/// <summary> Create a new arbiter - this should only be done by the
/// engine
///
/// </summary>
/// <param name="b1">The first body in contact
/// </param>
/// <param name="b2">The second body in contact
/// </param>
internal Arbiter(Body b1, Body b2)
{
for (int i = 0; i < MAX_POINTS; i++)
{
contacts[i] = new Contact();
}
if (!(b2 is StaticBody) && b1.GetHashCode() < b2.GetHashCode())
{
body1 = b1;
body2 = b2;
}
else
{
body1 = b2;
body2 = b1;
}
}
/// <summary> Set the contact information based on another contact
///
/// </summary>
/// <param name="contact">The contact information
/// </param>
internal virtual void Reconfigure(Contact contact)
{
position.Reconfigure(contact.position);
normal.Reconfigure(contact.normal);
separation = contact.separation;
accumulatedNormalImpulse = contact.accumulatedNormalImpulse;
accumulatedTangentImpulse = contact.accumulatedTangentImpulse;
massNormal = contact.massNormal;
massTangent = contact.massTangent;
bias = contact.bias;
restitution = contact.restitution;
feature.SetFromOther(contact.feature);
}
/// <summary> Update this arbiter from a second set of data determined
/// as the simulation continues
///
/// </summary>
/// <param name="newContacts">The new contacts that have been found
/// </param>
/// <param name="numNewContacts">The number of new contacts discovered
/// </param>
internal virtual void Update(Contact[] newContacts, int numNewContacts)
{
Contact[] mergedContacts = new Contact[MAX_POINTS];
for (int i = 0; i < mergedContacts.Length; i++)
{
mergedContacts[i] = new Contact();
}
for (int i = 0; i < numNewContacts; ++i)
{
Contact cNew = newContacts[i];
int k = - 1;
for (int j = 0; j < numContacts; ++j)
{
Contact cOld = contacts[j];
if (cNew.feature.Equals(cOld.feature))
{
k = j;
break;
}
}
if (k > - 1)
{
Contact c = mergedContacts[i];
Contact cOld = contacts[k];
c.Reconfigure(cNew);
c.accumulatedNormalImpulse = cOld.accumulatedNormalImpulse;
c.accumulatedTangentImpulse = cOld.accumulatedTangentImpulse;
}
else
{
mergedContacts[i].Reconfigure(newContacts[i]);
}
}
for (int i = 0; i < numNewContacts; ++i)
{
contacts[i].Reconfigure(mergedContacts[i]);
}
numContacts = numNewContacts;
}