void Update()
{
Init();
if (lastContacts.Count < 1)
{
guiText.text = "Contact: null";
}
else
{
string guiOutput = "";
float weight = 0f;
foreach (Contact lastContact in lastContacts)
{
// get stats!
bool isTouching = lastContact.IsTouching();
FarseerPhysics.Common.FixedArray2 <FVector2> contactPoints;
FVector2 normal;
string cps = "none";
string cn = "none";
string lpm = "none";
float dot = 0f;
//float dot2 = 0f;
if (isTouching)
{
lastContact.GetWorldManifold(out normal, out contactPoints);
cps = string.Format("p0[ {0}, {1} ] p1[ {2}, {3} ]", contactPoints[0].X, contactPoints[0].Y, contactPoints[1].X, contactPoints[1].Y);
cn = string.Format("[ {0}, {1} ]", normal.X, normal.Y);
FarseerPhysics.Common.FixedArray2 <FarseerPhysics.Collision.ManifoldPoint> lpp = lastContact.Manifold.Points;
lpm = string.Format("nimpulse[ {0}, {1} ] tanimpulse[ {2}, {3} ]", lpp[0].NormalImpulse / Time.fixedDeltaTime, lpp[1].NormalImpulse / Time.fixedDeltaTime, lpp[0].TangentImpulse / Time.fixedDeltaTime, lpp[1].TangentImpulse / Time.fixedDeltaTime);
dot = FVector2.Dot(FVector2.Normalize(-AttachedBody.PhysicsBody.Position + contactPoints[0]), normal);
//dot2 = FVector2.Dot(FVector2.Normalize(-AttachedBody.PhysicsBody.Position+contactPoints[1]), normal);
weight += (1f * (lpp[0].NormalImpulse / Time.fixedDeltaTime) / 9.8f);
weight += (1f * (lpp[1].NormalImpulse / Time.fixedDeltaTime) / 9.8f);
}
guiOutput += string.Format(contactInfoBase,
lastContact.Restitution,
lastContact.TangentSpeed,
cps,
cn,
lpm,
dot);
}
for (int i = 0; i < lastContacts.Count; i++)
{
if (!lastContacts[i].IsTouching())
{
lastContacts.RemoveAt(i);
i = Mathf.Max(0, i - 1);
}
}
float ownmass = AttachedBody.PhysicsBody.Mass;
weight -= ownmass;
weight *= 0.5f;
weight += ownmass;
guiText.text = "TOTAL WEIGHT: " + weight.ToString() + "Kg";
guiText.text += guiOutput;
}
}
private void GetWeight(ref float weight)
{
if (lastContacts.Count < 1)
{
return;
}
float ownWeight = weight;
weight = 0f;
foreach (Contact lastContact in lastContacts)
{
bool isTouching = lastContact.IsTouching();
if (isTouching)
{
FarseerPhysics.Common.FixedArray2 <FarseerPhysics.Collision.ManifoldPoint> localManifoldPoints = lastContact.Manifold.Points;
// gravity = 9.8f (hard coded here just for testing purposes)
// Time.fixedDeltaTime is the FPE timeStep
weight +=
(1f * (localManifoldPoints[0].NormalImpulse / Time.fixedDeltaTime) / 9.8f);
weight +=
(1f * (localManifoldPoints[1].NormalImpulse / Time.fixedDeltaTime) / 9.8f);
}
}
// remove inactive contacts
for (int i = 0; i < lastContacts.Count; i++)
{
if (!lastContacts[i].IsTouching())
{
lastContacts.RemoveAt(i);
i = Mathf.Max(0, i - 1);
}
}
// calc weight
weight -= ownWeight;
weight *= 0.5f;
weight += ownWeight;
}