// 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);
}
}