public void Reset(int bodyCapacity, int contactCapacity, int jointCapacity, IContactListener listener)
{
_bodyCapacity = bodyCapacity;
_contactCapacity = contactCapacity;
_jointCapacity = jointCapacity;
_bodyCount = 0;
_jointCount = 0;
_listener = listener;
if (_bodies == null || _bodies.Length < bodyCapacity)
{
_bodies = new Body[bodyCapacity];
}
if (_contacts == null || _contacts.Length < contactCapacity)
{
_contacts = new Contact[contactCapacity * 2];
}
if (_joints == null || _joints.Length < jointCapacity)
{
_joints = new Joint[jointCapacity * 2];
}
}
public void Reset(int bodyCapacity, int contactCapacity, int jointCapacity, IContactListener listener)
{
_bodyCapacity = bodyCapacity;
_contactCapacity = contactCapacity;
_jointCapacity = jointCapacity;
_bodyCount = 0;
_jointCount = 0;
_listener = listener;
if (_bodies == null || _bodies.Length < bodyCapacity)
{
_bodies = new Body[bodyCapacity];
}
if (_contacts == null || _contacts.Length < contactCapacity)
{
_contacts = new Contact[contactCapacity * 2];
}
if (_joints == null || _joints.Length < jointCapacity)
{
_joints = new Joint[jointCapacity * 2];
}
}
public ContactManager(World argPool)
{
ContactList = null;
ContactCount = 0;
ContactFilter = new ContactFilter();
ContactListener = null;
BroadPhase = new BroadPhase();
pool = argPool;
}
public ContactManager(World argPool)
{
ContactList = null;
ContactCount = 0;
ContactFilter = new ContactFilter();
ContactListener = null;
BroadPhase = new BroadPhase();
pool = argPool;
}
public void Dispose()
{
if (Interlocked.Exchange(ref _disposed, DisposedTrue) == DisposedTrue)
{
return;
}
BroadPhase = null;
ContactList?.Clear();
ContactList = null;
ContactFilter = null;
ContactListener = null;
}
public void Init(int bodyCapacity, int contactCapacity, int jointCapacity, IContactListener listener)
{
// Console.WriteLine("Initializing Island");
BodyCapacity = bodyCapacity;
ContactCapacity = contactCapacity;
JointCapacity = jointCapacity;
BodyCount = 0;
ContactCount = 0;
JointCount = 0;
Listener = listener;
if (Bodies == null || BodyCapacity > Bodies.Length)
{
Bodies = new Body[BodyCapacity];
}
if (Joints == null || JointCapacity > Joints.Length)
{
Joints = new Joint[JointCapacity];
}
if (Contacts == null || ContactCapacity > Contacts.Length)
{
Contacts = new Contact[ContactCapacity];
}
// dynamic array
if (Velocities == null || BodyCapacity > Velocities.Length)
{
Velocity[] old = Velocities ?? new Velocity[0];
Velocities = new Velocity[BodyCapacity];
Array.Copy(old, 0, Velocities, 0, old.Length);
for (int i = old.Length; i < Velocities.Length; i++)
{
Velocities[i] = new Velocity();
}
}
// dynamic array
if (Positions == null || BodyCapacity > Positions.Length)
{
Position[] old = Positions ?? new Position[0];
Positions = new Position[BodyCapacity];
Array.Copy(old, 0, Positions, 0, old.Length);
for (int i = old.Length; i < Positions.Length; i++)
{
Positions[i] = new Position();
}
}
}
/// <summary>
/// Initializes a new instance of the <see cref="Island" /> class
/// </summary>
/// <param name="bodyCapacity">The body capacity</param>
/// <param name="contactCapacity">The contact capacity</param>
/// <param name="jointCapacity">The joint capacity</param>
/// <param name="listener">The listener</param>
public Island(int bodyCapacity, int contactCapacity, int jointCapacity, IContactListener listener)
{
this.bodyCapacity = bodyCapacity;
ContactCapacity = contactCapacity;
JointCapacity = jointCapacity;
//__bodyCount = 0;
//_contactCount = 0;
//_jointCount = 0;
Listener = listener;
Bodies = new Body[bodyCapacity];
Contacts = new Contact[contactCapacity];
Joints = new Joint[jointCapacity];
Velocities = new Velocity[this.bodyCapacity];
Positions = new Position[this.bodyCapacity];
}
public Island(int bodyCapacity, int contactCapacity, int jointCapacity, IContactListener listener)
{
_bodyCapacity = bodyCapacity;
_contactCapacity = contactCapacity;
_jointCapacity = jointCapacity;
//__bodyCount = 0;
//_contactCount = 0;
//_jointCount = 0;
_listener = listener;
_bodies = new Body[bodyCapacity];
_contacts = new Contact[contactCapacity];
_joints = new Joint[jointCapacity];
_velocities = new Velocity[_bodyCapacity];
_positions = new Position[_bodyCapacity];
}
public Island(
int bodyCapacity,
int contactCapacity,
int jointCapacity,
IContactListener contactListener)
{
BodyCount = 0;
ContactCount = 0;
JointCount = 0;
ContactListener = contactListener;
Bodies = new Body[bodyCapacity];
Contacts = new Contact[contactCapacity];
Joints = new Joint[jointCapacity];
Velocities = new Velocity[bodyCapacity];
Positions = new Position[bodyCapacity];
}
public Island(
int bodyCapacity,
int contactCapacity,
int jointCapacity,
IContactListener contactListener)
{
BodyCount = 0;
ContactCount = 0;
JointCount = 0;
ContactListener = contactListener;
Bodies = ArrayPool <Body> .Shared.Rent(bodyCapacity);
Contacts = ArrayPool <Contact> .Shared.Rent(contactCapacity);
Joints = ArrayPool <Joint> .Shared.Rent(jointCapacity);
Positions = ArrayPool <Position> .Shared.Rent(bodyCapacity); //new Position[bodyCapacity];
Velocities = ArrayPool <Velocity> .Shared.Rent(bodyCapacity); // new Velocity[bodyCapacity];
}
public void Setup(
int bodyCapacity,
int contactCapacity,
int jointCapacity,
IContactListener contactListener)
{
BodyCount = 0;
ContactCount = 0;
JointCount = 0;
ContactListener = contactListener;
Bodies = ArrayPool <Body> .Shared.Rent(bodyCapacity);
Contacts = ArrayPool <Contact> .Shared.Rent(contactCapacity);
Joints = ArrayPool <Joint> .Shared.Rent(jointCapacity);
Positions = ArrayPool <Position> .Shared.Rent(bodyCapacity);
Velocities = ArrayPool <Velocity> .Shared.Rent(bodyCapacity);
}
public void Init(int bodyCapacity, int contactCapacity, int jointCapacity, IContactListener listener)
{
// Console.WriteLine("Initializing Island");
BodyCapacity = bodyCapacity;
ContactCapacity = contactCapacity;
JointCapacity = jointCapacity;
BodyCount = 0;
ContactCount = 0;
JointCount = 0;
Listener = listener;
if (Bodies == null || BodyCapacity > Bodies.Length)
{
Bodies = new Body[BodyCapacity];
}
if (Joints == null || JointCapacity > Joints.Length)
{
Joints = new Joint[JointCapacity];
}
if (Contacts == null || ContactCapacity > Contacts.Length)
{
Contacts = new Contact[ContactCapacity];
}
// dynamic array
if (Velocities == null || BodyCapacity > Velocities.Length)
{
Velocity[] old = Velocities ?? new Velocity[0];
Velocities = new Velocity[BodyCapacity];
Array.Copy(old, 0, Velocities, 0, old.Length);
for (int i = old.Length; i < Velocities.Length; i++)
{
Velocities[i] = new Velocity();
}
}
// dynamic array
if (Positions == null || BodyCapacity > Positions.Length)
{
Position[] old = Positions ?? new Position[0];
Positions = new Position[BodyCapacity];
Array.Copy(old, 0, Positions, 0, old.Length);
for (int i = old.Length; i < Positions.Length; i++)
{
Positions[i] = new Position();
}
}
}
public void Update(IContactListener listener)
{
oldManifold.Set(Manifold);
// Re-enable this contact.
Flags |= ContactFlags.Enabled;
bool touching;
bool wasTouching = (Flags & ContactFlags.Touching) == ContactFlags.Touching;
bool sensorA = FixtureA.Sensor;
bool sensorB = FixtureB.Sensor;
bool sensor = sensorA || sensorB;
Body bodyA = FixtureA.Body;
Body bodyB = FixtureB.Body;
Transform xfA = bodyA.GetTransform();
Transform xfB = bodyB.GetTransform();
// log.debug("TransformA: "+xfA);
// log.debug("TransformB: "+xfB);
if (sensor)
{
Shape shapeA = FixtureA.Shape;
Shape shapeB = FixtureB.Shape;
touching = Pool.GetCollision().TestOverlap(shapeA, ChildIndexA, shapeB, ChildIndexB, xfA, xfB);
// Sensors don't generate manifolds.
Manifold.PointCount = 0;
}
else
{
Evaluate(Manifold, xfA, 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;
for (int j = 0; j < oldManifold.PointCount; ++j)
{
ManifoldPoint mp1 = oldManifold.Points[j];
if (mp1.Id.IsEqual(id2))
{
mp2.NormalImpulse = mp1.NormalImpulse;
mp2.TangentImpulse = mp1.TangentImpulse;
break;
}
}
}
if (touching != wasTouching)
{
bodyA.Awake = true;
bodyB.Awake = true;
}
}
if (touching)
{
Flags |= ContactFlags.Touching;
}
else
{
Flags &= ~ContactFlags.Touching;
}
if (listener == null)
{
return;
}
if (!wasTouching && touching)
{
listener.BeginContact(this);
}
if (wasTouching && !touching)
{
listener.EndContact(this);
}
if (!sensor && touching)
{
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(IContactListener listener)
{
Manifold oldManifold = _manifold;
// Re-enable this contact.
_flags |= ContactFlags.Enabled;
bool touching = false;
bool wasTouching = (_flags & ContactFlags.Touching) == ContactFlags.Touching;
bool sensorA = _fixtureA.IsSensor();
bool sensorB = _fixtureB.IsSensor();
bool sensor = sensorA || sensorB;
Body bodyA = _fixtureA.GetBody();
Body bodyB = _fixtureB.GetBody();
Transform xfA; bodyA.GetTransform(out xfA);
Transform xfB; bodyB.GetTransform(out xfB);
// Is this contact a sensor?
if (sensor)
{
Shape shapeA = _fixtureA.GetShape();
Shape shapeB = _fixtureB.GetShape();
touching = AABB.TestOverlap(shapeA, _indexA, shapeB, _indexB, 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.SetAwake(true);
bodyB.SetAwake(true);
}
}
if (touching)
{
_flags |= ContactFlags.Touching;
}
else
{
_flags &= ~ContactFlags.Touching;
}
if (wasTouching == false && touching == true && null != listener)
{
listener.BeginContact(this);
}
if (wasTouching == true && touching == false && null != listener)
{
listener.EndContact(this);
}
if (sensor == false && null != listener)
{
listener.PreSolve(this, ref oldManifold);
}
}
// Update the contact manifold and touching status.
// Note: do not assume the fixture AABBs are overlapping or are valid.
internal void Update(IContactListener listener)
{
Manifold oldManifold = _manifold;
// Re-enable this contact.
_flags |= ContactFlags.Enabled;
bool touching = false;
bool wasTouching = (_flags & ContactFlags.Touching) == ContactFlags.Touching;
bool sensorA = _fixtureA.IsSensor();
bool sensorB = _fixtureB.IsSensor();
bool sensor = sensorA || sensorB;
Body bodyA = _fixtureA.GetBody();
Body bodyB = _fixtureB.GetBody();
Transform xfA; bodyA.GetTransform(out xfA);
Transform xfB; bodyB.GetTransform(out xfB);
// Is this contact a sensor?
if (sensor)
{
Shape shapeA = _fixtureA.GetShape();
Shape shapeB = _fixtureB.GetShape();
touching = AABB.TestOverlap(shapeA, _indexA, shapeB, _indexB, 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.SetAwake(true);
bodyB.SetAwake(true);
}
}
if (touching)
{
_flags |= ContactFlags.Touching;
}
else
{
_flags &= ~ContactFlags.Touching;
}
if (wasTouching == false && touching == true && null != listener)
{
listener.BeginContact(this);
}
if (wasTouching == true && touching == false && null != listener)
{
listener.EndContact(this);
}
if (sensor == false && null != listener)
{
listener.PreSolve(this, ref oldManifold);
}
}
public void Update(IContactListener listener)
{
Manifold oldManifold = _manifold.Clone();
Evaluate();
Body bodyA = _fixtureA.Body;
Body bodyB = _fixtureB.Body;
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 &= ~CollisionFlags.Slow;
}
else
{
_flags |= CollisionFlags.Slow;
}
// 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 (oldCount == 0 && newCount > 0)
{
_flags |= CollisionFlags.Touch;
if (listener != null)
{
listener.BeginContact(this);
}
}
if (oldCount > 0 && newCount == 0)
{
_flags &= ~CollisionFlags.Touch;
if (listener != null)
{
listener.EndContact(this);
}
}
if ((_flags & CollisionFlags.NonSolid) == 0)
{
if (listener != null)
{
listener.PreSolve(this, oldManifold);
}
// The user may have disabled contact.
if (_manifold.PointCount == 0)
{
_flags &= ~CollisionFlags.Touch;
}
}
}
public void Update(IContactListener listener)
{
oldManifold.Set(Manifold);
// Re-enable this contact.
Flags |= ContactFlags.Enabled;
bool touching;
bool wasTouching = (Flags & ContactFlags.Touching) == ContactFlags.Touching;
bool sensorA = FixtureA.Sensor;
bool sensorB = FixtureB.Sensor;
bool sensor = sensorA || sensorB;
Body bodyA = FixtureA.Body;
Body bodyB = FixtureB.Body;
Transform xfA = bodyA.GetTransform();
Transform xfB = bodyB.GetTransform();
// log.debug("TransformA: "+xfA);
// log.debug("TransformB: "+xfB);
if (sensor)
{
Shape shapeA = FixtureA.Shape;
Shape shapeB = FixtureB.Shape;
touching = Pool.GetCollision().TestOverlap(shapeA, ChildIndexA, shapeB, ChildIndexB, xfA, xfB);
// Sensors don't generate manifolds.
Manifold.PointCount = 0;
}
else
{
Evaluate(Manifold, xfA, 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;
for (int j = 0; j < oldManifold.PointCount; ++j)
{
ManifoldPoint mp1 = oldManifold.Points[j];
if (mp1.Id.IsEqual(id2))
{
mp2.NormalImpulse = mp1.NormalImpulse;
mp2.TangentImpulse = mp1.TangentImpulse;
break;
}
}
}
if (touching != wasTouching)
{
bodyA.Awake = true;
bodyB.Awake = true;
}
}
if (touching)
{
Flags |= ContactFlags.Touching;
}
else
{
Flags &= ~ContactFlags.Touching;
}
if (listener == null)
{
return;
}
if (!wasTouching && touching)
{
listener.BeginContact(this);
}
if (wasTouching && !touching)
{
listener.EndContact(this);
}
if (!sensor && touching)
{
listener.PreSolve(this, oldManifold);
}
}
public void SetContactListener(IContactListener contactListener)
{
_world?.SetContactListener(contactListener);
}
