contact.lastTimeStep;
}
public void Initialize(RigidBody body1, RigidBody body2, ref TSVector point1, ref TSVector point2, ref TSVector n, FP penetration, bool newContact, ContactSettings settings)
{
this.body1 = body1;
this.body2 = body2;
this.normal = n;
this.normal.Normalize();
this.p1 = point1;
this.p2 = point2;
this.newContact = newContact;
TSVector.Subtract(ref this.p1, ref body1.position, out this.relativePos1);
TSVector.Subtract(ref this.p2, ref body2.position, out this.relativePos2);
TSVector.Transform(ref this.relativePos1, ref body1.invOrientation, out this.realRelPos1);
TSVector.Transform(ref this.relativePos2, ref body2.invOrientation, out this.realRelPos2);
this.initialPen = penetration;
this.penetration = penetration;
this.body1IsMassPoint = body1.isParticle;
this.body2IsMassPoint = body2.isParticle;
if (newContact)
{
this.treatBody1AsStatic = body1.isStatic;
this.treatBody2AsStatic = body2.isStatic;
this.accumulatedNormalImpulse = FP.Zero;
this.accumulatedTangentImpulse = FP.Zero;
this.lostSpeculativeBounce = FP.Zero;
switch (settings.MaterialCoefficientMixing)
{
case ContactSettings.MaterialCoefficientMixingType.TakeMaximum:
this.staticFriction = TSMath.Max(body1.material.staticFriction, body2.material.staticFriction);
this.dynamicFriction = TSMath.Max(body1.material.kineticFriction, body2.material.kineticFriction);
this.restitution = TSMath.Max(body1.material.restitution, body2.material.restitution);
break;
case ContactSettings.MaterialCoefficientMixingType.TakeMinimum:
this.staticFriction = TSMath.Min(body1.material.staticFriction, body2.material.staticFriction);
this.dynamicFriction = TSMath.Min(body1.material.kineticFriction, body2.material.kineticFriction);
this.restitution = TSMath.Min(body1.material.restitution, body2.material.restitution);
break;
case ContactSettings.MaterialCoefficientMixingType.UseAverage:
this.staticFriction = (body1.material.staticFriction + body2.material.staticFriction) / (2 * FP.One);
this.dynamicFriction = (body1.material.kineticFriction + body2.material.kineticFriction) / (2 * FP.One);
this.restitution = (body1.material.restitution + body2.material.restitution) / (2 * FP.One);
break;
}
}
this.settings = settings;
}
public Contact AddContact(TSVector point1, TSVector point2, TSVector normal, FP penetration, ContactSettings contactSettings)
{
TSVector tSVector;
TSVector.Subtract(ref point1, ref this.body1.position, out tSVector);
ContactList obj = this.contactList;
Contact result;
lock (obj)
{
bool flag = this.contactList.Count == 4;
if (flag)
{
int num = this.SortCachedPoints(ref tSVector, penetration);
this.ReplaceContact(ref point1, ref point2, ref normal, penetration, num, contactSettings);
result = null;
}
else
{
int num = this.GetCacheEntry(ref tSVector, contactSettings.breakThreshold);
bool flag2 = num >= 0;
if (flag2)
{
this.ReplaceContact(ref point1, ref point2, ref normal, penetration, num, contactSettings);
result = null;
}
else
{
Contact @new = Contact.Pool.GetNew();
@new.Initialize(this.body1, this.body2, ref point1, ref point2, ref normal, penetration, true, contactSettings);
this.contactList.Add(@new);
result = @new;
}
}
}
return(result);
}
private void ReplaceContact(ref TSVector point1, ref TSVector point2, ref TSVector n, FP p, int index, ContactSettings contactSettings)
{
Contact contact = this.contactList[index];
Debug.Assert(this.body1 == contact.body1, "Body1 and Body2 not consistent.");
contact.Initialize(this.body1, this.body2, ref point1, ref point2, ref n, p, false, contactSettings);
}