/// <summary>
/// Checks if two objects are equal.
/// </summary>
/// <param name="obj">The object to check against.</param>
/// <returns>Returns true if they are equal, otherwise false.</returns>
public override bool Equals(object obj)
{
OverlapPairContact other = (OverlapPairContact)obj;
return(other.Entity1.Equals(Entity1) && other.Entity2.Equals(Entity2) ||
other.Entity1.Equals(Entity2) && other.Entity2.Equals(Entity1));
}
/// <summary>
/// Integrates the whole world a timestep further in time.
/// </summary>
/// <param name="timestep">The timestep in seconds.
/// It should be small as possible to keep the simulation stable.
/// The physics simulation shouldn't run slower than 60fps.
/// (timestep=1/60).</param>
public void Step(FP timestep)
{
this.timestep = timestep;
// yeah! nothing to do!
if (timestep == FP.Zero)
{
return;
}
// throw exception if the timestep is smaller zero.
if (timestep < FP.Zero)
{
throw new ArgumentException("The timestep can't be negative.", "timestep");
}
// Calculate this
//currentAngularDampFactor = (FP)Math.Pow((double)(float)angularDamping, (double)(float)timestep);
//currentLinearDampFactor = (FP)Math.Pow((double)(float)linearDamping, (double)(float)timestep);
#if (WINDOWS_PHONE)
events.RaiseWorldPreStep(timestep);
foreach (RigidBody body in rigidBodies)
{
body.PreStep(timestep);
}
UpdateContacts();
while (removedArbiterQueue.Count > 0)
{
islands.ArbiterRemoved(removedArbiterQueue.Dequeue());
}
foreach (SoftBody body in softbodies)
{
body.Update(timestep);
body.DoSelfCollision(collisionDetectionHandler);
}
CollisionSystem.Detect();
while (addedArbiterQueue.Count > 0)
{
islands.ArbiterCreated(addedArbiterQueue.Dequeue());
}
CheckDeactivation();
IntegrateForces();
HandleArbiter(contactIterations);
Integrate();
foreach (RigidBody body in rigidBodies)
{
body.PostStep(timestep);
}
events.RaiseWorldPostStep(timestep);
#else
events.RaiseWorldPreStep(timestep);
UpdateContacts();
for (int index = 0, length = initialCollisions.Count; index < length; index++)
{
OverlapPairContact op = initialCollisions[index];
events.RaiseBodiesStayCollide(op.contact);
}
for (int index = 0, length = initialTriggers.Count; index < length; index++)
{
OverlapPairContact op = initialTriggers[index];
events.RaiseTriggerStayCollide(op.contact);
}
while (removedArbiterQueue.Count > 0)
{
islands.ArbiterRemoved(removedArbiterQueue.Dequeue());
}
for (int index = 0, length = softbodies.Count; index < length; index++)
{
SoftBody body = softbodies[index];
body.Update(timestep);
body.DoSelfCollision(collisionDetectionHandler);
}
CollisionSystem.Detect();
while (addedArbiterQueue.Count > 0)
{
islands.ArbiterCreated(addedArbiterQueue.Dequeue());
}
CheckDeactivation();
IntegrateForces();
HandleArbiter(contactIterations);
Integrate();
for (int index = 0, length = rigidBodies.Count; index < length; index++)
{
RigidBody body = rigidBodies[index];
body.PostStep();
for (int index2 = 0, length2 = body.constraints.Count; index2 < length2; index2++)
{
body.constraints[index2].PostStep();
}
}
events.RaiseWorldPostStep(timestep);
#endif
}
private void CollisionDetected(RigidBody body1, RigidBody body2, FPVector point1, FPVector point2, FPVector normal, FP penetration)
{
bool anyBodyColliderOnly = body1.IsColliderOnly || body2.IsColliderOnly;
Arbiter arbiter = null;
ArbiterMap selectedArbiterMap = null;
if (anyBodyColliderOnly)
{
selectedArbiterMap = arbiterTriggerMap;
}
else
{
selectedArbiterMap = arbiterMap;
}
bool arbiterCreated = false;
lock (selectedArbiterMap) {
selectedArbiterMap.LookUpArbiter(body1, body2, out arbiter);
if (arbiter == null)
{
arbiter = Arbiter.Pool.GetNew();
arbiter.body1 = body1; arbiter.body2 = body2;
selectedArbiterMap.Add(new ArbiterKey(body1, body2), arbiter);
arbiterCreated = true;
}
}
Contact contact = null;
if (arbiter.body1 == body1)
{
FPVector.Negate(ref normal, out normal);
contact = arbiter.AddContact(point1, point2, normal, penetration, contactSettings);
}
else
{
contact = arbiter.AddContact(point2, point1, normal, penetration, contactSettings);
}
if (arbiterCreated)
{
if (anyBodyColliderOnly)
{
/*if (body1.isColliderOnly) {
* events.RaiseTriggerBeginCollide(body1, body2);
* } else {
* events.RaiseTriggerBeginCollide(body2, body1);
* }*/
events.RaiseTriggerBeginCollide(contact);
body1.arbitersTrigger.Add(arbiter);
body2.arbitersTrigger.Add(arbiter);
OverlapPairContact overlapContact = new OverlapPairContact(body1, body2);
overlapContact.contact = contact;
initialTriggers.Add(overlapContact);
}
else
{
events.RaiseBodiesBeginCollide(contact);
addedArbiterQueue.Enqueue(arbiter);
OverlapPairContact overlapContact = new OverlapPairContact(body1, body2);
overlapContact.contact = contact;
initialCollisions.Add(overlapContact);
}
}
if (!anyBodyColliderOnly && contact != null)
{
events.RaiseContactCreated(contact);
}
}
