// Update the contact manifold and touching status.
// Note: do not assume the fixture AABBs are overlapping or are valid.
internal void Update(b2ContactListener listener)
{
b2Manifold oldManifold = m_manifold;
// Re-enable this contact.
m_flags |= ContactFlags.e_enabledFlag;
bool touching = false;
bool wasTouching = (m_flags & ContactFlags.e_touchingFlag) == ContactFlags.e_touchingFlag;
bool sensorA = m_fixtureA.IsSensor();
bool sensorB = m_fixtureB.IsSensor();
bool sensor = sensorA || sensorB;
b2Body bodyA = m_fixtureA.GetBody();
b2Body bodyB = m_fixtureB.GetBody();
b2Transform xfA = bodyA.GetTransform();
b2Transform xfB = bodyB.GetTransform();
// Is this contact a sensor?
if (sensor)
{
b2Shape shapeA = m_fixtureA.GetShape();
b2Shape shapeB = m_fixtureB.GetShape();
touching = Utils.b2TestOverlap(shapeA, m_indexA, shapeB, m_indexB, xfA, xfB);
// Sensors don't generate manifolds.
m_manifold.pointCount = 0;
}
else
{
Evaluate(m_manifold, xfA, xfB);
touching = m_manifold.pointCount > 0;
// Match old contact ids to new contact ids and copy the
// stored impulses to warm start the solver.
for (int i = 0; i < m_manifold.pointCount; ++i)
{
b2ManifoldPoint mp2 = m_manifold.points[i];
mp2.normalImpulse = 0.0f;
mp2.tangentImpulse = 0.0f;
b2ContactID id2 = mp2.id;
for (int j = 0; j < oldManifold.pointCount; ++j)
{
b2ManifoldPoint mp1 = oldManifold.points[j];
if (mp1.id.key == id2.key)
{
mp2.normalImpulse = mp1.normalImpulse;
mp2.tangentImpulse = mp1.tangentImpulse;
break;
}
}
}
if (touching != wasTouching)
{
bodyA.SetAwake(true);
bodyB.SetAwake(true);
}
}
if (touching)
{
m_flags |= ContactFlags.e_touchingFlag;
}
else
{
m_flags &= ~ContactFlags.e_touchingFlag;
}
if (wasTouching == false && touching == true && listener != null)
{
listener.BeginContact(this);
}
if (wasTouching == true && touching == false && listener != null)
{
listener.EndContact(this);
}
if (sensor == false && touching && listener != null)
{
listener.PreSolve(this, oldManifold);
}
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(b2ContactID obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
public void Update(b2ContactListener listener)
{
// Swap old & new manifold
b2Manifold tManifold = m_oldManifold;
m_oldManifold = m_manifold;
m_manifold = tManifold;
// Re-enable this contact
m_flags |= e_enabledFlag;
bool touching = false;
bool wasTouching = (m_flags & e_touchingFlag) == e_touchingFlag;
b2Body bodyA = m_fixtureA.m_body;
b2Body bodyB = m_fixtureB.m_body;
bool aabbOverlap = m_fixtureA.m_aabb.TestOverlap(m_fixtureB.m_aabb);
// Is this contat a sensor?
if ((m_flags & e_sensorFlag) > 0)
{
if (aabbOverlap)
{
b2Shape shapeA = m_fixtureA.GetShape();
b2Shape shapeB = m_fixtureB.GetShape();
b2Transform xfA = bodyA.GetTransform();
b2Transform xfB = bodyB.GetTransform();
touching = b2Shape.TestOverlap(shapeA, xfA, shapeB, xfB);
}
// Sensors don't generate manifolds
m_manifold.m_pointCount = 0;
}
else
{
// Slow contacts don't generate TOI events.
if (bodyA.GetType() != b2Body.b2_dynamicBody || bodyA.IsBullet() || bodyB.GetType() != b2Body.b2_dynamicBody || bodyB.IsBullet())
{
m_flags |= e_continuousFlag;
}
else
{
m_flags &= ~e_continuousFlag;
}
if (aabbOverlap)
{
Evaluate();
touching = m_manifold.m_pointCount > 0;
// Match old contact ids to new contact ids and copy the
// stored impulses to warm start the solver.
for (int i = 0; i < m_manifold.m_pointCount; ++i)
{
b2ManifoldPoint mp2 = m_manifold.m_points[i];
mp2.m_normalImpulse = 0.0f;
mp2.m_tangentImpulse = 0.0f;
b2ContactID id2 = mp2.m_id;
for (int j = 0; j < m_oldManifold.m_pointCount; ++j)
{
b2ManifoldPoint mp1 = m_oldManifold.m_points[j];
if (mp1.m_id.key == id2.key)
{
mp2.m_normalImpulse = mp1.m_normalImpulse;
mp2.m_tangentImpulse = mp1.m_tangentImpulse;
break;
}
}
}
}
else
{
m_manifold.m_pointCount = 0;
}
if (touching != wasTouching)
{
bodyA.SetAwake(true);
bodyB.SetAwake(true);
}
}
if (touching)
{
m_flags |= e_touchingFlag;
}
else
{
m_flags &= ~e_touchingFlag;
}
if (wasTouching == false && touching == true)
{
listener.BeginContact(this);
}
if (wasTouching == true && touching == false)
{
listener.EndContact(this);
}
if ((m_flags & e_sensorFlag) == 0)
{
listener.PreSolve(this, m_oldManifold);
}
}
