public virtual void PreSolve(Contact contact, ref Manifold oldManifold)
{
Manifold manifold;
contact.GetManifold(out manifold);
if (manifold._pointCount == 0)
{
return;
}
Fixture fixtureA = contact.GetFixtureA();
Fixture fixtureB = contact.GetFixtureB();
FixedArray2<PointState> state1, state2;
Collision.GetPointStates(out state1, out state2, ref oldManifold, ref manifold);
WorldManifold worldManifold;
contact.GetWorldManifold(out worldManifold);
for (int i = 0; i < manifold._pointCount && _pointCount < k_maxContactPoints; ++i)
{
if (fixtureA == null)
{
_points[i] = new ContactPoint();
}
ContactPoint cp = _points[_pointCount];
cp.fixtureA = fixtureA;
cp.fixtureB = fixtureB;
cp.position = worldManifold._points[i];
cp.normal = worldManifold._normal;
cp.state = state2[i];
_points[_pointCount] = cp;
++_pointCount;
}
}
public virtual void Step(Settings settings)
{
float timeStep = settings.hz > 0.0f ? 1.0f / settings.hz : 0.0f;
if (settings.pause > 0)
{
if (settings.singleStep > 0)
{
settings.singleStep = 0;
}
else
{
timeStep = 0.0f;
}
_debugDraw.DrawString(50, _textLine, "****PAUSED****");
_textLine += 15;
}
uint flags = 0;
flags += settings.drawShapes * (uint)DebugDrawFlags.Shape;
flags += settings.drawJoints * (uint)DebugDrawFlags.Joint;
flags += settings.drawAABBs * (uint)DebugDrawFlags.AABB;
flags += settings.drawPairs * (uint)DebugDrawFlags.Pair;
flags += settings.drawCOMs * (uint)DebugDrawFlags.CenterOfMass;
_debugDraw.Flags = (DebugDrawFlags)flags;
_world.WarmStarting = (settings.enableWarmStarting > 0);
_world.ContinuousPhysics = (settings.enableContinuous > 0);
_pointCount = 0;
_world.Step(timeStep, settings.velocityIterations, settings.positionIterations);
_world.DrawDebugData();
if (timeStep > 0.0f)
{
++_stepCount;
}
if (settings.drawStats > 0)
{
_debugDraw.DrawString(50, _textLine, "bodies/contacts/joints/proxies = {0:n}/{1:n}/{2:n}",
_world.BodyCount, _world.ContactCount, _world.JointCount, _world.ProxyCount);
_textLine += 15;
}
if (_mouseJoint != null)
{
Vector2 p1 = _mouseJoint.GetAnchorB();
Vector2 p2 = _mouseJoint.GetTarget();
_debugDraw.DrawPoint(p1, 0.5f, new Color(0.0f, 1.0f, 0.0f));
_debugDraw.DrawPoint(p1, 0.5f, new Color(0.0f, 1.0f, 0.0f));
_debugDraw.DrawSegment(p1, p2, new Color(0.8f, 0.8f, 0.8f));
}
if (_bombSpawning)
{
_debugDraw.DrawPoint(_bombSpawnPoint, 0.5f, new Color(0.0f, 0.0f, 1.0f));
_debugDraw.DrawSegment(_mouseWorld, _bombSpawnPoint, new Color(0.8f, 0.8f, 0.8f));
}
if (settings.drawContactPoints > 0)
{
//float k_impulseScale = 0.1f;
const float k_axisScale = 0.3f;
for (int i = 0; i < _pointCount; ++i)
{
ContactPoint point = _points[i];
if (point.state == PointState.Add)
{
// Add
_debugDraw.DrawPoint(point.position, 1.5f, new Color(0.3f, 0.95f, 0.3f));
}
else if (point.state == PointState.Persist)
{
// Persist
_debugDraw.DrawPoint(point.position, 0.65f, new Color(0.3f, 0.3f, 0.95f));
}
if (settings.drawContactNormals == 1)
{
Vector2 p1 = point.position;
Vector2 p2 = p1 + k_axisScale * point.normal;
_debugDraw.DrawSegment(p1, p2, new Color(0.4f, 0.9f, 0.4f));
}
else if (settings.drawContactForces == 1)
{
//Vector2 p1 = point.position;
//Vector2 p2 = p1 + k_forceScale * point.normalForce * point.normal;
//DrawSegment(p1, p2, Color(0.9f, 0.9f, 0.3f));
}
if (settings.drawFrictionForces == 1)
{
//Vector2 tangent = b2Cross(point.normal, 1.0f);
//Vector2 p1 = point.position;
//Vector2 p2 = p1 + k_forceScale * point.tangentForce * tangent;
//DrawSegment(p1, p2, Color(0.9f, 0.9f, 0.3f));
}
}
}
}
