// Broad-phase callback.
private void AddPair(ref FixtureProxy proxyA, ref FixtureProxy proxyB)
{
Fixture fixtureA = proxyA.Fixture;
Fixture fixtureB = proxyB.Fixture;
int indexA = proxyA.ChildIndex;
int indexB = proxyB.ChildIndex;
Body bodyA = fixtureA.Body;
Body bodyB = fixtureB.Body;
// Are the fixtures on the same body?
if (bodyA == bodyB)
{
return;
}
// Does a contact already exist?
ContactEdge edge = bodyB.ContactList;
while (edge != null)
{
if (edge.Other == bodyA)
{
Fixture fA = edge.Contact.FixtureA;
Fixture fB = edge.Contact.FixtureB;
int iA = edge.Contact.ChildIndexA;
int iB = edge.Contact.ChildIndexB;
if (fA == fixtureA && fB == fixtureB && iA == indexA && iB == indexB)
{
// A contact already exists.
return;
}
if (fA == fixtureB && fB == fixtureA && iA == indexB && iB == indexA)
{
// A contact already exists.
return;
}
}
edge = edge.Next;
}
// Does a joint override collision? Is at least one body dynamic?
if (bodyB.ShouldCollide(bodyA) == false)
{
return;
}
//Check default filter
if (ShouldCollide(fixtureA, fixtureB) == false)
{
return;
}
// Check user filtering.
if (ContactFilter != null && ContactFilter(fixtureA, fixtureB) == false)
{
return;
}
//FPE feature: BeforeCollision delegate
if (fixtureA.BeforeCollision != null && fixtureA.BeforeCollision(fixtureA, fixtureB) == false)
{
return;
}
if (fixtureB.BeforeCollision != null && fixtureB.BeforeCollision(fixtureB, fixtureA) == false)
{
return;
}
Body specialSenseBody = null;
Body otherBody = null;
if (bodyA.SpecialSensor != BodySpecialSensor.None)
{
specialSenseBody = bodyA;
otherBody = bodyB;
}
else if (bodyB.SpecialSensor != BodySpecialSensor.None)
{
specialSenseBody = bodyB;
otherBody = bodyA;
}
if (specialSenseBody != null)
{
if (Collision.TestOverlap(fixtureA.Shape, indexA, fixtureB.Shape, indexB, ref bodyA._xf, ref bodyB._xf))
{
specialSenseBody._specialSensorResults.Add(otherBody);
if (specialSenseBody.SpecialSensor == BodySpecialSensor.ActiveOnce)
{
specialSenseBody.disabled = true;
return;
}
}
else
{
return;
}
}
// Call the factory.
Contact c = Contact.Create(fixtureA, indexA, fixtureB, indexB);
if (c == null)
{
return;
}
// Contact creation may swap fixtures.
fixtureA = c.FixtureA;
fixtureB = c.FixtureB;
bodyA = fixtureA.Body;
bodyB = fixtureB.Body;
// Insert into the world.
ContactList.Add(c);
#if USE_ACTIVE_CONTACT_SET
ActiveContacts.Add(c);
#endif
// 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;
// Wake up the bodies
if (fixtureA.IsSensor == false && fixtureB.IsSensor == false)
{
bodyA.Awake = true;
bodyB.Awake = true;
}
}
internal void UpdateContacts(ContactEdge contactEdge, bool value)
{
}
private void AddPair(ref FixtureProxy proxyA, ref FixtureProxy proxyB)
{
Fixture fixture = proxyA.Fixture;
Fixture fixture2 = proxyB.Fixture;
int childIndex = proxyA.ChildIndex;
int childIndex2 = proxyB.ChildIndex;
Body body = fixture.Body;
Body body2 = fixture2.Body;
bool flag = body == body2;
if (!flag)
{
for (ContactEdge contactEdge = body2.ContactList; contactEdge != null; contactEdge = contactEdge.Next)
{
bool flag2 = contactEdge.Other == body;
if (flag2)
{
Fixture fixtureA = contactEdge.Contact.FixtureA;
Fixture fixtureB = contactEdge.Contact.FixtureB;
int childIndexA = contactEdge.Contact.ChildIndexA;
int childIndexB = contactEdge.Contact.ChildIndexB;
bool flag3 = fixtureA == fixture && fixtureB == fixture2 && childIndexA == childIndex && childIndexB == childIndex2;
if (flag3)
{
return;
}
bool flag4 = fixtureA == fixture2 && fixtureB == fixture && childIndexA == childIndex2 && childIndexB == childIndex;
if (flag4)
{
return;
}
}
}
bool flag5 = !body2.ShouldCollide(body);
if (!flag5)
{
bool flag6 = !ContactManager.ShouldCollide(fixture, fixture2);
if (!flag6)
{
bool flag7 = this.ContactFilter != null && !this.ContactFilter(fixture, fixture2);
if (!flag7)
{
bool flag8 = fixture.BeforeCollision != null && !fixture.BeforeCollision(fixture, fixture2);
if (!flag8)
{
bool flag9 = fixture2.BeforeCollision != null && !fixture2.BeforeCollision(fixture2, fixture);
if (!flag9)
{
Body body3 = null;
Body item = null;
bool flag10 = body.SpecialSensor > BodySpecialSensor.None;
if (flag10)
{
body3 = body;
item = body2;
}
else
{
bool flag11 = body2.SpecialSensor > BodySpecialSensor.None;
if (flag11)
{
body3 = body2;
item = body;
}
}
bool flag12 = body3 != null;
if (flag12)
{
bool flag13 = Collision.TestOverlap(body.FixtureList[0].Shape, childIndex, body2.FixtureList[0].Shape, childIndex2, ref body._xf, ref body2._xf);
if (!flag13)
{
return;
}
body3._specialSensorResults.Add(item);
bool flag14 = body3.SpecialSensor == BodySpecialSensor.ActiveOnce;
if (flag14)
{
body3.disabled = true;
return;
}
}
Contact contact = Contact.Create(fixture, childIndex, fixture2, childIndex2);
bool flag15 = contact == null;
if (!flag15)
{
fixture = contact.FixtureA;
fixture2 = contact.FixtureB;
body = fixture.Body;
body2 = fixture2.Body;
this.ContactList.Add(contact);
contact._nodeA.Contact = contact;
contact._nodeA.Other = body2;
contact._nodeA.Prev = null;
contact._nodeA.Next = body.ContactList;
bool flag16 = body.ContactList != null;
if (flag16)
{
body.ContactList.Prev = contact._nodeA;
}
body.ContactList = contact._nodeA;
contact._nodeB.Contact = contact;
contact._nodeB.Other = body;
contact._nodeB.Prev = null;
contact._nodeB.Next = body2.ContactList;
bool flag17 = body2.ContactList != null;
if (flag17)
{
body2.ContactList.Prev = contact._nodeB;
}
body2.ContactList = contact._nodeB;
bool flag18 = !fixture.IsSensor && !fixture2.IsSensor;
if (flag18)
{
body.Awake = true;
body2.Awake = true;
}
}
}
}
}
}
}
}
}
private void SolveTOI(ref TimeStep step)
{
this.Island.Reset(64, 32, 0, this.ContactManager);
bool stepComplete = this._stepComplete;
if (stepComplete)
{
for (int i = 0; i < this.BodyList.Count; i++)
{
this.BodyList[i]._island = false;
this.BodyList[i]._sweep.Alpha0 = 0f;
}
for (int j = 0; j < this.ContactManager.ContactList.Count; j++)
{
Contact contact = this.ContactManager.ContactList[j];
contact.IslandFlag = false;
contact.TOIFlag = false;
contact._toiCount = 0;
contact._toi = 1f;
}
}
while (true)
{
Contact contact2 = null;
FP fP = 1f;
for (int k = 0; k < this.ContactManager.ContactList.Count; k++)
{
Contact contact3 = this.ContactManager.ContactList[k];
bool flag = !contact3.Enabled;
if (!flag)
{
bool flag2 = contact3._toiCount > 8;
if (!flag2)
{
bool tOIFlag = contact3.TOIFlag;
FP fP2;
if (tOIFlag)
{
fP2 = contact3._toi;
}
else
{
Fixture fixtureA = contact3.FixtureA;
Fixture fixtureB = contact3.FixtureB;
bool flag3 = fixtureA.IsSensor || fixtureB.IsSensor;
if (flag3)
{
goto IL_424;
}
Body body = fixtureA.Body;
Body body2 = fixtureB.Body;
BodyType bodyType = body.BodyType;
BodyType bodyType2 = body2.BodyType;
Debug.Assert(bodyType == BodyType.Dynamic || bodyType2 == BodyType.Dynamic);
bool flag4 = body.Awake && bodyType > BodyType.Static;
bool flag5 = body2.Awake && bodyType2 > BodyType.Static;
bool flag6 = !flag4 && !flag5;
if (flag6)
{
goto IL_424;
}
bool flag7 = (body.IsBullet || bodyType != BodyType.Dynamic) && (fixtureA.IgnoreCCDWith & fixtureB.CollisionCategories) == Category.None && !body.IgnoreCCD;
bool flag8 = (body2.IsBullet || bodyType2 != BodyType.Dynamic) && (fixtureB.IgnoreCCDWith & fixtureA.CollisionCategories) == Category.None && !body2.IgnoreCCD;
bool flag9 = !flag7 && !flag8;
if (flag9)
{
goto IL_424;
}
FP alpha = body._sweep.Alpha0;
bool flag10 = body._sweep.Alpha0 < body2._sweep.Alpha0;
if (flag10)
{
alpha = body2._sweep.Alpha0;
body._sweep.Advance(alpha);
}
else
{
bool flag11 = body2._sweep.Alpha0 < body._sweep.Alpha0;
if (flag11)
{
alpha = body._sweep.Alpha0;
body2._sweep.Advance(alpha);
}
}
Debug.Assert(alpha < 1f);
this._input.ProxyA.Set(fixtureA.Shape, contact3.ChildIndexA);
this._input.ProxyB.Set(fixtureB.Shape, contact3.ChildIndexB);
this._input.SweepA = body._sweep;
this._input.SweepB = body2._sweep;
this._input.TMax = 1f;
TOIOutput tOIOutput;
TimeOfImpact.CalculateTimeOfImpact(out tOIOutput, this._input);
FP t = tOIOutput.T;
bool flag12 = tOIOutput.State == TOIOutputState.Touching;
if (flag12)
{
fP2 = TSMath.Min(alpha + (1f - alpha) * t, 1f);
}
else
{
fP2 = 1f;
}
contact3._toi = fP2;
contact3.TOIFlag = true;
}
bool flag13 = fP2 < fP;
if (flag13)
{
contact2 = contact3;
fP = fP2;
}
}
}
IL_424 :;
}
bool flag14 = contact2 == null || 1f - 10f * Settings.Epsilon < fP;
if (flag14)
{
break;
}
Fixture fixtureA2 = contact2.FixtureA;
Fixture fixtureB2 = contact2.FixtureB;
Body body3 = fixtureA2.Body;
Body body4 = fixtureB2.Body;
Sweep sweep = body3._sweep;
Sweep sweep2 = body4._sweep;
body3.Advance(fP);
body4.Advance(fP);
contact2.Update(this.ContactManager);
contact2.TOIFlag = false;
contact2._toiCount++;
bool flag15 = !contact2.Enabled || !contact2.IsTouching;
if (flag15)
{
contact2.Enabled = false;
body3._sweep = sweep;
body4._sweep = sweep2;
body3.SynchronizeTransform();
body4.SynchronizeTransform();
}
else
{
body3.Awake = true;
body4.Awake = true;
this.Island.Clear();
this.Island.Add(body3);
this.Island.Add(body4);
this.Island.Add(contact2);
body3._island = true;
body4._island = true;
contact2.IslandFlag = true;
Body[] array = new Body[]
{
body3,
body4
};
for (int l = 0; l < 2; l++)
{
Body body5 = array[l];
bool flag16 = body5.BodyType == BodyType.Dynamic;
if (flag16)
{
for (ContactEdge contactEdge = body5.ContactList; contactEdge != null; contactEdge = contactEdge.Next)
{
Contact contact4 = contactEdge.Contact;
bool flag17 = this.Island.BodyCount == this.Island.BodyCapacity;
if (flag17)
{
break;
}
bool flag18 = this.Island.ContactCount == this.Island.ContactCapacity;
if (flag18)
{
break;
}
bool islandFlag = contact4.IslandFlag;
if (!islandFlag)
{
Body other = contactEdge.Other;
bool flag19 = other.BodyType == BodyType.Dynamic && !body5.IsBullet && !other.IsBullet;
if (!flag19)
{
bool flag20 = contact4.FixtureA.IsSensor || contact4.FixtureB.IsSensor;
if (!flag20)
{
Sweep sweep3 = other._sweep;
bool flag21 = !other._island;
if (flag21)
{
other.Advance(fP);
}
contact4.Update(this.ContactManager);
bool flag22 = !contact4.Enabled;
if (flag22)
{
other._sweep = sweep3;
other.SynchronizeTransform();
}
else
{
bool flag23 = !contact4.IsTouching;
if (flag23)
{
other._sweep = sweep3;
other.SynchronizeTransform();
}
else
{
contact4.IslandFlag = true;
this.Island.Add(contact4);
bool island = other._island;
if (!island)
{
other._island = true;
bool flag24 = other.BodyType > BodyType.Static;
if (flag24)
{
other.Awake = true;
}
this.Island.Add(other);
}
}
}
}
}
}
}
}
}
TimeStep timeStep;
timeStep.dt = (1f - fP) * step.dt;
timeStep.inv_dt = 1f / timeStep.dt;
timeStep.dtRatio = 1f;
this.Island.SolveTOI(ref timeStep, body3.IslandIndex, body4.IslandIndex, false);
for (int m = 0; m < this.Island.BodyCount; m++)
{
Body body6 = this.Island.Bodies[m];
body6._island = false;
bool flag25 = body6.BodyType != BodyType.Dynamic;
if (!flag25)
{
body6.SynchronizeFixtures();
for (ContactEdge contactEdge2 = body6.ContactList; contactEdge2 != null; contactEdge2 = contactEdge2.Next)
{
contactEdge2.Contact.TOIFlag = false;
contactEdge2.Contact.IslandFlag = false;
}
}
}
this.ContactManager.FindNewContacts();
}
}
this._stepComplete = true;
}
private void Solve(ref TimeStep step)
{
this.Island.Reset(this.BodyList.Count, this.ContactManager.ContactList.Count, this.JointList.Count, this.ContactManager);
foreach (Body current in this.BodyList)
{
current._island = false;
}
foreach (Contact current2 in this.ContactManager.ContactList)
{
current2.IslandFlag = false;
}
foreach (Joint current3 in this.JointList)
{
current3.IslandFlag = false;
}
int count = this.BodyList.Count;
bool flag = count > this._stack.Length;
if (flag)
{
this._stack = new Body[Math.Max(this._stack.Length * 2, count)];
}
for (int i = this.BodyList.Count - 1; i >= 0; i--)
{
Body body = this.BodyList[i];
bool island = body._island;
if (!island)
{
bool flag2 = !body.Awake || !body.Enabled;
if (!flag2)
{
bool flag3 = body.BodyType == BodyType.Static;
if (!flag3)
{
this.Island.Clear();
int j = 0;
this._stack[j++] = body;
body._island = true;
while (j > 0)
{
Body body2 = this._stack[--j];
Debug.Assert(body2.Enabled);
this.Island.Add(body2);
body2.Awake = true;
bool flag4 = body2.BodyType == BodyType.Static;
if (!flag4)
{
for (ContactEdge contactEdge = body2.ContactList; contactEdge != null; contactEdge = contactEdge.Next)
{
Contact contact = contactEdge.Contact;
bool islandFlag = contact.IslandFlag;
if (!islandFlag)
{
bool flag5 = !contactEdge.Contact.Enabled || !contactEdge.Contact.IsTouching;
if (!flag5)
{
bool isSensor = contact.FixtureA.IsSensor;
bool isSensor2 = contact.FixtureB.IsSensor;
bool flag6 = isSensor | isSensor2;
if (!flag6)
{
this.Island.Add(contact);
contact.IslandFlag = true;
Body other = contactEdge.Other;
bool island2 = other._island;
if (!island2)
{
Debug.Assert(j < count);
this._stack[j++] = other;
other._island = true;
}
}
}
}
}
for (JointEdge jointEdge = body2.JointList; jointEdge != null; jointEdge = jointEdge.Next)
{
bool islandFlag2 = jointEdge.Joint.IslandFlag;
if (!islandFlag2)
{
Body other2 = jointEdge.Other;
bool flag7 = other2 != null;
if (flag7)
{
bool flag8 = !other2.Enabled;
if (!flag8)
{
this.Island.Add(jointEdge.Joint);
jointEdge.Joint.IslandFlag = true;
bool island3 = other2._island;
if (!island3)
{
Debug.Assert(j < count);
this._stack[j++] = other2;
other2._island = true;
}
}
}
else
{
this.Island.Add(jointEdge.Joint);
jointEdge.Joint.IslandFlag = true;
}
}
}
}
}
this.Island.Solve(ref step, ref this.Gravity);
for (int k = 0; k < this.Island.BodyCount; k++)
{
Body body3 = this.Island.Bodies[k];
bool flag9 = body3.BodyType == BodyType.Static;
if (flag9)
{
body3._island = false;
}
}
}
}
}
}
foreach (Body current4 in this.BodyList)
{
bool flag10 = !current4._island;
if (!flag10)
{
bool flag11 = current4.BodyType == BodyType.Static;
if (!flag11)
{
current4.SynchronizeFixtures();
}
}
}
this.ContactManager.FindNewContacts();
}
private void ProcessRemovedJoints()
{
bool flag = this._jointRemoveList.Count > 0;
if (flag)
{
foreach (Joint current in this._jointRemoveList)
{
bool collideConnected = current.CollideConnected;
this.JointList.Remove(current);
Body bodyA = current.BodyA;
Body bodyB = current.BodyB;
bodyA.Awake = true;
bool flag2 = !current.IsFixedType();
if (flag2)
{
bodyB.Awake = true;
}
bool flag3 = current.EdgeA.Prev != null;
if (flag3)
{
current.EdgeA.Prev.Next = current.EdgeA.Next;
}
bool flag4 = current.EdgeA.Next != null;
if (flag4)
{
current.EdgeA.Next.Prev = current.EdgeA.Prev;
}
bool flag5 = current.EdgeA == bodyA.JointList;
if (flag5)
{
bodyA.JointList = current.EdgeA.Next;
}
current.EdgeA.Prev = null;
current.EdgeA.Next = null;
bool flag6 = !current.IsFixedType();
if (flag6)
{
bool flag7 = current.EdgeB.Prev != null;
if (flag7)
{
current.EdgeB.Prev.Next = current.EdgeB.Next;
}
bool flag8 = current.EdgeB.Next != null;
if (flag8)
{
current.EdgeB.Next.Prev = current.EdgeB.Prev;
}
bool flag9 = current.EdgeB == bodyB.JointList;
if (flag9)
{
bodyB.JointList = current.EdgeB.Next;
}
current.EdgeB.Prev = null;
current.EdgeB.Next = null;
}
bool flag10 = !current.IsFixedType();
if (flag10)
{
bool flag11 = !collideConnected;
if (flag11)
{
for (ContactEdge contactEdge = bodyB.ContactList; contactEdge != null; contactEdge = contactEdge.Next)
{
bool flag12 = contactEdge.Other == bodyA;
if (flag12)
{
contactEdge.Contact.FilterFlag = true;
}
}
}
}
bool flag13 = this.JointRemoved != null;
if (flag13)
{
this.JointRemoved(current);
}
}
this._jointRemoveList.Clear();
}
}