Exemplo n.º 1
0
        /// Set the contact filtering data. This will not update contacts until the next time
        /// step when either parent body is active and awake.
        public void SetFilterData(ref Filter filter)
        {
            _filter = filter;

            if (_body == null)
            {
                return;
            }

            // Flag associated contacts for filtering.
            ContactEdge edge = _body.GetContactList();

            while (edge != null)
            {
                Contact contact  = edge.Contact;
                Fixture fixtureA = contact.GetFixtureA();
                Fixture fixtureB = contact.GetFixtureB();
                if (fixtureA == this || fixtureB == this)
                {
                    contact.FlagForFiltering();
                }

                edge = edge.Next;
            }
        }
Exemplo n.º 2
0
        public void Initialize(Contact[] contacts, int count, Body toiBody)
        {
            _count   = count;
            _toiBody = toiBody;
            if (_constraints.Length < _count)
            {
                _constraints = new TOIConstraint[Math.Max(_constraints.Length * 2, _count)];
            }

            for (int i = 0; i < _count; ++i)
            {
                Contact contact = contacts[i];

                Fixture  fixtureA = contact.GetFixtureA();
                Fixture  fixtureB = contact.GetFixtureB();
                Shape    shapeA   = fixtureA.GetShape();
                Shape    shapeB   = fixtureB.GetShape();
                float    radiusA  = shapeA._radius;
                float    radiusB  = shapeB._radius;
                Body     bodyA    = fixtureA.GetBody();
                Body     bodyB    = fixtureB.GetBody();
                Manifold manifold;
                contact.GetManifold(out manifold);

                //Debug.Assert(manifold._pointCount > 0);

                TOIConstraint constraint = _constraints[i];
                constraint.bodyA       = bodyA;
                constraint.bodyB       = bodyB;
                constraint.localNormal = manifold._localNormal;
                constraint.localPoint  = manifold._localPoint;
                constraint.type        = manifold._type;
                constraint.pointCount  = manifold._pointCount;
                constraint.radius      = radiusA + radiusB;

                for (int j = 0; j < constraint.pointCount; ++j)
                {
                    constraint.localPoints[j] = manifold._points[j].LocalPoint;
                }

                _constraints[i] = constraint;
            }
        }
Exemplo n.º 3
0
        // Broad-phase callback.
        internal void AddPair(FixtureProxy proxyA, FixtureProxy proxyB)
        {
            Fixture fixtureA = proxyA.fixture;
            Fixture fixtureB = proxyB.fixture;

            int indexA = proxyA.childIndex;
            int indexB = proxyB.childIndex;

            Body bodyA = fixtureA.GetBody();
            Body bodyB = fixtureB.GetBody();

            // Are the fixtures on the same body?
            if (bodyA == bodyB)
            {
                return;
            }

            // Does a contact already exist?
            ContactEdge edge = bodyB.GetContactList();

            while (edge != null)
            {
                if (edge.Other == bodyA)
                {
                    Fixture fA = edge.Contact.GetFixtureA();
                    Fixture fB = edge.Contact.GetFixtureB();
                    int     iA = edge.Contact.GetChildIndexA();
                    int     iB = edge.Contact.GetChildIndexB();

                    if (fA == fixtureA && fB == fixtureB && iA == indexA && iB == indexB)
                    {
                        // A contact already exists.
                        return;
                    }

                    if (fA == fixtureB && fB == fixtureA && iA == indexB && iB == indexA)
                    {
                        // A contact already exists.
                        return;
                    }
                }

                edge = edge.Next;
            }

            // Does a joint override collision? Is at least one body dynamic?
            if (bodyB.ShouldCollide(bodyA) == false)
            {
                return;
            }

            // Check user filtering.
            if (ContactFilter != null && ContactFilter.ShouldCollide(fixtureA, fixtureB) == false)
            {
                return;
            }

            // Call the factory.
            Contact c = Contact.Create(fixtureA, indexA, fixtureB, indexB);

            // Contact creation may swap fixtures.
            fixtureA = c.GetFixtureA();
            fixtureB = c.GetFixtureB();
            indexA   = c.GetChildIndexA();
            indexB   = c.GetChildIndexB();
            bodyA    = fixtureA.GetBody();
            bodyB    = fixtureB.GetBody();

            // Insert into the world.
            c._prev = null;
            c._next = _contactList;
            if (_contactList != null)
            {
                _contactList._prev = c;
            }
            _contactList = c;

            // Connect to island graph.

            // Connect to body A
            c._nodeA.Contact = c;
            c._nodeA.Other   = bodyB;

            c._nodeA.Prev = null;
            c._nodeA.Next = bodyA._contactList;
            if (bodyA._contactList != null)
            {
                bodyA._contactList.Prev = c._nodeA;
            }
            bodyA._contactList = c._nodeA;

            // Connect to body B
            c._nodeB.Contact = c;
            c._nodeB.Other   = bodyA;

            c._nodeB.Prev = null;
            c._nodeB.Next = bodyB._contactList;
            if (bodyB._contactList != null)
            {
                bodyB._contactList.Prev = c._nodeB;
            }
            bodyB._contactList = c._nodeB;

            ++_contactCount;
        }
Exemplo n.º 4
0
        internal void Collide()
        {
            // Update awake contacts.
            Contact c = _contactList;

            while (c != null)
            {
                Fixture fixtureA = c.GetFixtureA();
                Fixture fixtureB = c.GetFixtureB();
                int     indexA   = c.GetChildIndexA();
                int     indexB   = c.GetChildIndexB();
                Body    bodyA    = fixtureA.GetBody();
                Body    bodyB    = fixtureB.GetBody();

                if (bodyA.IsAwake() == false && bodyB.IsAwake() == false)
                {
                    c = c.GetNext();
                    continue;
                }

                // Is this contact flagged for filtering?
                if ((c._flags & ContactFlags.Filter) == ContactFlags.Filter)
                {
                    // Should these bodies collide?
                    if (bodyB.ShouldCollide(bodyA) == false)
                    {
                        Contact cNuke = c;
                        c = cNuke.GetNext();
                        Destroy(cNuke);
                        continue;
                    }

                    // Check user filtering.
                    if (ContactFilter != null && ContactFilter.ShouldCollide(fixtureA, fixtureB) == false)
                    {
                        Contact cNuke = c;
                        c = cNuke.GetNext();
                        Destroy(cNuke);
                        continue;
                    }

                    // Clear the filtering flag.
                    c._flags &= ~ContactFlags.Filter;
                }

                int proxyIdA = fixtureA._proxies[indexA].proxyId;
                int proxyIdB = fixtureB._proxies[indexB].proxyId;

                bool overlap = _broadPhase.TestOverlap(proxyIdA, proxyIdB);

                // Here we destroy contacts that cease to overlap in the broad-phase.
                if (overlap == false)
                {
                    Contact cNuke = c;
                    c = cNuke.GetNext();
                    Destroy(cNuke);
                    continue;
                }

                // The contact persists.
                c.Update(ContactListener);
                c = c.GetNext();
            }
        }
Exemplo n.º 5
0
        internal void Destroy(Contact c)
        {
            Fixture fixtureA = c.GetFixtureA();
            Fixture fixtureB = c.GetFixtureB();
            Body    bodyA    = fixtureA.GetBody();
            Body    bodyB    = fixtureB.GetBody();

            if (ContactListener != null && c.IsTouching())
            {
                ContactListener.EndContact(c);
            }

            // Remove from the world.
            if (c._prev != null)
            {
                c._prev._next = c._next;
            }

            if (c._next != null)
            {
                c._next._prev = c._prev;
            }

            if (c == _contactList)
            {
                _contactList = c._next;
            }

            // Remove from body 1
            if (c._nodeA.Prev != null)
            {
                c._nodeA.Prev.Next = c._nodeA.Next;
            }

            if (c._nodeA.Next != null)
            {
                c._nodeA.Next.Prev = c._nodeA.Prev;
            }

            if (c._nodeA == bodyA._contactList)
            {
                bodyA._contactList = c._nodeA.Next;
            }

            // Remove from body 2
            if (c._nodeB.Prev != null)
            {
                c._nodeB.Prev.Next = c._nodeB.Next;
            }

            if (c._nodeB.Next != null)
            {
                c._nodeB.Next.Prev = c._nodeB.Prev;
            }

            if (c._nodeB == bodyB._contactList)
            {
                bodyB._contactList = c._nodeB.Next;
            }

            c.Destroy();

            --_contactCount;
        }
Exemplo n.º 6
0
        /// Destroy a fixture. This removes the fixture from the broad-phase and
        /// destroys all contacts associated with this fixture. This will
        /// automatically adjust the mass of the body if the body is dynamic and the
        /// fixture has positive density.
        /// All fixtures attached to a body are implicitly destroyed when the body is destroyed.
        /// @param fixture the fixture to be removed.
        /// @warning This function is locked during callbacks.
        public void DestroyFixture(Fixture fixture)
        {
            //Debug.Assert(_world.IsLocked == false);
            if (_world.IsLocked == true)
            {
                return;
            }

            //Debug.Assert(fixture._body == this);

            // Remove the fixture from this body's singly linked list.
            //Debug.Assert(_fixtureCount > 0);
            Fixture node  = _fixtureList;
            bool    found = false;

            while (node != null)
            {
                if (node == fixture)
                {
                    _fixtureList = fixture._next;
                    found        = true;
                    break;
                }

                node = node._next;
            }

            // you tried to remove a shape that is not attached to this body.
            //Debug.Assert(found);

            // Destroy any contacts associated with the fixture.
            ContactEdge edge = _contactList;

            while (edge != null)
            {
                Contact c = edge.Contact;
                edge = edge.Next;

                Fixture fixtureA = c.GetFixtureA();
                Fixture fixtureB = c.GetFixtureB();

                if (fixture == fixtureA || fixture == fixtureB)
                {
                    // This destroys the contact and removes it from
                    // this body's contact list.
                    _world._contactManager.Destroy(c);
                }
            }

            if ((_flags & BodyFlags.Active) == BodyFlags.Active)
            {
                //Debug.Assert(fixture._proxyId != BroadPhase.NullProxy);

                BroadPhase broadPhase = _world._contactManager._broadPhase;
                fixture.DestroyProxies(broadPhase);
            }

            fixture.Destroy();
            fixture._body = null;
            fixture._next = null;

            --_fixtureCount;


            ResetMassData();
        }