public override void AffectOther(Node other) //only for links (no handlers)
{
if (!active)
{
return;
}
Manifold m = new Manifold(parent.body, other.body);
m.Solve();
if (m.contact_count > 0)
{
room.CollisionManager.AddManifold(m);
}
}
public void Step()
{
// Generate new collision info
contacts.Clear();
for (int i = 0; i < bodies.Count; ++i)
{
Body A = bodies[i];
for (int j = i + 1; j < bodies.Count; ++j)
{
Body B = bodies[j];
if (A.invMass == 0 && B.invMass == 0)
{
continue;
}
Manifold m = new Manifold(A, B);
m.Solve();
if (m.contactCount > 0)
{
contacts.Add(m);
}
}
}
// Integrate forces
for (int i = 0; i < bodies.Count; ++i)
{
IntegrateForces(bodies[i], dt);
}
// Initialize collision
for (int i = 0; i < contacts.Count; ++i)
{
contacts[i].Initialize();
}
// Solve collisions
for (int j = 0; j < iterations; ++j)
{
for (int i = 0; i < contacts.Count; ++i)
{
contacts[i].ApplyImpulse();
}
}
// Integrate velocities
for (int i = 0; i < bodies.Count; ++i)
{
IntegrateVelocity(bodies[i], dt);
}
// Correct positions
for (int i = 0; i < contacts.Count; ++i)
{
contacts[i].PositionalCorrection();
}
// Clear all forces
for (int i = 0; i < bodies.Count; ++i)
{
Body b = bodies[i];
b.force.Set(0, 0);
b.torque = 0;
}
}
private static void Step()
{
Contacts.Clear();
for (int i = 0; i < Rigidbodies.Count; ++i)
{
Rigidbody.Rigidbody a = Rigidbodies[i];
for (int j = i + 1; j < Rigidbodies.Count; ++j)
{
Rigidbody.Rigidbody b = Rigidbodies[j];
if (Math.Abs(a.InverseMass) < Mathf.Epsilon && Math.Abs(b.InverseMass) < Mathf.Epsilon)
{
continue;
}
Manifold manifold = new Manifold(ref a, ref b);
manifold.Solve();
if (manifold.ContactCount > 0)
{
Contacts.Add(manifold);
}
}
}
for (int i = 0; i < Rigidbodies.Count; ++i)
{
IntegrateForces(Rigidbodies[i], DeltaTime);
}
for (int i = 0; i < Contacts.Count; ++i)
{
Contacts[i].Initialize();
}
for (int j = 0; j < Iterations; ++j)
{
for (int i = 0; i < Contacts.Count; ++i)
{
Contacts[i].ApplyImpulse();
}
}
for (int i = 0; i < Rigidbodies.Count; ++i)
{
IntegrateVelocity(Rigidbodies[i], DeltaTime);
}
for (int i = 0; i < Contacts.Count; ++i)
{
Contacts[i].PositionalCorrection();
}
for (int i = 0; i < Rigidbodies.Count; ++i)
{
Rigidbody.Rigidbody rigidbody = Rigidbodies[i];
rigidbody.SetForce(Vector2.zero);
rigidbody.SetTorque(0f);
}
for (int i = 0; i < Contacts.Count; i++)
{
if (!Array.Exists(_previousFrameContacts, item => item.Equals(Contacts[i])))
{
Contacts[i].A.Shape.OnCollisionEnter?.Invoke(Contacts[i].B.Shape);
Contacts[i].B.Shape.OnCollisionEnter?.Invoke(Contacts[i].A.Shape);
}
}
_previousFrameContacts = Contacts.ToArray();
}