예제 #1
0
        // djm pooling

        public void update(ContactListener listener)
        {
            oldManifold.set(m_manifold);

            // Re-enable this contact.
            m_flags |= ENABLED_FLAG;

            bool touching    = false;
            bool wasTouching = (m_flags & TOUCHING_FLAG) == TOUCHING_FLAG;

            bool sensorA = m_fixtureA.isSensor();
            bool sensorB = m_fixtureB.isSensor();
            bool sensor  = sensorA || sensorB;

            Body      bodyA = m_fixtureA.getBody();
            Body      bodyB = m_fixtureB.getBody();
            Transform xfA   = bodyA.getTransform();
            Transform xfB   = bodyB.getTransform();

            // log.debug("TransformA: "+xfA);
            // log.debug("TransformB: "+xfB);

            if (sensor)
            {
                Shape shapeA = m_fixtureA.getShape();
                Shape shapeB = m_fixtureB.getShape();
                touching = pool.getCollision().testOverlap(shapeA, m_indexA, shapeB, m_indexB, xfA, xfB);

                // Sensors don't generate manifolds.
                m_manifold.pointCount = 0;
            }
            else
            {
                evaluate(m_manifold, xfA, xfB);
                touching = m_manifold.pointCount > 0;

                // Match old contact ids to new contact ids and copy the
                // stored impulses to warm start the solver.
                for (int i = 0; i < m_manifold.pointCount; ++i)
                {
                    ManifoldPoint mp2 = m_manifold.points[i];
                    mp2.normalImpulse  = 0.0d;
                    mp2.tangentImpulse = 0.0d;
                    ContactID id2 = mp2.id;

                    for (int j = 0; j < oldManifold.pointCount; ++j)
                    {
                        ManifoldPoint mp1 = oldManifold.points[j];

                        if (mp1.id.isEqual(id2))
                        {
                            mp2.normalImpulse  = mp1.normalImpulse;
                            mp2.tangentImpulse = mp1.tangentImpulse;
                            break;
                        }
                    }
                }

                if (touching != wasTouching)
                {
                    bodyA.setAwake(true);
                    bodyB.setAwake(true);
                }
            }

            if (touching)
            {
                m_flags |= TOUCHING_FLAG;
            }
            else
            {
                m_flags &= ~TOUCHING_FLAG;
            }

            if (listener == null)
            {
                return;
            }

            if (wasTouching == false && touching)
            {
                listener.beginContact(this);
            }

            if (wasTouching && touching == false)
            {
                listener.endContact(this);
            }

            if (sensor == false && touching)
            {
                listener.preSolve(this, oldManifold);
            }
        }