private void Reset(Fixture fA, int indexA, Fixture fB, int indexB)
{
Flags = ContactFlags.Enabled;
FixtureA = fA;
FixtureB = fB;
ChildIndexA = indexA;
ChildIndexB = indexB;
Manifold.PointCount = 0;
NodeA.Contact = null;
NodeA.Prev = null;
NodeA.Next = null;
NodeA.Other = null;
NodeB.Contact = null;
NodeB.Prev = null;
NodeB.Next = null;
NodeB.Other = null;
TOICount = 0;
//FPE: We only set the friction and restitution if we are not destroying the contact
if (FixtureA != null && FixtureB != null)
{
Friction = Settings.MixFriction(FixtureA.Friction, FixtureB.Friction);
Restitution = Settings.MixRestitution(FixtureA.Restitution, FixtureB.Restitution);
}
TangentSpeed = 0;
}
private void Reset(Fixture fA, int indexA, Fixture fB, int indexB)
{
Flags = ContactFlags.Enabled;
FixtureA = fA;
FixtureB = fB;
ChildIndexA = indexA;
ChildIndexB = indexB;
Manifold.PointCount = 0;
Prev = null;
Next = null;
NodeA.Contact = null;
NodeA.Prev = null;
NodeA.Next = null;
NodeA.Other = null;
NodeB.Contact = null;
NodeB.Prev = null;
NodeB.Next = null;
NodeB.Other = null;
TOICount = 0;
}
protected Contact(Fixture fA, int indexA, Fixture fB, int indexB)
{
m_flags = ContactFlags.e_enabledFlag;
m_fixtureA = fA;
m_fixtureB = fB;
m_indexA = indexA;
m_indexB = indexB;
m_manifold = new Manifold();
m_manifold.points.Clear();
m_nodeA.contact = null;
m_nodeA.other = null;
m_nodeB.contact = null;
m_nodeB.other = null;
m_toiCount = 0;
m_friction = MixFriction(m_fixtureA.m_friction, m_fixtureB.m_friction);
m_restitution = MixRestitution(m_fixtureA.m_restitution, m_fixtureB.m_restitution);
m_tangentSpeed = 0.0f;
}
/// <summary>
/// initialization for pooling
/// </summary>
public virtual void Init(Fixture fA, int indexA, Fixture fB, int indexB)
{
Flags = 0;
FixtureA = fA;
FixtureB = fB;
ChildIndexA = indexA;
ChildIndexB = indexB;
Manifold.PointCount = 0;
Prev = null;
Next = null;
NodeA.Contact = null;
NodeA.Prev = null;
NodeA.Next = null;
NodeA.Other = null;
NodeB.Contact = null;
NodeB.Prev = null;
NodeB.Next = null;
NodeB.Other = null;
ToiCount = 0;
Friction = MixFriction(fA.Friction, fB.Friction);
Restitution = MixRestitution(fA.Restitution, fB.Restitution);
TangentSpeed = 0;
}
private void Reset(Fixture fA, int indexA, Fixture fB, int indexB)
{
this.Flags = ContactFlags.Enabled;
this.FixtureA = fA;
this.FixtureB = fB;
this.ChildIndexA = indexA;
this.ChildIndexB = indexB;
this.Manifold.PointCount = 0;
this.NodeA.Contact = null;
this.NodeA.Prev = null;
this.NodeA.Next = null;
this.NodeA.Other = null;
this.NodeB.Contact = null;
this.NodeB.Prev = null;
this.NodeB.Next = null;
this.NodeB.Other = null;
this.TOICount = 0;
}
/// <summary>
/// Enable this contact.
/// </summary>
public void Enable()
{
Flags |= ContactFlags.Enabled;
}
/// <summary>
/// Update the contact manifold and touching status.
/// Note: do not assume the fixture AABBs are overlapping or are valid.
/// </summary>
/// <param name="contactManager">The contact manager.</param>
internal void Update(ContactManager contactManager)
{
Manifold oldManifold = Manifold;
// Re-enable this contact.
Flags |= ContactFlags.Enabled;
bool touching;
bool wasTouching = (Flags & ContactFlags.Touching) == ContactFlags.Touching;
bool sensor = FixtureA.IsSensor || FixtureB.IsSensor;
Body bodyA = FixtureA.Body;
Body bodyB = FixtureB.Body;
// Is this contact a sensor?
if (sensor)
{
Shape shapeA = FixtureA.Shape;
Shape shapeB = FixtureB.Shape;
touching = AABB.TestOverlap(shapeA, ChildIndexA, shapeB, ChildIndexB, ref bodyA.Xf, ref bodyB.Xf);
// Sensors don't generate manifolds.
Manifold.PointCount = 0;
}
else
{
Evaluate(ref Manifold, ref bodyA.Xf, ref bodyB.Xf);
touching = 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 < Manifold.PointCount; ++i)
{
ManifoldPoint mp2 = Manifold.Points[i];
mp2.NormalImpulse = 0.0f;
mp2.TangentImpulse = 0.0f;
ContactID id2 = mp2.Id;
for (int j = 0; j < oldManifold.PointCount; ++j)
{
ManifoldPoint mp1 = oldManifold.Points[j];
if (mp1.Id.Key == id2.Key)
{
mp2.NormalImpulse = mp1.NormalImpulse;
mp2.TangentImpulse = mp1.TangentImpulse;
break;
}
}
Manifold.Points[i] = mp2;
}
if (touching != wasTouching)
{
bodyA.Awake = true;
bodyB.Awake = true;
}
}
if (touching)
{
Flags |= ContactFlags.Touching;
}
else
{
Flags &= ~ContactFlags.Touching;
}
if (wasTouching == false)
{
if (touching)
{
#if true
bool enabledA, enabledB;
// Report the collision to both participants. Track which ones returned true so we can
// later call OnSeparation if the contact is disabled for a different reason.
if (FixtureA.OnCollision != null)
enabledA = FixtureA.OnCollision(FixtureA, FixtureB, this);
else
enabledA = true;
// Reverse the order of the reported fixtures. The first fixture is always the one that the
// user subscribed to.
if (FixtureB.OnCollision != null)
enabledB = FixtureB.OnCollision(FixtureB, FixtureA, this);
else
enabledB = true;
Enabled = enabledA && enabledB;
// BeginContact can also return false and disable the contact
if (enabledA && enabledB && contactManager.BeginContact != null)
{
Enabled = contactManager.BeginContact(this);
}
// If the user disabled the contact (needed to exclude it in TOI solver) at any point by
// any of the callbacks, we need to mark it as not touching and call any separation
// callbacks for fixtures that didn't explicitly disable the collision.
if (!Enabled)
{
Flags &= ~ContactFlags.Touching;
}
#else
//Report the collision to both participants:
if (FixtureA.OnCollision != null)
Enabled = FixtureA.OnCollision(FixtureA, FixtureB, this);
//Reverse the order of the reported fixtures. The first fixture is always the one that the
//user subscribed to.
if (FixtureB.OnCollision != null)
Enabled = FixtureB.OnCollision(FixtureB, FixtureA, this);
//BeginContact can also return false and disable the contact
if (contactManager.BeginContact != null)
Enabled = contactManager.BeginContact(this);
//if the user disabled the contact (needed to exclude it in TOI solver), we also need to mark
//it as not touching.
if (Enabled == false)
Flags &= ~ContactFlags.Touching;
#endif
}
}
else
{
if (touching == false)
{
//Report the separation to both participants:
if (FixtureA != null && FixtureA.OnSeparation != null)
FixtureA.OnSeparation(FixtureA, FixtureB);
//Reverse the order of the reported fixtures. The first fixture is always the one that the
//user subscribed to.
if (FixtureB != null && FixtureB.OnSeparation != null)
FixtureB.OnSeparation(FixtureB, FixtureA);
if (contactManager.EndContact != null)
contactManager.EndContact(this);
}
}
if (sensor)
return;
if (contactManager.PreSolve != null)
contactManager.PreSolve(this, ref oldManifold);
}
/// <summary>
/// Enable this contact.
/// </summary>
public void Enable()
{
Flags |= ContactFlags.Enabled;
}
void SetFlag(ContactFlags flag, bool value)
{
Flags = value ? (Flags | flag) : (Flags & ~flag);
}
// Update the contact manifold and touching status.
// Note: do not assume the fixture AABBs are overlapping or are valid.
internal void Update(ContactListener listener){
Manifold 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;
Body bodyA = m_fixtureA.GetBody();
Body bodyB = m_fixtureB.GetBody();
Transform xfA = bodyA.GetTransform();
Transform xfB = bodyB.GetTransform();
// Is this contact a sensor?
if (sensor)
{
Shape shapeA = m_fixtureA.GetShape();
Shape shapeB = m_fixtureB.GetShape();
touching = Collision.TestOverlap(shapeA, m_indexA, shapeB, m_indexB, xfA, xfB);
// Sensors don't generate manifolds.
m_manifold.points.Clear();
}
else
{
Evaluate(out m_manifold, xfA, xfB);
touching = m_manifold.points.Count() > 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.points.Count(); ++i)
{
ManifoldPoint mp2 = m_manifold.points[i];
mp2.normalImpulse = 0.0f;
mp2.tangentImpulse = 0.0f;
ContactID id2 = mp2.id;
for (int j = 0; j < oldManifold.points.Count(); ++j) {
ManifoldPoint 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);
}
}
protected Contact(Fixture fA, int indexA, Fixture fB, int indexB) {
m_flags = ContactFlags.e_enabledFlag;
m_fixtureA = fA;
m_fixtureB = fB;
m_indexA = indexA;
m_indexB = indexB;
m_manifold = new Manifold();
m_manifold.points.Clear();
m_nodeA.contact = null;
m_nodeA.other = null;
m_nodeB.contact = null;
m_nodeB.other = null;
m_toiCount = 0;
m_friction = MixFriction(m_fixtureA.m_friction, m_fixtureB.m_friction);
m_restitution = MixRestitution(m_fixtureA.m_restitution, m_fixtureB.m_restitution);
m_tangentSpeed = 0.0f;
}
public abstract void Evaluate(out Manifold manifold, Transform xfA, Transform xfB); //manifold was pointer
/// Flag this contact for filtering. Filtering will occur the next time step.
internal void FlagForFiltering(){
m_flags |= ContactFlags.e_filterFlag;
}
/// <summary>
/// Update the contact manifold and touching status.
/// Note: do not assume the fixture AABBs are overlapping or are valid.
/// </summary>
/// <param name="contactManager">The contact manager.</param>
internal void Update(FSContactManager contactManager)
{
Manifold oldManifold = Manifold;
// Re-enable this contact.
Flags |= ContactFlags.Enabled;
bool touching;
bool wasTouching = (Flags & ContactFlags.Touching) == ContactFlags.Touching;
bool sensor = FixtureA.IsSensor || FixtureB.IsSensor;
FSBody bodyA = FixtureA.Body;
FSBody bodyB = FixtureB.Body;
// Is this contact a sensor?
if (sensor)
{
Shape shapeA = FixtureA.Shape;
Shape shapeB = FixtureB.Shape;
touching = AABB.TestOverlap(shapeA, ChildIndexA, shapeB, ChildIndexB, ref bodyA.Xf, ref bodyB.Xf);
// Sensors don't generate manifolds.
Manifold.PointCount = 0;
}
else
{
Evaluate(ref Manifold, ref bodyA.Xf, ref bodyB.Xf);
touching = 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 < Manifold.PointCount; ++i)
{
ManifoldPoint mp2 = Manifold.Points[i];
mp2.NormalImpulse = 0.0f;
mp2.TangentImpulse = 0.0f;
ContactID id2 = mp2.Id;
for (int j = 0; j < oldManifold.PointCount; ++j)
{
ManifoldPoint mp1 = oldManifold.Points[j];
if (mp1.Id.Key == id2.Key)
{
mp2.NormalImpulse = mp1.NormalImpulse;
mp2.TangentImpulse = mp1.TangentImpulse;
break;
}
}
Manifold.Points[i] = mp2;
}
if (touching != wasTouching)
{
bodyA.Awake = true;
bodyB.Awake = true;
}
}
if (touching)
{
Flags |= ContactFlags.Touching;
}
else
{
Flags &= ~ContactFlags.Touching;
}
if (wasTouching == false)
{
if (touching)
{
#if true
bool enabledA, enabledB;
// Report the collision to both participants. Track which ones returned true so we can
// later call OnSeparation if the contact is disabled for a different reason.
if (FixtureA.OnCollision != null)
{
enabledA = FixtureA.OnCollision(FixtureA, FixtureB, this);
}
else
{
enabledA = true;
}
// Reverse the order of the reported fixtures. The first fixture is always the one that the
// user subscribed to.
if (FixtureB.OnCollision != null)
{
enabledB = FixtureB.OnCollision(FixtureB, FixtureA, this);
}
else
{
enabledB = true;
}
Enabled = enabledA && enabledB;
// BeginContact can also return false and disable the contact
if (enabledA && enabledB && contactManager.BeginContact != null)
{
Enabled = contactManager.BeginContact(this);
}
// If the user disabled the contact (needed to exclude it in TOI solver) at any point by
// any of the callbacks, we need to mark it as not touching and call any separation
// callbacks for fixtures that didn't explicitly disable the collision.
if (!Enabled)
{
Flags &= ~ContactFlags.Touching;
}
#else
//Report the collision to both participants:
if (FixtureA.OnCollision != null)
{
Enabled = FixtureA.OnCollision(FixtureA, FixtureB, this);
}
//Reverse the order of the reported fixtures. The first fixture is always the one that the
//user subscribed to.
if (FixtureB.OnCollision != null)
{
Enabled = FixtureB.OnCollision(FixtureB, FixtureA, this);
}
//BeginContact can also return false and disable the contact
if (contactManager.BeginContact != null)
{
Enabled = contactManager.BeginContact(this);
}
//if the user disabled the contact (needed to exclude it in TOI solver), we also need to mark
//it as not touching.
if (Enabled == false)
{
Flags &= ~ContactFlags.Touching;
}
#endif
}
}
else
{
if (touching == false)
{
//Report the separation to both participants:
if (FixtureA != null && FixtureA.OnSeparation != null)
{
FixtureA.OnSeparation(FixtureA, FixtureB);
}
//Reverse the order of the reported fixtures. The first fixture is always the one that the
//user subscribed to.
if (FixtureB != null && FixtureB.OnSeparation != null)
{
FixtureB.OnSeparation(FixtureB, FixtureA);
}
if (contactManager.EndContact != null)
{
contactManager.EndContact(this);
}
}
}
if (sensor)
{
return;
}
if (contactManager.PreSolve != null)
{
contactManager.PreSolve(this, ref oldManifold);
}
}
// Update the contact manifold and touching status.
// Note: do not assume the fixture AABBs are overlapping or are valid.
internal void Update(ContactListener listener)
{
Manifold 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;
Body bodyA = m_fixtureA.GetBody();
Body bodyB = m_fixtureB.GetBody();
Transform xfA = bodyA.GetTransform();
Transform xfB = bodyB.GetTransform();
// Is this contact a sensor?
if (sensor)
{
Shape shapeA = m_fixtureA.GetShape();
Shape shapeB = m_fixtureB.GetShape();
touching = Collision.TestOverlap(shapeA, m_indexA, shapeB, m_indexB, xfA, xfB);
// Sensors don't generate manifolds.
m_manifold.points.Clear();
}
else
{
Evaluate(out m_manifold, xfA, xfB);
touching = m_manifold.points.Count() > 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.points.Count(); ++i)
{
ManifoldPoint mp2 = m_manifold.points[i];
mp2.normalImpulse = 0.0f;
mp2.tangentImpulse = 0.0f;
ContactID id2 = mp2.id;
for (int j = 0; j < oldManifold.points.Count(); ++j)
{
ManifoldPoint 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);
}
}
/// <summary>
/// Enable/disable this contact. This can be used inside the pre-solve
/// contact listener. The contact is only disabled for the current
/// time step (or sub-step in continuous collisions).
/// </summary>
/// <param name="flag"></param>
public void SetEnabled(bool flag)
{
if (flag)
{
_flags |= ContactFlags.Enabled;
}
else
{
_flags &= ~ContactFlags.Enabled;
}
}
private void Reset(Fixture fA, int indexA, Fixture fB, int indexB)
{
Flags = ContactFlags.Enabled;
FixtureA = fA;
FixtureB = fB;
ChildIndexA = indexA;
ChildIndexB = indexB;
Manifold.PointCount = 0;
Prev = null;
Next = null;
NodeA.Contact = null;
NodeA.Prev = null;
NodeA.Next = null;
NodeA.Other = null;
NodeB.Contact = null;
NodeB.Prev = null;
NodeB.Next = null;
NodeB.Other = null;
TOICount = 0;
}
internal void Reset(Fixture fA, Fixture fB)
{
_flags = ContactFlags.Enabled;
_fixtureA = fA;
_fixtureB = fB;
_manifold._pointCount = 0;
_prev = null;
_next = null;
_nodeA.Contact = null;
_nodeA.Prev = null;
_nodeA.Next = null;
_nodeA.Other = null;
_nodeB.Contact = null;
_nodeB.Prev = null;
_nodeB.Next = null;
_nodeB.Other = null;
_toiCount = 0;
}
public void Update(IContactListener listener)
{
oldManifold.Set(Manifold);
// Re-enable this contact.
Flags |= ContactFlags.Enabled;
bool touching;
bool wasTouching = (Flags & ContactFlags.Touching) == ContactFlags.Touching;
bool sensorA = FixtureA.Sensor;
bool sensorB = FixtureB.Sensor;
bool sensor = sensorA || sensorB;
Body bodyA = FixtureA.Body;
Body bodyB = FixtureB.Body;
Transform xfA = bodyA.GetTransform();
Transform xfB = bodyB.GetTransform();
// log.debug("TransformA: "+xfA);
// log.debug("TransformB: "+xfB);
if (sensor)
{
Shape shapeA = FixtureA.Shape;
Shape shapeB = FixtureB.Shape;
touching = Pool.GetCollision().TestOverlap(shapeA, ChildIndexA, shapeB, ChildIndexB, xfA, xfB);
// Sensors don't generate manifolds.
Manifold.PointCount = 0;
}
else
{
Evaluate(Manifold, xfA, xfB);
touching = 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 < Manifold.PointCount; ++i)
{
ManifoldPoint mp2 = Manifold.Points[i];
mp2.NormalImpulse = 0.0f;
mp2.TangentImpulse = 0.0f;
ContactID id2 = mp2.Id;
for (int j = 0; j < oldManifold.PointCount; ++j)
{
ManifoldPoint mp1 = oldManifold.Points[j];
if (mp1.Id.IsEqual(id2))
{
mp2.NormalImpulse = mp1.NormalImpulse;
mp2.TangentImpulse = mp1.TangentImpulse;
break;
}
}
}
if (touching != wasTouching)
{
bodyA.Awake = true;
bodyB.Awake = true;
}
}
if (touching)
{
Flags |= ContactFlags.Touching;
}
else
{
Flags &= ~ContactFlags.Touching;
}
if (listener == null)
{
return;
}
if (!wasTouching && touching)
{
listener.BeginContact(this);
}
if (wasTouching && !touching)
{
listener.EndContact(this);
}
if (!sensor && touching)
{
listener.PreSolve(this, oldManifold);
}
}
/// <summary>
/// Update the contact manifold and touching status.
/// Note: do not assume the fixture AABBs are overlapping or are valid.
/// </summary>
/// <param name="listener"></param>
internal void Update(IContactListener listener)
{
Manifold oldManifold = _manifold;
// Re-enable this contact.
_flags |= ContactFlags.Enabled;
bool touching = false;
bool wasTouching = (_flags & ContactFlags.Touching) == ContactFlags.Touching;
bool sensorA = _fixtureA.IsSensor();
bool sensorB = _fixtureB.IsSensor();
bool sensor = sensorA || sensorB;
Body bodyA = _fixtureA.GetBody();
Body bodyB = _fixtureB.GetBody();
Transform xfA; bodyA.GetTransform(out xfA);
Transform xfB; bodyB.GetTransform(out xfB);
// Is this contact a sensor?
if (sensor)
{
Shape shapeA = _fixtureA.GetShape();
Shape shapeB = _fixtureB.GetShape();
touching = AABB.TestOverlap(shapeA, shapeB, ref xfA, ref xfB);
// Sensors don't generate manifolds.
_manifold._pointCount = 0;
}
else
{
Evaluate(ref _manifold, ref xfA, ref xfB);
touching = _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 < _manifold._pointCount; ++i)
{
ManifoldPoint mp2 = _manifold._points[i];
mp2.NormalImpulse = 0.0f;
mp2.TangentImpulse = 0.0f;
ContactID id2 = mp2.Id;
for (int j = 0; j < oldManifold._pointCount; ++j)
{
ManifoldPoint mp1 = oldManifold._points[j];
if (mp1.Id.Key == id2.Key)
{
mp2.NormalImpulse = mp1.NormalImpulse;
mp2.TangentImpulse = mp1.TangentImpulse;
break;
}
}
_manifold._points[i] = mp2;
}
if (touching != wasTouching)
{
bodyA.SetAwake(true);
bodyB.SetAwake(true);
}
}
if (touching)
{
_flags |= ContactFlags.Touching;
}
else
{
_flags &= ~ContactFlags.Touching;
}
if (wasTouching == false && touching == true)
{
listener.BeginContact(this);
}
if (wasTouching == true && touching == false)
{
listener.EndContact(this);
}
if (sensor == false)
{
listener.PreSolve(this, ref oldManifold);
}
}
/// <summary>
/// Disable this contact.
/// </summary>
public void Disable()
{
Flags &= ~ContactFlags.Enabled;
}
void SetFlag(ContactFlags flag, bool value)
{
Flags = value ? (Flags | flag) : (Flags & ~flag);
}
/// <summary>
/// Flag this contact for filtering. Filtering will occur the next time step.
/// </summary>
public void FlagForFiltering()
{
Flags |= ContactFlags.Filter;
}
/// <summary>
/// initialization for pooling
/// </summary>
public virtual void Init(Fixture fA, int indexA, Fixture fB, int indexB)
{
Flags = 0;
FixtureA = fA;
FixtureB = fB;
ChildIndexA = indexA;
ChildIndexB = indexB;
Manifold.PointCount = 0;
Prev = null;
Next = null;
NodeA.Contact = null;
NodeA.Prev = null;
NodeA.Next = null;
NodeA.Other = null;
NodeB.Contact = null;
NodeB.Prev = null;
NodeB.Next = null;
NodeB.Other = null;
ToiCount = 0;
Friction = MixFriction(fA.Friction, fB.Friction);
Restitution = MixRestitution(fA.Restitution, fB.Restitution);
TangentSpeed = 0;
}
private void Reset(Fixture fA, int indexA, Fixture fB, int indexB)
{
Flags = ContactFlags.Enabled;
FixtureA = fA;
FixtureB = fB;
ChildIndexA = indexA;
ChildIndexB = indexB;
Manifold.PointCount = 0;
NodeA.Contact = null;
NodeA.Prev = null;
NodeA.Next = null;
NodeA.Other = null;
NodeB.Contact = null;
NodeB.Prev = null;
NodeB.Next = null;
NodeB.Other = null;
TOICount = 0;
//FPE: We only set the friction and restitution if we are not destroying the contact
if (FixtureA != null && FixtureB != null)
{
Friction = Settings.MixFriction(FixtureA.Friction, FixtureB.Friction);
Restitution = Settings.MixRestitution(FixtureA.Restitution, FixtureB.Restitution);
}
TangentSpeed = 0;
}
public void Update(IContactListener listener)
{
oldManifold.Set(Manifold);
// Re-enable this contact.
Flags |= ContactFlags.Enabled;
bool touching;
bool wasTouching = (Flags & ContactFlags.Touching) == ContactFlags.Touching;
bool sensorA = FixtureA.Sensor;
bool sensorB = FixtureB.Sensor;
bool sensor = sensorA || sensorB;
Body bodyA = FixtureA.Body;
Body bodyB = FixtureB.Body;
Transform xfA = bodyA.GetTransform();
Transform xfB = bodyB.GetTransform();
// log.debug("TransformA: "+xfA);
// log.debug("TransformB: "+xfB);
if (sensor)
{
Shape shapeA = FixtureA.Shape;
Shape shapeB = FixtureB.Shape;
touching = Pool.GetCollision().TestOverlap(shapeA, ChildIndexA, shapeB, ChildIndexB, xfA, xfB);
// Sensors don't generate manifolds.
Manifold.PointCount = 0;
}
else
{
Evaluate(Manifold, xfA, xfB);
touching = 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 < Manifold.PointCount; ++i)
{
ManifoldPoint mp2 = Manifold.Points[i];
mp2.NormalImpulse = 0.0f;
mp2.TangentImpulse = 0.0f;
ContactID id2 = mp2.Id;
for (int j = 0; j < oldManifold.PointCount; ++j)
{
ManifoldPoint mp1 = oldManifold.Points[j];
if (mp1.Id.IsEqual(id2))
{
mp2.NormalImpulse = mp1.NormalImpulse;
mp2.TangentImpulse = mp1.TangentImpulse;
break;
}
}
}
if (touching != wasTouching)
{
bodyA.Awake = true;
bodyB.Awake = true;
}
}
if (touching)
{
Flags |= ContactFlags.Touching;
}
else
{
Flags &= ~ContactFlags.Touching;
}
if (listener == null)
{
return;
}
if (!wasTouching && touching)
{
listener.BeginContact(this);
}
if (wasTouching && !touching)
{
listener.EndContact(this);
}
if (!sensor && touching)
{
listener.PreSolve(this, oldManifold);
}
}
/// <summary>
/// Disable this contact.
/// </summary>
public void Disable()
{
Flags &= ~ContactFlags.Enabled;
}
/// <summary>
/// Update the contact manifold and touching status.
/// Note: do not assume the fixture AABBs are overlapping or are valid.
/// </summary>
/// <param name="contactManager">The contact manager.</param>
internal void Update(ContactManager contactManager)
{
if (FixtureA == null || FixtureB == null)
{
return;
}
Body bodyA = FixtureA.Body;
Body bodyB = FixtureB.Body;
Manifold oldManifold = Manifold;
// Re-enable this contact.
_flags |= ContactFlags.EnabledFlag;
bool touching;
bool wasTouching = IsTouching;
bool sensor = FixtureA.IsSensor || FixtureB.IsSensor;
// Is this contact a sensor?
if (sensor)
{
Shape shapeA = FixtureA.Shape;
Shape shapeB = FixtureB.Shape;
touching = Narrowphase.Collision.TestOverlap(shapeA, ChildIndexA, shapeB, ChildIndexB, ref bodyA._xf, ref bodyB._xf);
// Sensors don't generate manifolds.
Manifold.PointCount = 0;
}
else
{
Evaluate(ref Manifold, ref bodyA._xf, ref bodyB._xf);
touching = 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 < Manifold.PointCount; ++i)
{
ManifoldPoint mp2 = Manifold.Points[i];
mp2.NormalImpulse = 0.0f;
mp2.TangentImpulse = 0.0f;
ContactID id2 = mp2.Id;
for (int j = 0; j < oldManifold.PointCount; ++j)
{
ManifoldPoint mp1 = oldManifold.Points[j];
if (mp1.Id.Key == id2.Key)
{
mp2.NormalImpulse = mp1.NormalImpulse;
mp2.TangentImpulse = mp1.TangentImpulse;
break;
}
}
Manifold.Points[i] = mp2;
}
if (touching != wasTouching)
{
bodyA.Awake = true;
bodyB.Awake = true;
}
}
if (touching)
{
_flags |= ContactFlags.TouchingFlag;
}
else
{
_flags &= ~ContactFlags.TouchingFlag;
}
if (wasTouching == false && touching)
{
FixtureA.OnCollision?.Invoke(FixtureA, FixtureB, this);
FixtureB.OnCollision?.Invoke(FixtureB, FixtureA, this);
contactManager.BeginContact?.Invoke(this);
// Velcro: If the user disabled the contact (needed to exclude it in TOI solver) at any point by
// any of the callbacks, we need to mark it as not touching and call any separation
// callbacks for fixtures that didn't explicitly disable the collision.
if (!Enabled)
{
touching = false;
}
}
if (wasTouching == true && touching == false)
{
FixtureA?.OnSeparation?.Invoke(FixtureA, FixtureB, this);
FixtureB?.OnSeparation?.Invoke(FixtureB, FixtureA, this);
contactManager.EndContact?.Invoke(this);
}
if (sensor)
{
return;
}
contactManager.PreSolve?.Invoke(this, ref oldManifold);
}
/// <summary>
/// Flag this contact for filtering. Filtering will occur the next time step.
/// </summary>
public void FlagForFiltering()
{
Flags |= ContactFlags.Filter;
}
/// <summary>
/// Update the contact manifold and touching status.
/// Note: do not assume the fixture AABBs are overlapping or are valid.
/// </summary>
/// <param name="contactManager">The contact manager.</param>
internal void Update(ContactManager contactManager)
{
Manifold oldManifold = Manifold;
// Re-enable this contact.
Flags |= ContactFlags.Enabled;
bool touching;
bool wasTouching = (Flags & ContactFlags.Touching) == ContactFlags.Touching;
bool sensorA = FixtureA.IsSensor;
bool sensorB = FixtureB.IsSensor;
bool sensor = sensorA || sensorB;
Body bodyA = FixtureA.Body;
Body bodyB = FixtureB.Body;
Transform xfA;
bodyA.GetTransform(out xfA);
Transform xfB;
bodyB.GetTransform(out xfB);
// Is this contact a sensor?
if (sensor)
{
Shape shapeA = FixtureA.Shape;
Shape shapeB = FixtureB.Shape;
touching = AABB.TestOverlap(shapeA, ChildIndexA, shapeB, ChildIndexB, ref xfA, ref xfB);
// Sensors don't generate manifolds.
Manifold.PointCount = 0;
}
else
{
Evaluate(ref Manifold, ref xfA, ref xfB);
touching = 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 < Manifold.PointCount; ++i)
{
ManifoldPoint mp2 = Manifold.Points[i];
mp2.NormalImpulse = 0.0f;
mp2.TangentImpulse = 0.0f;
ContactID id2 = mp2.Id;
bool found = false;
for (int j = 0; j < oldManifold.PointCount; ++j)
{
ManifoldPoint mp1 = oldManifold.Points[j];
if (mp1.Id.Key == id2.Key)
{
mp2.NormalImpulse = mp1.NormalImpulse;
mp2.TangentImpulse = mp1.TangentImpulse;
found = true;
break;
}
}
if (found == false)
{
mp2.NormalImpulse = 0.0f;
mp2.TangentImpulse = 0.0f;
}
Manifold.Points[i] = mp2;
}
if (touching != wasTouching)
{
bodyA.Awake = true;
bodyB.Awake = true;
}
}
if (touching)
{
Flags |= ContactFlags.Touching;
}
else
{
Flags &= ~ContactFlags.Touching;
}
if (wasTouching == false && touching)
{
// Report the collision to both participants:
if (FixtureA.OnCollision != null)
Enabled = FixtureA.OnCollision(FixtureA, FixtureB, this);
// Reverse the order of the reported fixtures. The first fixture is always the one that the
// user subscribed to.
if (FixtureB.OnCollision != null)
Enabled = FixtureB.OnCollision(FixtureB, FixtureA, this);
// if the user disabled the contact (needed to exclude it in TOI solver), we also need to mark
// it as not touching.
if (Enabled == false)
Flags &= ~ContactFlags.Touching;
if (contactManager.BeginContact != null)
contactManager.BeginContact(this);
}
if (wasTouching && touching == false)
{
// Report the separation to both participants:
if (FixtureA.OnSeparation != null)
FixtureA.OnSeparation(FixtureA, FixtureB);
// Reverse the order of the reported fixtures. The first fixture is always the one that the
// user subscribed to.
if (FixtureB.OnSeparation != null)
FixtureB.OnSeparation(FixtureB, FixtureA);
if (contactManager.EndContact != null)
contactManager.EndContact(this);
}
if (sensor == false)
{
if (contactManager.PreSolve != null)
contactManager.PreSolve(this, ref oldManifold);
}
}
/// <summary>
/// Update the contact manifold and touching status.
/// Note: do not assume the fixture AABBs are overlapping or are valid.
/// </summary>
/// <param name="contactManager">The contact manager.</param>
internal void Update(ContactManager contactManager)
{
Manifold oldManifold = Manifold;
// Re-enable this contact.
Flags |= ContactFlags.Enabled;
bool touching;
bool wasTouching = (Flags & ContactFlags.Touching) == ContactFlags.Touching;
bool sensor = FixtureA.IsSensor || FixtureB.IsSensor;
Body bodyA = FixtureA.Body;
Body bodyB = FixtureB.Body;
// Is this contact a sensor?
if (sensor)
{
Shape shapeA = FixtureA.Shape;
Shape shapeB = FixtureB.Shape;
touching = AABB.TestOverlap(shapeA, ChildIndexA, shapeB, ChildIndexB, ref bodyA.Xf, ref bodyB.Xf);
// Sensors don't generate manifolds.
Manifold.PointCount = 0;
}
else
{
Evaluate(ref Manifold, ref bodyA.Xf, ref bodyB.Xf);
touching = 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 < Manifold.PointCount; ++i)
{
ManifoldPoint mp2 = Manifold.Points[i];
mp2.NormalImpulse = 0.0f;
mp2.TangentImpulse = 0.0f;
ContactID id2 = mp2.Id;
bool found = false;
for (int j = 0; j < oldManifold.PointCount; ++j)
{
ManifoldPoint mp1 = oldManifold.Points[j];
if (mp1.Id.Key == id2.Key)
{
mp2.NormalImpulse = mp1.NormalImpulse;
mp2.TangentImpulse = mp1.TangentImpulse;
found = true;
break;
}
}
if (found == false)
{
mp2.NormalImpulse = 0.0f;
mp2.TangentImpulse = 0.0f;
}
Manifold.Points[i] = mp2;
}
if (touching != wasTouching)
{
bodyA.Awake = true;
bodyB.Awake = true;
}
}
if (touching)
{
Flags |= ContactFlags.Touching;
}
else
{
Flags &= ~ContactFlags.Touching;
}
if (wasTouching == false && touching)
{
//Report the collision to both participants:
if (FixtureA.OnCollision != null)
{
Enabled = FixtureA.OnCollision(FixtureA, FixtureB, this);
}
//Reverse the order of the reported fixtures. The first fixture is always the one that the
//user subscribed to.
if (FixtureB.OnCollision != null)
{
Enabled = FixtureB.OnCollision(FixtureB, FixtureA, this);
}
//BeginContact can also return false and disable the contact
if (contactManager.BeginContact != null)
{
Enabled = contactManager.BeginContact(this);
}
//if the user disabled the contact (needed to exclude it in TOI solver), we also need to mark
//it as not touching.
if (Enabled == false)
{
Flags &= ~ContactFlags.Touching;
}
}
if (wasTouching && touching == false)
{
//Report the separation to both participants:
if (FixtureA.OnSeparation != null)
{
FixtureA.OnSeparation(FixtureA, FixtureB);
}
//Reverse the order of the reported fixtures. The first fixture is always the one that the
//user subscribed to.
if (FixtureB.OnSeparation != null)
{
FixtureB.OnSeparation(FixtureB, FixtureA);
}
if (contactManager.EndContact != null)
{
contactManager.EndContact(this);
}
}
if (sensor)
{
return;
}
if (contactManager.PreSolve != null)
{
contactManager.PreSolve(this, ref oldManifold);
}
}
public abstract void Evaluate(out Manifold manifold, Transform xfA, Transform xfB); //manifold was pointer
/// Flag this contact for filtering. Filtering will occur the next time step.
internal void FlagForFiltering()
{
m_flags |= ContactFlags.e_filterFlag;
}
