public void BeginContact(Contact contact) { GameObject A = (GameObject)contact.GetFixtureA().GetUserData(); GameObject B = (GameObject)contact.GetFixtureB().GetUserData(); Manifold manifold; Transform xfA; Transform xfB; float radiusA; float radiusB; contact.GetFixtureA().GetBody().GetTransform(out xfA); contact.GetFixtureB().GetBody().GetTransform(out xfB); radiusA = contact.GetFixtureA().GetShape()._radius; radiusB = contact.GetFixtureB().GetShape()._radius; contact.GetManifold(out manifold); WorldManifold worldManifold = new WorldManifold(ref manifold,ref xfA,radiusA,ref xfB,radiusB); Vector2 ptA = worldManifold._points[0]; Vector2 ptB = worldManifold._points[1]; //System.Console.Write(" point {0} {1}\n", ptA, ptB); ColHdr cHdr; cHdr.goID1 = A.getIndexNum(); cHdr.goID2 = B.getIndexNum(); cHdr.pos = ptA; InputHdr iHdr; iHdr.colInfo = cHdr; iHdr.input = InputType.Collision; iHdr.player = PlayerID.none; iHdr.networked = false; OutputQueue.pushHeader(iHdr); //if (A.CollideAvailable == true && B.CollideAvailable == true) //{ // if (A.type < B.type) // { // A.Accept(B, ptA); // } // else // { // B.Accept(A, ptA); // } //} //if (A.type == GameObjType.p1missiles || A.type == GameObjType.p2missiles) //{ // A.CollideAvailable = false; //} //if (B.type == GameObjType.p1missiles || B.type == GameObjType.p2missiles) //{ // B.CollideAvailable = false; //} }
public void Initialize(Contact[] contacts, int count, Body toiBody) { _count = count; _toiBody = toiBody; if (_constraints.Length < _count) { _constraints = new TOIConstraint[Math.Max(_constraints.Length * 2, _count)]; } for (int i = 0; i < _count; ++i) { Contact contact = contacts[i]; Fixture fixtureA = contact.GetFixtureA(); Fixture fixtureB = contact.GetFixtureB(); Shape shapeA = fixtureA.GetShape(); Shape shapeB = fixtureB.GetShape(); float radiusA = shapeA._radius; float radiusB = shapeB._radius; Body bodyA = fixtureA.GetBody(); Body bodyB = fixtureB.GetBody(); Manifold manifold; contact.GetManifold(out manifold); Debug.Assert(manifold._pointCount > 0); TOIConstraint constraint = _constraints[i]; constraint.bodyA = bodyA; constraint.bodyB = bodyB; constraint.localNormal = manifold._localNormal; constraint.localPoint = manifold._localPoint; constraint.type = manifold._type; constraint.pointCount = manifold._pointCount; constraint.radius = radiusA + radiusB; for (int j = 0; j < constraint.pointCount; ++j) { constraint.localPoints[j] = manifold._points[j].LocalPoint; } _constraints[i] = constraint; } }
protected void PreSolveCalcPoints(Contact contact, ref Manifold oldManifold) { Manifold manifold; contact.GetManifold(out manifold); if (manifold._pointCount == 0) { return; } Fixture fixtureA = contact.GetFixtureA(); Fixture fixtureB = contact.GetFixtureB(); FixedArray2<PointState> state1, state2; Collision.GetPointStates(out state1, out state2, ref oldManifold, ref manifold); WorldManifold worldManifold; contact.GetWorldManifold(out worldManifold); for (int i = 0; i < manifold._pointCount && _pointCount < k_maxContactPoints; ++i) { if (fixtureA == null) { _points[i] = new ContactPoint(); } ContactPoint cp = _points[_pointCount]; cp.fixtureA = fixtureA; cp.fixtureB = fixtureB; cp.position = worldManifold._points[i]; cp.normal = worldManifold._normal; cp.state = state2[i]; _points[_pointCount] = cp; ++_pointCount; } }
public override void BeginContact(Contact contact) { collisionObjA = (V2DSprite)contact.GetFixtureA().GetBody().GetUserData(); collisionObjB = (V2DSprite)contact.GetFixtureB().GetBody().GetUserData(); SmuckPlayer p = null; V2DSprite nonPlayerObj = null; if(collisionObjA is SmuckPlayer) { p = (SmuckPlayer)collisionObjA; nonPlayerObj = collisionObjB; } else if(collisionObjB is SmuckPlayer) { p = (SmuckPlayer)collisionObjB; nonPlayerObj = collisionObjA; } if (p != null) { LaneVehicle v = nonPlayerObj is LaneVehicle ? (LaneVehicle)nonPlayerObj : null; if (v != null) { if (v.Lane.LaneKind == LaneKind.DrownWater && !collideWithBoats) { if (p.LivingState == LivingState.Alive) { p.aboardVehicle = v; } else { p.DestroyAfterUpdate(); // dont want drowning amin over boats } } else { Manifold m; contact.GetManifold(out m); Vector2 dir = m._localNormal * (p == collisionObjA ? 20 : -20) + v.body.GetLinearVelocity() * 10; if (Math.Abs(dir.Y) < 60) { dir.Y += rnd.Next(-400, 400); } p.isExploding = false; p.body.ApplyLinearImpulse(dir, p.body.GetPosition()); float torque = dir.Y > 0 ? 1 : -1; p.body.ApplyTorque(torque); p.body.SetAngularVelocity(rnd.Next(15) * torque); if (p.LivingState == LivingState.Alive) // first hit a whack { stage.audio.PlaySound(Sfx.whack); } stage.audio.PlaySound(Sfx.secondWhack); this.KillPlayer(p); } } else { if (nonPlayerObj.InstanceName.StartsWith("water")) { p.IsOnWater = true; if (p.aboardVehicle == null) { p.Lane = lanes[GetLaneFromY((int)nonPlayerObj.Y)]; p.LivingState = LivingState.Dying; stage.audio.PlaySound(Sfx.bigSplash); } } else if (p.LivingState == LivingState.Dying && nonPlayerObj.InstanceName.StartsWith("border")) { // no death icon when flying off left or right side of highway if (nonPlayerObj.Index == 0 || nonPlayerObj.Index == 2) { p.skipDeathMarker = true; } p.DestroyAfterUpdate(); } } } else if (collisionObjA is LaneVehicle && collisionObjB is LaneVehicle) { LaneVehicle vA = (LaneVehicle)collisionObjA; LaneVehicle vB = (LaneVehicle)collisionObjB; const float boost = 15; if (vA.Lane.movesRight && vB.Lane.movesRight) { if (vA.Position.X > vB.Position.X) { vA.MaxSpeed = vA.Lane.vehicleSpeed + boost; vB.MaxSpeed = vA.MaxSpeed - boost; } else { vB.MaxSpeed = vB.Lane.vehicleSpeed + boost; vA.MaxSpeed = vB.MaxSpeed - boost; } } else if (!vA.Lane.movesRight && !vB.Lane.movesRight) { if (vA.Position.X > vB.Position.X) { vB.MaxSpeed = vB.Lane.vehicleSpeed + boost; vA.MaxSpeed = vB.MaxSpeed - boost; } else { vA.MaxSpeed = vA.Lane.vehicleSpeed + boost; vB.MaxSpeed = vA.MaxSpeed - boost; } } } }
public void Reset(Contact[] contacts, int contactCount, float impulseRatio) { _contacts = contacts; _constraintCount = contactCount; // grow the array if (_constraints == null || _constraints.Length < _constraintCount) { _constraints = new ContactConstraint[_constraintCount * 2]; } for (int i = 0; i < _constraintCount; ++i) { Contact contact = contacts[i]; Fixture fixtureA = contact._fixtureA; Fixture fixtureB = contact._fixtureB; Shape shapeA = fixtureA.GetShape(); Shape shapeB = fixtureB.GetShape(); float radiusA = shapeA._radius; float radiusB = shapeB._radius; Body bodyA = fixtureA.GetBody(); Body bodyB = fixtureB.GetBody(); Manifold manifold; contact.GetManifold(out manifold); float friction = Settings.b2MixFriction(fixtureA.GetFriction(), fixtureB.GetFriction()); float restitution = Settings.b2MixRestitution(fixtureA.GetRestitution(), fixtureB.GetRestitution()); Vector2 vA = bodyA._linearVelocity; Vector2 vB = bodyB._linearVelocity; float wA = bodyA._angularVelocity; float wB = bodyB._angularVelocity; Debug.Assert(manifold._pointCount > 0); WorldManifold worldManifold = new WorldManifold(ref manifold, ref bodyA._xf, radiusA, ref bodyB._xf, radiusB); ContactConstraint cc = _constraints[i]; cc.bodyA = bodyA; cc.bodyB = bodyB; cc.manifold = manifold; cc.normal = worldManifold._normal; cc.pointCount = manifold._pointCount; cc.friction = friction; cc.localNormal = manifold._localNormal; cc.localPoint = manifold._localPoint; cc.radius = radiusA + radiusB; cc.type = manifold._type; for (int j = 0; j < cc.pointCount; ++j) { ManifoldPoint cp = manifold._points[j]; ContactConstraintPoint ccp = cc.points[j]; ccp.normalImpulse = impulseRatio * cp.NormalImpulse; ccp.tangentImpulse = impulseRatio * cp.TangentImpulse; ccp.localPoint = cp.LocalPoint; ccp.rA = worldManifold._points[j] - bodyA._sweep.c; ccp.rB = worldManifold._points[j] - bodyB._sweep.c; #if MATH_OVERLOADS float rnA = MathUtils.Cross(ccp.rA, cc.normal); float rnB = MathUtils.Cross(ccp.rB, cc.normal); #else float rnA = ccp.rA.X * cc.normal.Y - ccp.rA.Y * cc.normal.X; float rnB = ccp.rB.X * cc.normal.Y - ccp.rB.Y * cc.normal.X; #endif rnA *= rnA; rnB *= rnB; float kNormal = bodyA._invMass + bodyB._invMass + bodyA._invI * rnA + bodyB._invI * rnB; Debug.Assert(kNormal > Settings.b2_epsilon); ccp.normalMass = 1.0f / kNormal; #if MATH_OVERLOADS Vector2 tangent = MathUtils.Cross(cc.normal, 1.0f); float rtA = MathUtils.Cross(ccp.rA, tangent); float rtB = MathUtils.Cross(ccp.rB, tangent); #else Vector2 tangent = new Vector2(cc.normal.Y, -cc.normal.X); float rtA = ccp.rA.X * tangent.Y - ccp.rA.Y * tangent.X; float rtB = ccp.rB.X * tangent.Y - ccp.rB.Y * tangent.X; #endif rtA *= rtA; rtB *= rtB; float kTangent = bodyA._invMass + bodyB._invMass + bodyA._invI * rtA + bodyB._invI * rtB; Debug.Assert(kTangent > Settings.b2_epsilon); ccp.tangentMass = 1.0f / kTangent; // Setup a velocity bias for restitution. ccp.velocityBias = 0.0f; float vRel = Vector2.Dot(cc.normal, vB + MathUtils.Cross(wB, ccp.rB) - vA - MathUtils.Cross(wA, ccp.rA)); if (vRel < -Settings.b2_velocityThreshold) { ccp.velocityBias = -restitution * vRel; } cc.points[j] = ccp; } // If we have two points, then prepare the block solver. if (cc.pointCount == 2) { ContactConstraintPoint ccp1 = cc.points[0]; ContactConstraintPoint ccp2 = cc.points[1]; float invMassA = bodyA._invMass; float invIA = bodyA._invI; float invMassB = bodyB._invMass; float invIB = bodyB._invI; float rn1A = MathUtils.Cross(ccp1.rA, cc.normal); float rn1B = MathUtils.Cross(ccp1.rB, cc.normal); float rn2A = MathUtils.Cross(ccp2.rA, cc.normal); float rn2B = MathUtils.Cross(ccp2.rB, cc.normal); float k11 = invMassA + invMassB + invIA * rn1A * rn1A + invIB * rn1B * rn1B; float k22 = invMassA + invMassB + invIA * rn2A * rn2A + invIB * rn2B * rn2B; float k12 = invMassA + invMassB + invIA * rn1A * rn2A + invIB * rn1B * rn2B; // Ensure a reasonable condition number. const float k_maxConditionNumber = 100.0f; if (k11 * k11 < k_maxConditionNumber * (k11 * k22 - k12 * k12)) { // K is safe to invert. cc.K = new Mat22(new Vector2(k11, k12), new Vector2(k12, k22)); cc.normalMass = cc.K.GetInverse(); } else { // The constraints are redundant, just use one. // TODO_ERIN use deepest? cc.pointCount = 1; } } _constraints[i] = cc; } }