public void Update()
{
if (collisionDomain.HasContact(CollisionObject))
{
if (triggeredRigidbodies.Count != 0)
{
triggeredRigidbodies.RemoveAll(rigidBody1 => !collisionDomain.HaveContact(CollisionObject, rigidBody1.CollisionObject));
}
var characters = collisionDomain.GetContactObjects(CollisionObject)
.Select(collisionObject => collisionObject.GeometricObject)
.OfType <RigidBody>()
.Where(rigidBody1 => rigidBody1.Name == nameOfTarget)
.Except(triggeredRigidbodies);
foreach (var character in characters)
{
triggeredRigidbodies.Add(character);
OnTriggerEnter(character.UserData);
}
}
else
{
if (triggeredRigidbodies.Count != 0)
{
triggeredRigidbodies.Clear();
}
}
}
public override void Update(GameTime gameTime)
{
// ----- Move object A with arrow keys.
// Compute displacement.
Vector3F displacement = Vector3F.Zero;
if (InputService.IsDown(Keys.Up))
{
displacement.Y += 0.1f;
}
if (InputService.IsDown(Keys.Left))
{
displacement.X -= 0.1f;
}
if (InputService.IsDown(Keys.Down))
{
displacement.Y -= 0.1f;
}
if (InputService.IsDown(Keys.Right))
{
displacement.X += 0.1f;
}
// Update the position of object A (green box).
Pose pose = _collisionObjectA.GeometricObject.Pose;
pose.Position += displacement;
// Note: We have to cast to GeometricObject because CollisionObject.GeometricObject
// is of type IGeometricObject which does not have a setter for the Pose property.
((GeometricObject)_collisionObjectA.GeometricObject).Pose = pose;
// ----- Update collision domain. This computes new contact information.
float timeStep = (float)gameTime.ElapsedGameTime.TotalSeconds;
_domain.Update(timeStep); // Needs to be called once per frame.
// ----- Draw objects using the DebugRenderer of the graphics screen.
// We reset the DebugRenderer every frame.
var debugRenderer = GraphicsScreen.DebugRenderer;
debugRenderer.Clear();
// Draw geometric objects. If an object has a contact with any other object,
// it is drawn yellow.
bool objectBHasContact = _domain.HasContact(_collisionObjectB);
var color = objectBHasContact ? Color.Yellow : Color.Blue;
debugRenderer.DrawObject(_collisionObjectB.GeometricObject, color, false, false);
bool objectCHasContact = _domain.HasContact(_collisionObjectC);
color = objectCHasContact ? Color.Yellow : Color.Red;
debugRenderer.DrawObject(_collisionObjectC.GeometricObject, color, false, false);
bool objectAHasContact = _domain.HasContact(_collisionObjectA);
color = objectAHasContact ? Color.Yellow : Color.Green;
debugRenderer.DrawObject(_collisionObjectA.GeometricObject, color, false, false);
// Get closest points.
// Closest-point queries are not used as often as contact queries. They are
// not computed by the collision domain. Therefore, we ask the collision
// detection for the closest points.
ContactSet closestPointsAB = _collisionDetection.GetClosestPoints(_collisionObjectA, _collisionObjectB);
ContactSet closestPointsAC = _collisionDetection.GetClosestPoints(_collisionObjectA, _collisionObjectC);
ContactSet closestPointsBC = _collisionDetection.GetClosestPoints(_collisionObjectB, _collisionObjectC);
// Draw closest points.
// Each contact set contains one contact that describes the closest-point pair.
debugRenderer.DrawPoint(closestPointsAB[0].PositionAWorld, Color.White, true);
debugRenderer.DrawPoint(closestPointsAB[0].PositionBWorld, Color.White, true);
debugRenderer.DrawPoint(closestPointsAC[0].PositionAWorld, Color.White, true);
debugRenderer.DrawPoint(closestPointsAC[0].PositionBWorld, Color.White, true);
debugRenderer.DrawPoint(closestPointsBC[0].PositionAWorld, Color.White, true);
debugRenderer.DrawPoint(closestPointsBC[0].PositionBWorld, Color.White, true);
// Draw lines that represent the minimal distances.
debugRenderer.DrawLine(closestPointsAB[0].PositionAWorld, closestPointsAB[0].PositionBWorld, Color.White, true);
debugRenderer.DrawLine(closestPointsAC[0].PositionAWorld, closestPointsAC[0].PositionBWorld, Color.White, true);
debugRenderer.DrawLine(closestPointsBC[0].PositionAWorld, closestPointsBC[0].PositionBWorld, Color.White, true);
}
public void HaveContact()
{
CollisionDomain domain = new CollisionDomain(new CollisionDetection());
domain.CollisionDetection.CollisionFilter = new CollisionFilter();
CollisionObject a = new CollisionObject();
((GeometricObject)a.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)a.GeometricObject).Pose = new Pose(new Vector3F(0, 0, 0));
//a.Name = "a";
CollisionObject b = new CollisionObject();
((GeometricObject)b.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(1, 0, 0f));
//b.Name = "b";
CollisionObject c = new CollisionObject();
((GeometricObject)c.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)c.GeometricObject).Pose = new Pose(new Vector3F(1, 0, 0f));
//c.Name = "c";
domain.CollisionObjects.Add(a);
domain.CollisionObjects.Add(b);
domain.Update(0.01f);
Assert.AreEqual(true, domain.HaveContact(a, b));
Assert.AreEqual(true, domain.HaveContact(a, c));
Assert.AreEqual(true, domain.HasContact(a));
Assert.AreEqual(true, domain.HasContact(b));
Assert.AreEqual(true, domain.HasContact(c));
Assert.AreEqual(1, domain.GetContacts(a, b).Count);
Assert.AreEqual(1, domain.GetContacts(a, c).Count);
Assert.AreEqual(1, domain.GetContacts(a).Count());
Assert.AreEqual(2, domain.GetContacts(c).Count());
Assert.AreEqual(1, domain.ContactSets.Count);
b.Enabled = false;
domain.Update(0.01f);
Assert.AreEqual(false, domain.HaveContact(a, b));
Assert.AreEqual(true, domain.HaveContact(a, c));
Assert.AreEqual(false, domain.HasContact(a));
Assert.AreEqual(false, domain.HasContact(b));
Assert.AreEqual(true, domain.HasContact(c));
Assert.AreEqual(null, domain.GetContacts(a, b));
Assert.AreEqual(1, domain.GetContacts(a, c).Count);
Assert.AreEqual(0, domain.GetContacts(a).Count());
Assert.AreEqual(1, domain.GetContacts(c).Count());
Assert.AreEqual(0, domain.ContactSets.Count);
a.Enabled = false;
b.Enabled = true;
domain.Update(0.01f);
Assert.AreEqual(false, domain.HaveContact(a, b));
Assert.AreEqual(false, domain.HaveContact(a, c));
Assert.AreEqual(false, domain.HasContact(a));
Assert.AreEqual(false, domain.HasContact(b));
Assert.AreEqual(true, domain.HasContact(c));
Assert.AreEqual(null, domain.GetContacts(a, b));
Assert.AreEqual(null, domain.GetContacts(a, c));
Assert.AreEqual(0, domain.GetContacts(a).Count());
Assert.AreEqual(1, domain.GetContacts(c).Count());
Assert.AreEqual(0, domain.ContactSets.Count);
c.Enabled = false;
domain.Update(0.01f);
Assert.AreEqual(false, domain.HaveContact(a, b));
Assert.AreEqual(false, domain.HaveContact(a, c));
Assert.AreEqual(false, domain.HasContact(a));
Assert.AreEqual(false, domain.HasContact(b));
Assert.AreEqual(false, domain.HasContact(c));
Assert.AreEqual(null, domain.GetContacts(a, b));
Assert.AreEqual(null, domain.GetContacts(a, c));
Assert.AreEqual(0, domain.GetContacts(a).Count());
Assert.AreEqual(0, domain.GetContacts(c).Count());
Assert.AreEqual(0, domain.ContactSets.Count);
a.Enabled = true;
c.Enabled = true;
((CollisionFilter) domain.CollisionDetection.CollisionFilter).Set(a, b, false);
domain.Update(0.01f);
Assert.AreEqual(false, domain.HaveContact(a, b));
Assert.AreEqual(true, domain.HaveContact(a, c));
Assert.AreEqual(false, domain.HasContact(a));
Assert.AreEqual(false, domain.HasContact(b));
Assert.AreEqual(true, domain.HasContact(c));
Assert.AreEqual(null, domain.GetContacts(a, b));
Assert.AreEqual(1, domain.GetContacts(a, c).Count);
Assert.AreEqual(0, domain.GetContacts(a).Count());
Assert.AreEqual(2, domain.GetContacts(c).Count());
Assert.AreEqual(0, domain.ContactSets.Count);
((CollisionFilter) domain.CollisionDetection.CollisionFilter).Set(a, b, true);
domain.Update(0.01f);
Assert.AreEqual(true, domain.HaveContact(a, b));
Assert.AreEqual(true, domain.HaveContact(a, c));
Assert.AreEqual(true, domain.HasContact(a));
Assert.AreEqual(true, domain.HasContact(b));
Assert.AreEqual(true, domain.HasContact(c));
Assert.AreEqual(1, domain.GetContacts(a, b).Count);
Assert.AreEqual(1, domain.GetContacts(a, c).Count);
Assert.AreEqual(1, domain.GetContacts(a).Count());
Assert.AreEqual(2, domain.GetContacts(c).Count());
Assert.AreEqual(1, domain.ContactSets.Count);
c.Enabled = false;
domain.Update(0.01f);
Assert.AreEqual(true, domain.HaveContact(a, b));
Assert.AreEqual(false, domain.HaveContact(a, c));
Assert.AreEqual(true, domain.HasContact(a));
Assert.AreEqual(true, domain.HasContact(b));
Assert.AreEqual(false, domain.HasContact(c));
Assert.AreEqual(1, domain.GetContacts(a, b).Count);
Assert.AreEqual(null, domain.GetContacts(a, c));
Assert.AreEqual(1, domain.GetContacts(a).Count());
Assert.AreEqual(0, domain.GetContacts(c).Count());
Assert.AreEqual(1, domain.ContactSets.Count);
}
public void RayCastStopsAtFirstHit()
{
CollisionDomain domain = new CollisionDomain(new CollisionDetection());
CollisionObject ray = new CollisionObject();
((GeometricObject)ray.GeometricObject).Shape = new RayShape(new Vector3F(), new Vector3F(1, 0, 0), 100)
{
StopsAtFirstHit = true,
};
//ray.Name = "Ray";
CollisionObject b = new CollisionObject();
((GeometricObject)b.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3F(-10, 0, 0f));
//b.Name = "b";
CollisionObject c = new CollisionObject();
((GeometricObject)c.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)c.GeometricObject).Pose = new Pose(new Vector3F(0, 0, 0f));
//c.Name = "c";
CollisionObject d = new CollisionObject();
((GeometricObject)d.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)d.GeometricObject).Pose = new Pose(new Vector3F(10, 0, 0f));
//d.Name = "d";
CollisionObject e = new CollisionObject();
((GeometricObject)e.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)e.GeometricObject).Pose = new Pose(new Vector3F(20, 0, 0f));
//e.Name = "e";
CollisionObject f = new CollisionObject();
((GeometricObject)f.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)f.GeometricObject).Pose = new Pose(new Vector3F(110, 0, 0f));
//f.Name = "f";
// Positions: b=-10, c=0, d=10, e=20, f=110
domain.CollisionObjects.Add(ray);
domain.CollisionObjects.Add(b);
domain.CollisionObjects.Add(d);
domain.CollisionObjects.Add(c);
domain.CollisionObjects.Add(e);
domain.CollisionObjects.Add(f);
domain.Update(0.01f);
Assert.AreEqual(1, domain.GetContacts(ray).Count());
Assert.AreEqual(true, domain.HaveContact(ray, c));
((GeometricObject)c.GeometricObject).Pose = new Pose(new Vector3F(30));
// Positions: b=-10, d=10, e=20, c=30, f=110
domain.Update(0.01f);
Assert.AreEqual(1, domain.GetContacts(ray).Count());
Assert.AreEqual(true, domain.HaveContact(ray, d));
((GeometricObject)d.GeometricObject).Pose = new Pose(new Vector3F(40));
// Positions: b=-10, e=20, c=30, d=40, f=110
domain.Update(0.01f);
Assert.AreEqual(1, domain.GetContacts(ray).Count());
Assert.AreEqual(true, domain.HaveContact(ray, e));
((GeometricObject)ray.GeometricObject).Pose = new Pose(((GeometricObject)ray.GeometricObject).Pose.Position, QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
domain.Update(0.01f);
Assert.AreEqual(0, domain.GetContacts(ray).Count());
((GeometricObject)ray.GeometricObject).Pose = new Pose(((GeometricObject)ray.GeometricObject).Pose.Position, QuaternionF.CreateRotationZ(ConstantsF.Pi));
domain.Update(0.01f);
Assert.AreEqual(1, domain.GetContacts(ray).Count());
Assert.AreEqual(true, domain.HaveContact(ray, b));
((GeometricObject)ray.GeometricObject).Pose = new Pose(((GeometricObject)ray.GeometricObject).Pose.Position, QuaternionF.Identity);
domain.Update(0.01f);
// Positions: b=-10, e=20, c=30, d=40, f=110
CollisionObject gNotInDomain = new CollisionObject();
((GeometricObject)gNotInDomain.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)gNotInDomain.GeometricObject).Pose = new Pose(new Vector3F(10, 0, 0f));
Assert.AreEqual(true, domain.HaveContact(ray, gNotInDomain));
Assert.AreEqual(1, domain.GetContacts(gNotInDomain).Count());
Assert.AreEqual(1, domain.GetContacts(ray, gNotInDomain).Count);
Assert.AreEqual(true, domain.HasContact(gNotInDomain));
((GeometricObject)gNotInDomain.GeometricObject).Pose = new Pose(new Vector3F(25, 0, 0f)); // behind e
Assert.AreEqual(false, domain.HaveContact(ray, gNotInDomain));
Assert.AreEqual(false, domain.HaveContact(gNotInDomain, ray));
Assert.AreEqual(false, domain.HasContact(gNotInDomain));
Assert.AreEqual(0, domain.GetContacts(gNotInDomain).Count());
Assert.IsNull(domain.GetContacts(ray, gNotInDomain));
Assert.IsNull(domain.GetContacts(gNotInDomain, ray));
// Remove ray from domain.
domain.CollisionObjects.Remove(ray);
domain.Update(0.01f);
Assert.AreEqual(0, domain.ContactSets.Count);
// Positions: b=-10, e=20, g=25, c=30, d=40, f=110
domain.Update(0.01f);
Assert.AreEqual(1, domain.GetContacts(ray).Count());
Assert.AreEqual(true, domain.HaveContact(ray, e));
Assert.AreEqual(false, domain.HaveContact(ray, c));
Assert.AreEqual(false, domain.HaveContact(ray, gNotInDomain));
Assert.IsNull(domain.GetContacts(ray, gNotInDomain));
}
public void RayCastStopsAtFirstHit()
{
CollisionDomain domain = new CollisionDomain(new CollisionDetection());
CollisionObject ray = new CollisionObject();
((GeometricObject)ray.GeometricObject).Shape = new RayShape(new Vector3(), new Vector3(1, 0, 0), 100)
{
StopsAtFirstHit = true,
};
//ray.Name = "Ray";
CollisionObject b = new CollisionObject();
((GeometricObject)b.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3(-10, 0, 0f));
//b.Name = "b";
CollisionObject c = new CollisionObject();
((GeometricObject)c.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)c.GeometricObject).Pose = new Pose(new Vector3(0, 0, 0f));
//c.Name = "c";
CollisionObject d = new CollisionObject();
((GeometricObject)d.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)d.GeometricObject).Pose = new Pose(new Vector3(10, 0, 0f));
//d.Name = "d";
CollisionObject e = new CollisionObject();
((GeometricObject)e.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)e.GeometricObject).Pose = new Pose(new Vector3(20, 0, 0f));
//e.Name = "e";
CollisionObject f = new CollisionObject();
((GeometricObject)f.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)f.GeometricObject).Pose = new Pose(new Vector3(110, 0, 0f));
//f.Name = "f";
// Positions: b=-10, c=0, d=10, e=20, f=110
domain.CollisionObjects.Add(ray);
domain.CollisionObjects.Add(b);
domain.CollisionObjects.Add(d);
domain.CollisionObjects.Add(c);
domain.CollisionObjects.Add(e);
domain.CollisionObjects.Add(f);
domain.Update(0.01f);
Assert.AreEqual(1, domain.GetContacts(ray).Count());
Assert.AreEqual(true, domain.HaveContact(ray, c));
((GeometricObject)c.GeometricObject).Pose = new Pose(new Vector3(30));
// Positions: b=-10, d=10, e=20, c=30, f=110
domain.Update(0.01f);
Assert.AreEqual(1, domain.GetContacts(ray).Count());
Assert.AreEqual(true, domain.HaveContact(ray, d));
((GeometricObject)d.GeometricObject).Pose = new Pose(new Vector3(40));
// Positions: b=-10, e=20, c=30, d=40, f=110
domain.Update(0.01f);
Assert.AreEqual(1, domain.GetContacts(ray).Count());
Assert.AreEqual(true, domain.HaveContact(ray, e));
((GeometricObject)ray.GeometricObject).Pose = new Pose(((GeometricObject)ray.GeometricObject).Pose.Position, Quaternion.CreateRotationZ(ConstantsF.PiOver2));
domain.Update(0.01f);
Assert.AreEqual(0, domain.GetContacts(ray).Count());
((GeometricObject)ray.GeometricObject).Pose = new Pose(((GeometricObject)ray.GeometricObject).Pose.Position, Quaternion.CreateRotationZ(ConstantsF.Pi));
domain.Update(0.01f);
Assert.AreEqual(1, domain.GetContacts(ray).Count());
Assert.AreEqual(true, domain.HaveContact(ray, b));
((GeometricObject)ray.GeometricObject).Pose = new Pose(((GeometricObject)ray.GeometricObject).Pose.Position, Quaternion.Identity);
domain.Update(0.01f);
// Positions: b=-10, e=20, c=30, d=40, f=110
CollisionObject gNotInDomain = new CollisionObject();
((GeometricObject)gNotInDomain.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)gNotInDomain.GeometricObject).Pose = new Pose(new Vector3(10, 0, 0f));
Assert.AreEqual(true, domain.HaveContact(ray, gNotInDomain));
Assert.AreEqual(1, domain.GetContacts(gNotInDomain).Count());
Assert.AreEqual(1, domain.GetContacts(ray, gNotInDomain).Count);
Assert.AreEqual(true, domain.HasContact(gNotInDomain));
((GeometricObject)gNotInDomain.GeometricObject).Pose = new Pose(new Vector3(25, 0, 0f)); // behind e
Assert.AreEqual(false, domain.HaveContact(ray, gNotInDomain));
Assert.AreEqual(false, domain.HaveContact(gNotInDomain, ray));
Assert.AreEqual(false, domain.HasContact(gNotInDomain));
Assert.AreEqual(0, domain.GetContacts(gNotInDomain).Count());
Assert.IsNull(domain.GetContacts(ray, gNotInDomain));
Assert.IsNull(domain.GetContacts(gNotInDomain, ray));
// Remove ray from domain.
domain.CollisionObjects.Remove(ray);
domain.Update(0.01f);
Assert.AreEqual(0, domain.ContactSets.Count);
// Positions: b=-10, e=20, g=25, c=30, d=40, f=110
domain.Update(0.01f);
Assert.AreEqual(1, domain.GetContacts(ray).Count());
Assert.AreEqual(true, domain.HaveContact(ray, e));
Assert.AreEqual(false, domain.HaveContact(ray, c));
Assert.AreEqual(false, domain.HaveContact(ray, gNotInDomain));
Assert.IsNull(domain.GetContacts(ray, gNotInDomain));
}
public void HaveContact()
{
CollisionDomain domain = new CollisionDomain(new CollisionDetection());
domain.CollisionDetection.CollisionFilter = new CollisionFilter();
CollisionObject a = new CollisionObject();
((GeometricObject)a.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)a.GeometricObject).Pose = new Pose(new Vector3(0, 0, 0));
//a.Name = "a";
CollisionObject b = new CollisionObject();
((GeometricObject)b.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)b.GeometricObject).Pose = new Pose(new Vector3(1, 0, 0f));
//b.Name = "b";
CollisionObject c = new CollisionObject();
((GeometricObject)c.GeometricObject).Shape = new SphereShape(1);
((GeometricObject)c.GeometricObject).Pose = new Pose(new Vector3(1, 0, 0f));
//c.Name = "c";
domain.CollisionObjects.Add(a);
domain.CollisionObjects.Add(b);
domain.Update(0.01f);
Assert.AreEqual(true, domain.HaveContact(a, b));
Assert.AreEqual(true, domain.HaveContact(a, c));
Assert.AreEqual(true, domain.HasContact(a));
Assert.AreEqual(true, domain.HasContact(b));
Assert.AreEqual(true, domain.HasContact(c));
Assert.AreEqual(1, domain.GetContacts(a, b).Count);
Assert.AreEqual(1, domain.GetContacts(a, c).Count);
Assert.AreEqual(1, domain.GetContacts(a).Count());
Assert.AreEqual(2, domain.GetContacts(c).Count());
Assert.AreEqual(1, domain.ContactSets.Count);
b.Enabled = false;
domain.Update(0.01f);
Assert.AreEqual(false, domain.HaveContact(a, b));
Assert.AreEqual(true, domain.HaveContact(a, c));
Assert.AreEqual(false, domain.HasContact(a));
Assert.AreEqual(false, domain.HasContact(b));
Assert.AreEqual(true, domain.HasContact(c));
Assert.AreEqual(null, domain.GetContacts(a, b));
Assert.AreEqual(1, domain.GetContacts(a, c).Count);
Assert.AreEqual(0, domain.GetContacts(a).Count());
Assert.AreEqual(1, domain.GetContacts(c).Count());
Assert.AreEqual(0, domain.ContactSets.Count);
a.Enabled = false;
b.Enabled = true;
domain.Update(0.01f);
Assert.AreEqual(false, domain.HaveContact(a, b));
Assert.AreEqual(false, domain.HaveContact(a, c));
Assert.AreEqual(false, domain.HasContact(a));
Assert.AreEqual(false, domain.HasContact(b));
Assert.AreEqual(true, domain.HasContact(c));
Assert.AreEqual(null, domain.GetContacts(a, b));
Assert.AreEqual(null, domain.GetContacts(a, c));
Assert.AreEqual(0, domain.GetContacts(a).Count());
Assert.AreEqual(1, domain.GetContacts(c).Count());
Assert.AreEqual(0, domain.ContactSets.Count);
c.Enabled = false;
domain.Update(0.01f);
Assert.AreEqual(false, domain.HaveContact(a, b));
Assert.AreEqual(false, domain.HaveContact(a, c));
Assert.AreEqual(false, domain.HasContact(a));
Assert.AreEqual(false, domain.HasContact(b));
Assert.AreEqual(false, domain.HasContact(c));
Assert.AreEqual(null, domain.GetContacts(a, b));
Assert.AreEqual(null, domain.GetContacts(a, c));
Assert.AreEqual(0, domain.GetContacts(a).Count());
Assert.AreEqual(0, domain.GetContacts(c).Count());
Assert.AreEqual(0, domain.ContactSets.Count);
a.Enabled = true;
c.Enabled = true;
((CollisionFilter)domain.CollisionDetection.CollisionFilter).Set(a, b, false);
domain.Update(0.01f);
Assert.AreEqual(false, domain.HaveContact(a, b));
Assert.AreEqual(true, domain.HaveContact(a, c));
Assert.AreEqual(false, domain.HasContact(a));
Assert.AreEqual(false, domain.HasContact(b));
Assert.AreEqual(true, domain.HasContact(c));
Assert.AreEqual(null, domain.GetContacts(a, b));
Assert.AreEqual(1, domain.GetContacts(a, c).Count);
Assert.AreEqual(0, domain.GetContacts(a).Count());
Assert.AreEqual(2, domain.GetContacts(c).Count());
Assert.AreEqual(0, domain.ContactSets.Count);
((CollisionFilter)domain.CollisionDetection.CollisionFilter).Set(a, b, true);
domain.Update(0.01f);
Assert.AreEqual(true, domain.HaveContact(a, b));
Assert.AreEqual(true, domain.HaveContact(a, c));
Assert.AreEqual(true, domain.HasContact(a));
Assert.AreEqual(true, domain.HasContact(b));
Assert.AreEqual(true, domain.HasContact(c));
Assert.AreEqual(1, domain.GetContacts(a, b).Count);
Assert.AreEqual(1, domain.GetContacts(a, c).Count);
Assert.AreEqual(1, domain.GetContacts(a).Count());
Assert.AreEqual(2, domain.GetContacts(c).Count());
Assert.AreEqual(1, domain.ContactSets.Count);
c.Enabled = false;
domain.Update(0.01f);
Assert.AreEqual(true, domain.HaveContact(a, b));
Assert.AreEqual(false, domain.HaveContact(a, c));
Assert.AreEqual(true, domain.HasContact(a));
Assert.AreEqual(true, domain.HasContact(b));
Assert.AreEqual(false, domain.HasContact(c));
Assert.AreEqual(1, domain.GetContacts(a, b).Count);
Assert.AreEqual(null, domain.GetContacts(a, c));
Assert.AreEqual(1, domain.GetContacts(a).Count());
Assert.AreEqual(0, domain.GetContacts(c).Count());
Assert.AreEqual(1, domain.ContactSets.Count);
}