// This is a callback from the broadphase when two AABB proxies begin
// to overlap. We create a Contact to manage the narrow phase.
public override object PairAdded(object proxyUserData1, object proxyUserData2)
{
Shape shape1 = proxyUserData1 as Shape;
Shape shape2 = proxyUserData2 as Shape;
Body body1 = shape1.GetBody();
Body body2 = shape2.GetBody();
if (body1.IsStatic() && body2.IsStatic())
{
return(_nullContact);
}
if (shape1.GetBody() == shape2.GetBody())
{
return(_nullContact);
}
if (body2.IsConnected(body1))
{
return(_nullContact);
}
if (_world._contactFilter != null && _world._contactFilter.ShouldCollide(shape1, shape2) == false)
{
return(_nullContact);
}
// Call the factory.
Contact c = Contact.Create(shape1, shape2);
if (c == null)
{
return(_nullContact);
}
// Contact creation may swap shapes.
shape1 = c.GetShape1();
shape2 = c.GetShape2();
body1 = shape1.GetBody();
body2 = shape2.GetBody();
// Insert into the world.
c._prev = null;
c._next = _world._contactList;
if (_world._contactList != null)
{
_world._contactList._prev = c;
}
_world._contactList = c;
// Connect to island graph.
// Connect to body 1
c._node1.Contact = c;
c._node1.Other = body2;
c._node1.Prev = null;
c._node1.Next = body1._contactList;
if (body1._contactList != null)
{
body1._contactList.Prev = c._node1;
}
body1._contactList = c._node1;
// Connect to body 2
c._node2.Contact = c;
c._node2.Other = body1;
c._node2.Prev = null;
c._node2.Next = body2._contactList;
if (body2._contactList != null)
{
body2._contactList.Prev = c._node2;
}
body2._contactList = c._node2;
++_world._contactCount;
return(c);
}
public void AddPair(object proxyUserDataA, object proxyUserDataB)
{
Fixture fixtureA = (Fixture)proxyUserDataA;
Fixture fixtureB = (Fixture)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.GetContactList();
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;
}
public override object PairAdded(object proxyUserData1, object proxyUserData2)
{
Shape shape = proxyUserData1 as Shape;
Shape shape2 = proxyUserData2 as Shape;
Body body = shape.GetBody();
Body body2 = shape2.GetBody();
object result;
if (body.IsStatic() && body2.IsStatic())
{
result = this._nullContact;
}
else
{
if (shape.GetBody() == shape2.GetBody())
{
result = this._nullContact;
}
else
{
if (body2.IsConnected(body))
{
result = this._nullContact;
}
else
{
if (this._world._contactFilter != null && !this._world._contactFilter.ShouldCollide(shape, shape2))
{
result = this._nullContact;
}
else
{
Contact contact = Contact.Create(shape, shape2);
if (contact == null)
{
result = this._nullContact;
}
else
{
shape = contact.GetShape1();
shape2 = contact.GetShape2();
body = shape.GetBody();
body2 = shape2.GetBody();
contact._prev = null;
contact._next = this._world._contactList;
if (this._world._contactList != null)
{
this._world._contactList._prev = contact;
}
this._world._contactList = contact;
contact._node1.Contact = contact;
contact._node1.Other = body2;
contact._node1.Prev = null;
contact._node1.Next = body._contactList;
if (body._contactList != null)
{
body._contactList.Prev = contact._node1;
}
body._contactList = contact._node1;
contact._node2.Contact = contact;
contact._node2.Other = body;
contact._node2.Prev = null;
contact._node2.Next = body2._contactList;
if (body2._contactList != null)
{
body2._contactList.Prev = contact._node2;
}
body2._contactList = contact._node2;
this._world._contactCount++;
result = contact;
}
}
}
}
}
return(result);
}
// This is the top level collision call for the time step. Here
// all the narrow phase collision is processed for the world
// contact list.
public 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 & ContactFlag.FilterFlag) == ContactFlag.FilterFlag)
{
//TODO: The following code (next 4 if blocks) use a class and thus copy by ref. It might expect to copy by value
// 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 &= ~ContactFlag.FilterFlag;
}
int proxyIdA = fixtureA.ProxyId;
int proxyIdB = fixtureB.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();
}
}
// This is a callback from the broadphase when two AABB proxies begin
// to overlap. We create a Contact to manage the narrow phase.
public override object PairAdded(object proxyUserDataA, object proxyUserDataB)
{
Fixture fixtureA = proxyUserDataA as Fixture;
Fixture fixtureB = proxyUserDataB as Fixture;
Body bodyA = fixtureA.Body;
Body bodyB = fixtureB.Body;
if (bodyA.IsStatic() && bodyB.IsStatic())
{
return(_nullContact);
}
if (fixtureA.Body == fixtureB.Body)
{
return(_nullContact);
}
if (bodyB.IsConnected(bodyA))
{
return(_nullContact);
}
if (_world._contactFilter != null && _world._contactFilter.ShouldCollide(fixtureA, fixtureB) == false)
{
return(_nullContact);
}
// Call the factory.
Contact c = Contact.Create(fixtureA, fixtureB);
if (c == null)
{
return(_nullContact);
}
// Contact creation may swap shapes.
fixtureA = c.FixtureA;
fixtureB = c.FixtureB;
bodyA = fixtureA.Body;
bodyB = fixtureB.Body;
// Insert into the world.
c._prev = null;
c._next = _world._contactList;
if (_world._contactList != null)
{
_world._contactList._prev = c;
}
_world._contactList = c;
// Connect to island graph.
// Connect to body 1
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 2
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;
++_world._contactCount;
return(c);
}
