/// <summary>
/// Update the contact manifold and touching status.
/// Note: do not assume the fixture AABBs are overlapping or are valid.
/// </summary>
/// <param name="contactManager">The contact manager.</param>
internal void Update(ContactManager contactManager)
{
Body bodyA = FixtureA.Body;
Body bodyB = FixtureB.Body;
if (FixtureA == null || FixtureB == null)
return;
Manifold oldManifold = Manifold;
// Re-enable this contact.
Enabled = true;
bool touching;
bool wasTouching = IsTouching;
bool sensor = FixtureA.IsSensor || FixtureB.IsSensor;
// Is this contact a sensor?
if (sensor)
{
Shape shapeA = FixtureA.Shape;
Shape shapeB = FixtureB.Shape;
touching = Collision.Collision.TestOverlap(shapeA, ChildIndexA, shapeB, ChildIndexB, ref bodyA._xf, ref bodyB._xf);
// Sensors don't generate manifolds.
Manifold.PointCount = 0;
}
else
{
Evaluate(ref Manifold, ref bodyA._xf, ref bodyB._xf);
touching = Manifold.PointCount > 0;
// 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;
}
}
Manifold.Points[i] = mp2;
}
if (touching != wasTouching)
{
bodyA.Awake = true;
bodyB.Awake = true;
}
}
IsTouching = touching;
if (wasTouching == false)
{
if (touching)
{
if (Settings.AllCollisionCallbacksAgree)
{
bool enabledA = true, enabledB = true;
// Report the collision to both participants. Track which ones returned true so we can
// later call OnSeparation if the contact is disabled for a different reason.
if (FixtureA.OnCollision != null)
foreach (OnCollisionEventHandler handler in FixtureA.OnCollision.GetInvocationList())
enabledA = handler(FixtureA, FixtureB, this) && enabledA;
// Reverse the order of the reported fixtures. The first fixture is always the one that the
// user subscribed to.
if (FixtureB.OnCollision != null)
foreach (OnCollisionEventHandler handler in FixtureB.OnCollision.GetInvocationList())
enabledB = handler(FixtureB, FixtureA, this) && enabledB;
Enabled = enabledA && enabledB;
// BeginContact can also return false and disable the contact
if (enabledA && enabledB && contactManager.BeginContact != null)
Enabled = contactManager.BeginContact(this);
}
else
{
//Report the collision to both participants:
if (FixtureA.OnCollision != null)
foreach (OnCollisionEventHandler handler in FixtureA.OnCollision.GetInvocationList())
Enabled = handler(FixtureA, FixtureB, this);
//Reverse the order of the reported fixtures. The first fixture is always the one that the
//user subscribed to.
if (FixtureB.OnCollision != null)
foreach (OnCollisionEventHandler handler in FixtureB.OnCollision.GetInvocationList())
Enabled = handler(FixtureB, FixtureA, this);
//BeginContact can also return false and disable the contact
if (contactManager.BeginContact != null)
Enabled = contactManager.BeginContact(this);
}
// If the user disabled the contact (needed to exclude it in TOI solver) at any point by
// any of the callbacks, we need to mark it as not touching and call any separation
// callbacks for fixtures that didn't explicitly disable the collision.
if (!Enabled)
IsTouching = false;
}
}
else
{
if (touching == false)
{
//Report the separation to both participants:
if (FixtureA != null && FixtureA.OnSeparation != null)
FixtureA.OnSeparation(FixtureA, FixtureB);
//Reverse the order of the reported fixtures. The first fixture is always the one that the
//user subscribed to.
if (FixtureB != null && FixtureB.OnSeparation != null)
FixtureB.OnSeparation(FixtureB, FixtureA);
if (contactManager.EndContact != null)
contactManager.EndContact(this);
}
}
if (sensor)
return;
if (contactManager.PreSolve != null)
contactManager.PreSolve(this, ref oldManifold);
}
/// <summary>
/// Update the contact manifold and touching status.
/// Note: do not assume the fixture AABBs are overlapping or are valid.
/// </summary>
/// <param name="contactManager">The contact manager.</param>
internal void Update(ContactManager contactManager)
{
Manifold oldManifold = Manifold;
// Re-enable this contact.
Flags |= ContactFlags.Enabled;
bool touching;
bool wasTouching = (Flags & ContactFlags.Touching) == ContactFlags.Touching;
bool sensorA = FixtureA.IsSensor;
bool sensorB = FixtureB.IsSensor;
bool sensor = sensorA || sensorB;
Body bodyA = FixtureA.Body;
Body bodyB = FixtureB.Body;
Transform xfA;
bodyA.GetTransform(out xfA);
Transform xfB;
bodyB.GetTransform(out xfB);
// Is this contact a sensor?
if (sensor)
{
Shape shapeA = FixtureA.Shape;
Shape shapeB = FixtureB.Shape;
touching = AABB.TestOverlap(shapeA, ChildIndexA, shapeB, ChildIndexB, ref xfA, ref xfB);
// Sensors don't generate manifolds.
Manifold.PointCount = 0;
}
else
{
Evaluate(ref Manifold, ref xfA, ref xfB);
touching = Manifold.PointCount > 0;
// 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;
bool found = false;
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;
found = true;
break;
}
}
if (found == false)
{
mp2.NormalImpulse = 0.0f;
mp2.TangentImpulse = 0.0f;
}
Manifold.Points[i] = mp2;
}
if (touching != wasTouching)
{
bodyA.Awake = true;
bodyB.Awake = true;
}
}
if (touching)
{
Flags |= ContactFlags.Touching;
}
else
{
Flags &= ~ContactFlags.Touching;
}
if (wasTouching == false && touching)
{
// Report the collision to both participants:
if (FixtureA.OnCollision != null)
Enabled = FixtureA.OnCollision(FixtureA, FixtureB, this);
// Reverse the order of the reported fixtures. The first fixture is always the one that the
// user subscribed to.
if (FixtureB.OnCollision != null)
Enabled = FixtureB.OnCollision(FixtureB, FixtureA, this);
// if the user disabled the contact (needed to exclude it in TOI solver), we also need to mark
// it as not touching.
if (Enabled == false)
Flags &= ~ContactFlags.Touching;
if (contactManager.BeginContact != null)
contactManager.BeginContact(this);
}
if (wasTouching && touching == false)
{
// Report the separation to both participants:
if (FixtureA.OnSeparation != null)
FixtureA.OnSeparation(FixtureA, FixtureB);
// Reverse the order of the reported fixtures. The first fixture is always the one that the
// user subscribed to.
if (FixtureB.OnSeparation != null)
FixtureB.OnSeparation(FixtureB, FixtureA);
if (contactManager.EndContact != null)
contactManager.EndContact(this);
}
if (sensor == false)
{
if (contactManager.PreSolve != null)
contactManager.PreSolve(this, ref oldManifold);
}
}
/// <summary>
/// Update the contact manifold and touching status.
/// Note: do not assume the fixture AABBs are overlapping or are valid.
/// </summary>
/// <param name="contactManager">The contact manager.</param>
internal void Update(ContactManager contactManager)
{
Body bodyA = FixtureA.Body;
Body bodyB = FixtureB.Body;
if (FixtureA == null || FixtureB == null)
{
return;
}
Manifold oldManifold = Manifold;
// Re-enable this contact.
Enabled = true;
bool touching;
bool wasTouching = IsTouching;
bool sensor = FixtureA.IsSensor || FixtureB.IsSensor;
// Is this contact a sensor?
if (sensor)
{
Shape shapeA = FixtureA.Shape;
Shape shapeB = FixtureB.Shape;
touching = Collision.Collision.TestOverlap(shapeA, ChildIndexA, shapeB, ChildIndexB, ref bodyA._xf, ref bodyB._xf);
// Sensors don't generate manifolds.
Manifold.PointCount = 0;
}
else
{
Evaluate(ref Manifold, ref bodyA._xf, ref bodyB._xf);
touching = Manifold.PointCount > 0;
// 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;
}
}
Manifold.Points[i] = mp2;
}
if (touching != wasTouching)
{
bodyA.Awake = true;
bodyB.Awake = true;
}
}
IsTouching = touching;
if (wasTouching == false)
{
if (touching)
{
if (Settings.AllCollisionCallbacksAgree)
{
bool enabledA = true, enabledB = true;
// Report the collision to both participants. Track which ones returned true so we can
// later call OnSeparation if the contact is disabled for a different reason.
if (FixtureA.OnCollision != null)
{
foreach (OnCollisionEventHandler handler in FixtureA.OnCollision.GetInvocationList())
{
enabledA = handler(FixtureA, FixtureB, this) && enabledA;
}
}
// Reverse the order of the reported fixtures. The first fixture is always the one that the
// user subscribed to.
if (FixtureB.OnCollision != null)
{
foreach (OnCollisionEventHandler handler in FixtureB.OnCollision.GetInvocationList())
{
enabledB = handler(FixtureB, FixtureA, this) && enabledB;
}
}
Enabled = enabledA && enabledB;
// BeginContact can also return false and disable the contact
if (enabledA && enabledB && contactManager.BeginContact != null)
{
Enabled = contactManager.BeginContact(this);
}
}
else
{
//Report the collision to both participants:
if (FixtureA.OnCollision != null)
{
foreach (OnCollisionEventHandler handler in FixtureA.OnCollision.GetInvocationList())
{
Enabled = handler(FixtureA, FixtureB, this);
}
}
//Reverse the order of the reported fixtures. The first fixture is always the one that the
//user subscribed to.
if (FixtureB.OnCollision != null)
{
foreach (OnCollisionEventHandler handler in FixtureB.OnCollision.GetInvocationList())
{
Enabled = handler(FixtureB, FixtureA, this);
}
}
//BeginContact can also return false and disable the contact
if (contactManager.BeginContact != null)
{
Enabled = contactManager.BeginContact(this);
}
}
// If the user disabled the contact (needed to exclude it in TOI solver) at any point by
// any of the callbacks, we need to mark it as not touching and call any separation
// callbacks for fixtures that didn't explicitly disable the collision.
if (!Enabled)
{
IsTouching = false;
}
}
}
else
{
if (touching == false)
{
//Report the separation to both participants:
if (FixtureA != null && FixtureA.OnSeparation != null)
{
FixtureA.OnSeparation(FixtureA, FixtureB);
}
//Reverse the order of the reported fixtures. The first fixture is always the one that the
//user subscribed to.
if (FixtureB != null && FixtureB.OnSeparation != null)
{
FixtureB.OnSeparation(FixtureB, FixtureA);
}
if (contactManager.EndContact != null)
{
contactManager.EndContact(this);
}
}
}
if (sensor)
{
return;
}
if (contactManager.PreSolve != null)
{
contactManager.PreSolve(this, ref oldManifold);
}
}
/// <summary>
/// Update the contact manifold and touching status.
/// Note: do not assume the fixture AABBs are overlapping or are valid.
/// </summary>
/// <param name="contactManager">The contact manager.</param>
internal void Update(ContactManager contactManager)
{
Manifold oldManifold = Manifold;
// Re-enable this contact.
Flags |= ContactFlags.Enabled;
bool touching;
bool wasTouching = (Flags & ContactFlags.Touching) == ContactFlags.Touching;
bool sensor = FixtureA.IsSensor || FixtureB.IsSensor;
Body bodyA = FixtureA.Body;
Body bodyB = FixtureB.Body;
// Is this contact a sensor?
if (sensor)
{
Shape shapeA = FixtureA.Shape;
Shape shapeB = FixtureB.Shape;
//touching = AABB.TestOverlap(shapeA, ChildIndexA, shapeB, ChildIndexB, ref bodyA.Xf, ref bodyB.Xf);
//HACK: Super hack sensor overlap, triggers if AABBs overlap
AABB AABBA, AABBB;
shapeA.ComputeAABB(out AABBA, ref bodyA.Xf, 0);
shapeB.ComputeAABB(out AABBB, ref bodyB.Xf, 0);
touching = AABB.TestOverlap(ref AABBA, ref AABBB);
// Sensors don't generate manifolds.
Manifold.PointCount = 0;
}
else
{
Evaluate(ref Manifold, ref bodyA.Xf, ref bodyB.Xf);
touching = Manifold.PointCount > 0;
// 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;
}
}
Manifold.Points[i] = mp2;
}
if (touching != wasTouching)
{
bodyA.Awake = true;
bodyB.Awake = true;
}
}
if (touching)
{
Flags |= ContactFlags.Touching;
}
else
{
Flags &= ~ContactFlags.Touching;
}
if (wasTouching == false)
{
if (touching)
{
#if true
bool enabledA, enabledB;
// Report the collision to both participants. Track which ones returned true so we can
// later call OnSeparation if the contact is disabled for a different reason.
if (FixtureA.OnCollision != null)
enabledA = FixtureA.OnCollision(FixtureA, FixtureB, this);
else
enabledA = true;
// Reverse the order of the reported fixtures. The first fixture is always the one that the
// user subscribed to.
if (FixtureB.OnCollision != null)
enabledB = FixtureB.OnCollision(FixtureB, FixtureA, this);
else
enabledB = true;
Enabled = enabledA && enabledB;
// BeginContact can also return false and disable the contact
if (enabledA && enabledB && contactManager.BeginContact != null)
{
Enabled = contactManager.BeginContact(this);
}
// If the user disabled the contact (needed to exclude it in TOI solver) at any point by
// any of the callbacks, we need to mark it as not touching and call any separation
// callbacks for fixtures that didn't explicitly disable the collision.
if(!Enabled)
{
Flags &= ~ContactFlags.Touching;
if (enabledA && FixtureA.OnSeparation != null)
{
FixtureA.OnSeparation(FixtureA, FixtureB);
}
if (enabledB && FixtureB.OnSeparation != null)
{
FixtureB.OnSeparation(FixtureB, FixtureA);
}
}
#else
//Report the collision to both participants:
if (FixtureA.OnCollision != null)
Enabled = FixtureA.OnCollision(FixtureA, FixtureB, this);
//Reverse the order of the reported fixtures. The first fixture is always the one that the
//user subscribed to.
if (FixtureB.OnCollision != null)
Enabled = FixtureB.OnCollision(FixtureB, FixtureA, this);
//BeginContact can also return false and disable the contact
if (contactManager.BeginContact != null)
Enabled = contactManager.BeginContact(this);
//if the user disabled the contact (needed to exclude it in TOI solver), we also need to mark
//it as not touching.
if (Enabled == false)
Flags &= ~ContactFlags.Touching;
#endif
}
}
else
{
if (touching == false)
{
//Report the separation to both participants:
if (FixtureA != null && FixtureA.OnSeparation != null)
FixtureA.OnSeparation(FixtureA, FixtureB);
//Reverse the order of the reported fixtures. The first fixture is always the one that the
//user subscribed to.
if (FixtureB != null && FixtureB.OnSeparation != null)
FixtureB.OnSeparation(FixtureB, FixtureA);
if (contactManager.EndContact != null)
contactManager.EndContact(this);
}
}
if (sensor)
return;
if (contactManager.PreSolve != null)
contactManager.PreSolve(this, ref oldManifold);
}
/// <summary>
/// Update the contact manifold and touching status.
/// Note: do not assume the fixture AABBs are overlapping or are valid.
/// </summary>
/// <param name="contactManager">The contact manager.</param>
internal void Update(ContactManager contactManager)
{
Manifold oldManifold = Manifold;
// Re-enable this contact.
Flags |= ContactFlags.Enabled;
bool touching;
bool wasTouching = (Flags & ContactFlags.Touching) == ContactFlags.Touching;
bool sensor = FixtureA.IsSensor || FixtureB.IsSensor;
Body bodyA = FixtureA.Body;
Body bodyB = FixtureB.Body;
// Is this contact a sensor?
if (sensor)
{
Shape shapeA = FixtureA.Shape;
Shape shapeB = FixtureB.Shape;
touching = AABB.TestOverlap(shapeA, ChildIndexA, shapeB, ChildIndexB, ref bodyA.Xf, ref bodyB.Xf);
// Sensors don't generate manifolds.
Manifold.PointCount = 0;
}
else
{
Evaluate(ref Manifold, ref bodyA.Xf, ref bodyB.Xf);
touching = Manifold.PointCount > 0;
// 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;
bool found = false;
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;
found = true;
break;
}
}
if (found == false)
{
mp2.NormalImpulse = 0.0f;
mp2.TangentImpulse = 0.0f;
}
Manifold.Points[i] = mp2;
}
if (touching != wasTouching)
{
bodyA.Awake = true;
bodyB.Awake = true;
}
}
if (touching)
{
Flags |= ContactFlags.Touching;
}
else
{
Flags &= ~ContactFlags.Touching;
}
if (wasTouching == false && touching)
{
//Report the collision to both participants:
if (FixtureA.OnCollision != null)
{
Enabled = FixtureA.OnCollision(FixtureA, FixtureB, this);
}
//Reverse the order of the reported fixtures. The first fixture is always the one that the
//user subscribed to.
if (FixtureB.OnCollision != null)
{
Enabled = FixtureB.OnCollision(FixtureB, FixtureA, this);
}
//BeginContact can also return false and disable the contact
if (contactManager.BeginContact != null)
{
Enabled = contactManager.BeginContact(this);
}
//if the user disabled the contact (needed to exclude it in TOI solver), we also need to mark
//it as not touching.
if (Enabled == false)
{
Flags &= ~ContactFlags.Touching;
}
}
if (wasTouching && touching == false)
{
//Report the separation to both participants:
if (FixtureA != null && FixtureA.OnSeparation != null)
{
FixtureA.OnSeparation(FixtureA, FixtureB);
}
//Reverse the order of the reported fixtures. The first fixture is always the one that the
//user subscribed to.
if (FixtureB != null && FixtureB.OnSeparation != null)
{
FixtureB.OnSeparation(FixtureB, FixtureA);
}
if (contactManager.EndContact != null)
{
contactManager.EndContact(this);
}
}
if (sensor)
{
return;
}
if (contactManager.PreSolve != null)
{
contactManager.PreSolve(this, ref oldManifold);
}
}
