internal void Collide() { // Update awake contacts. Contact c = m_contactList; while (c != null) { Fixture fixtureA = c.FixtureA; Fixture fixtureB = c.FixtureB; int indexA = c.ChildIndexA; int indexB = c.ChildIndexB; Body bodyA = fixtureA.Body; Body bodyB = fixtureB.Body; // Is this contact flagged for filtering? if ((c.m_flags & CollisionFlags.Filter) == CollisionFlags.Filter) { // Should these bodies collide? if (bodyB.ShouldCollide(bodyA) == false) { Contact cNuke = c; c = cNuke.GetNext(); Destroy(cNuke); continue; } // Check user filtering. if (m_contactFilter != null && m_contactFilter.ShouldCollide(fixtureA, fixtureB) == false) { Contact cNuke = c; c = cNuke.GetNext(); Destroy(cNuke); continue; } // Clear the filtering flag. c.m_flags &= ~CollisionFlags.Filter; } bool activeA = bodyA.IsAwake() && bodyA.m_type != BodyType.Static; bool activeB = bodyB.IsAwake() && bodyB.m_type != BodyType.Static; // At least one body must be awake and it must be dynamic or kinematic. if (activeA == false && activeB == false) { c = c.GetNext(); continue; } int proxyIdA = fixtureA.m_proxies[indexA].proxyId; int proxyIdB = fixtureB.m_proxies[indexB].proxyId; bool overlap = m_broadPhase.TestOverlap(proxyIdA, proxyIdB); // Here we destroy contacts that cease to overlap in the broad-phase. if (overlap == false) { Contact cNuke = c; c = cNuke.GetNext(); Destroy(cNuke); continue; } // The contact persists. c.Update(m_contactListener); c = c.GetNext(); } }
/// <summary> /// Broad-phase callback. /// </summary> /// <param name="proxyUserDataA"></param> /// <param name="proxyUserDataB"></param> public void AddPair(object proxyUserDataA, object proxyUserDataB) { FixtureProxy proxyA = (FixtureProxy)proxyUserDataA; FixtureProxy proxyB = (FixtureProxy)proxyUserDataB; Fixture fixtureA = proxyA.Fixture; Fixture fixtureB = proxyB.Fixture; int indexA = proxyA.ChildIndex; int indexB = proxyB.ChildIndex; Body bodyA = fixtureA.Body; Body bodyB = fixtureB.Body; // Are the fixtures on the same body? if (bodyA == bodyB) { return; } // TODO_ERIN use a hash table to remove a potential bottleneck when both // bodies have a lot of contacts. // Does a contact already exist? ContactEdge edge = bodyB.ContactList; while (edge != null) { if (edge.Other == bodyA) { Fixture fA = edge.Contact.FixtureA; Fixture fB = edge.Contact.FixtureB; int iA = edge.Contact.ChildIndexA; int iB = edge.Contact.ChildIndexB; if (fA == fixtureA && iA == indexA && fB == fixtureB && iB == indexB) { // A contact already exists. return; } if (fA == fixtureB && iA == indexB && fB == fixtureA && iB == indexA) { // 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 != null && ContactFilter.ShouldCollide(fixtureA, fixtureB) == false) { return; } // Call the factory. Contact c = pool.PopContact(fixtureA, indexA, fixtureB, indexB); if (c == null) { return; } // Contact creation may swap fixtures. fixtureA = c.FixtureA; fixtureB = c.FixtureB; bodyA = fixtureA.Body; bodyB = fixtureB.Body; // 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; // wake up the bodies bodyA.Awake = true; bodyB.Awake = true; ++ContactCount; }
// Broad-phase callback. internal void AddPair(FixtureProxy proxyA, FixtureProxy proxyB) { Fixture fixtureA = proxyA.fixture; Fixture fixtureB = proxyB.fixture; int indexA = proxyA.childIndex; int indexB = proxyB.childIndex; 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(); int iA = edge.Contact.GetChildIndexA(); int iB = edge.Contact.GetChildIndexB(); if (fA == fixtureA && fB == fixtureB && iA == indexA && iB == indexB) { // A contact already exists. return; } if (fA == fixtureB && fB == fixtureA && iA == indexB && iB == indexA) { // 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 != null && ContactFilter.ShouldCollide(fixtureA, fixtureB) == false) { return; } // Call the factory. Contact c = Contact.Create(fixtureA, indexA, fixtureB, indexB); // Contact creation may swap fixtures. fixtureA = c.GetFixtureA(); fixtureB = c.GetFixtureB(); indexA = c.GetChildIndexA(); indexB = c.GetChildIndexB(); 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; }
internal void Collide() { // Update awake contacts. Contact c = _contactList; while (c != null) { Fixture fixtureA = c.GetFixtureA(); Fixture fixtureB = c.GetFixtureB(); int indexA = c.GetChildIndexA(); int indexB = c.GetChildIndexB(); Body bodyA = fixtureA.GetBody(); Body bodyB = fixtureB.GetBody(); if (bodyA.IsAwake() == false && bodyB.IsAwake() == false) { c = c.GetNext(); continue; } // Is this contact flagged for filtering? if ((c._flags & ContactFlags.Filter) == ContactFlags.Filter) { // Should these bodies collide? if (bodyB.ShouldCollide(bodyA) == false) { Contact cNuke = c; c = cNuke.GetNext(); Destroy(cNuke); continue; } // Check user filtering. if (ContactFilter != null && ContactFilter.ShouldCollide(fixtureA, fixtureB) == false) { Contact cNuke = c; c = cNuke.GetNext(); Destroy(cNuke); continue; } // Clear the filtering flag. c._flags &= ~ContactFlags.Filter; } int proxyIdA = fixtureA._proxies[indexA].proxyId; int proxyIdB = fixtureB._proxies[indexB].proxyId; bool overlap = _broadPhase.TestOverlap(proxyIdA, proxyIdB); // Here we destroy contacts that cease to overlap in the broad-phase. if (overlap == false) { Contact cNuke = c; c = cNuke.GetNext(); Destroy(cNuke); continue; } // The contact persists. c.Update(ContactListener); c = c.GetNext(); } }
// 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; } // Are both bodies static? if (bodyA.IsStatic && bodyB.IsStatic) { return; } // Does a contact already exist? ContactEdge edge = bodyB.GetConactList(); 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? if (bodyB.IsConnected(bodyA)) { 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; }
internal void Collide() { // Update awake contacts. Contact c = _contactList; while (c != null) { Fixture fixtureA = c.GetFixtureA(); Fixture fixtureB = c.GetFixtureB(); Body bodyA = fixtureA.GetBody(); Body bodyB = fixtureB.GetBody(); if (bodyA.IsSleeping && bodyB.IsSleeping) { c = c.GetNext(); continue; } // Is this contact flagged for filtering? if ((c._flags & ContactFlags.Filter) == ContactFlags.Filter) { // Are both bodies static? if (bodyA.IsStatic && bodyB.IsStatic) { Contact cNuke = c; c = cNuke.GetNext(); Destroy(cNuke); continue; } // Does a joint override collision? if (bodyB.IsConnected(bodyA)) { Contact cNuke = c; c = cNuke.GetNext(); Destroy(cNuke); continue; } // Check user filtering. if (ContactFilter.ShouldCollide(fixtureA, fixtureB) == false) { Contact cNuke = c; c = cNuke.GetNext(); Destroy(cNuke); continue; } // Clear the filtering flag. c._flags &= ~ContactFlags.Filter; } int proxyIdA = fixtureA._proxyId; int proxyIdB = fixtureB._proxyId; AABB aabbA; _broadPhase.GetAABB(proxyIdA, out aabbA); AABB aabbB; _broadPhase.GetAABB(proxyIdB, out aabbB); // Here we cull out contacts that cease to overlap. if (AABB.TestOverlap(ref aabbA, ref aabbB) == false) { Contact cNuke = c; c = cNuke.GetNext(); Destroy(cNuke); continue; } // The contact persists. c.Update(ContactListener); c = c.GetNext(); } }