public Island(int bodyCapacity, int contactCapacity, int jointCapacity, ContactListener listener)
{
_bodyCapacity = bodyCapacity;
_contactCapacity = contactCapacity;
_jointCapacity = jointCapacity;
//__bodyCount = 0;
//_contactCount = 0;
//_jointCount = 0;
_listener = listener;
_bodies = new Body[bodyCapacity];
_contacts = new Contact[contactCapacity];
_joints = new Joint[jointCapacity];
_velocities = new Velocity[_bodyCapacity];
_positions = new Position[_bodyCapacity];
}
public void Update(ContactListener listener)
{
Manifold oldManifold = _manifold.Clone();
Evaluate();
Body bodyA = _fixtureA.Body;
Body bodyB = _fixtureB.Body;
int oldCount = oldManifold.PointCount;
int newCount = _manifold.PointCount;
if (newCount == 0 && oldCount > 0)
{
bodyA.WakeUp();
bodyB.WakeUp();
}
// Slow contacts don't generate TOI events.
if (bodyA.IsStatic() || bodyA.IsBullet() || bodyB.IsStatic() || bodyB.IsBullet())
{
_flags &= ~CollisionFlags.Slow;
}
else
{
_flags |= CollisionFlags.Slow;
}
// Match old contact ids to new contact ids and copy the
// stored impulses to warm start the solver.
for (int i = 0; i < _manifold.PointCount; ++i)
{
ManifoldPoint mp2 = _manifold.Points[i];
mp2.NormalImpulse = 0.0f;
mp2.TangentImpulse = 0.0f;
ContactID id2 = mp2.ID;
for (int j = 0; j < oldManifold.PointCount; ++j)
{
ManifoldPoint mp1 = oldManifold.Points[j];
if (mp1.ID.Key == id2.Key)
{
mp2.NormalImpulse = mp1.NormalImpulse;
mp2.TangentImpulse = mp1.TangentImpulse;
break;
}
}
}
if (oldCount == 0 && newCount > 0)
{
_flags |= CollisionFlags.Touch;
if (listener != null)
{
listener.BeginContact(this);
}
}
if (oldCount > 0 && newCount == 0)
{
_flags &= ~CollisionFlags.Touch;
if (listener != null)
{
listener.EndContact(this);
}
}
if ((_flags & CollisionFlags.NonSolid) == 0)
{
if (listener != null)
{
listener.PreSolve(this, oldManifold);
}
// The user may have disabled contact.
if (_manifold.PointCount == 0)
{
_flags &= ~CollisionFlags.Touch;
}
}
}