public void Destroy(b2Contact c)
{
b2Fixture fixtureA = c.GetFixtureA();
b2Fixture fixtureB = c.GetFixtureB();
b2Body bodyA = fixtureA.GetBody();
b2Body bodyB = fixtureB.GetBody();
if (m_contactListener && c.IsTouching())
{
m_contactListener.EndContact(c);
}
// Remove from the world.
if (c.m_prev)
{
c.m_prev.m_next = c.m_next;
}
if (c.m_next)
{
c.m_next.m_prev = c.m_prev;
}
if (c == m_contactList)
{
m_contactList = c.m_next;
}
// Remove from body 1
if (c.m_nodeA.prev)
{
c.m_nodeA.prev.next = c.m_nodeA.next;
}
if (c.m_nodeA.next)
{
c.m_nodeA.next.prev = c.m_nodeA.prev;
}
if (c.m_nodeA == bodyA.m_contactList)
{
bodyA.m_contactList = c.m_nodeA.next;
}
// Remove from body 2
if (c.m_nodeB.prev)
{
c.m_nodeB.prev.next = c.m_nodeB.next;
}
if (c.m_nodeB.next)
{
c.m_nodeB.next.prev = c.m_nodeB.prev;
}
if (c.m_nodeB == bodyB.m_contactList)
{
bodyB.m_contactList = c.m_nodeB.next;
}
// Call the factory.
b2Contact.Destroy(c);
--m_contactCount;
}
public void AddPair(object proxyUserDataA, object proxyUserDataB)
{
b2FixtureProxy proxyA = (b2FixtureProxy)proxyUserDataA;
b2FixtureProxy proxyB = (b2FixtureProxy)proxyUserDataB;
b2Fixture fixtureA = proxyA.fixture;
b2Fixture fixtureB = proxyB.fixture;
int indexA = proxyA.childIndex;
int indexB = proxyB.childIndex;
b2Body bodyA = fixtureA.GetBody();
b2Body bodyB = fixtureB.GetBody();
// Are the fixtures on the same body?
if (bodyA == bodyB)
{
return;
}
// TODO_ERIN use a hash table to remove a potential bottleneck when both
// bodies have a lot of contacts.
// Does a contact already exist?
b2ContactEdge edge = bodyB.GetContactList();
while (edge)
{
if (edge.other == bodyA)
{
b2Fixture fA = edge.contact.GetFixtureA();
b2Fixture 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 (m_contactFilter && m_contactFilter.ShouldCollide(fixtureA, fixtureB) == false)
{
return;
}
// Call the factory.
b2Contact c = b2Contact.Create(fixtureA, indexA, fixtureB, indexB, m_allocator);
if (c == null)
{
return;
}
// 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.m_prev = null;
c.m_next = m_contactList;
if (m_contactList != null)
{
m_contactList.m_prev = c;
}
m_contactList = c;
// Connect to island graph.
// Connect to body A
c.m_nodeA.contact = c;
c.m_nodeA.other = bodyB;
c.m_nodeA.prev = null;
c.m_nodeA.next = bodyA.m_contactList;
if (bodyA.m_contactList != null)
{
bodyA.m_contactList.prev = &c.m_nodeA;
}
bodyA.m_contactList = &c.m_nodeA;
// Connect to body B
c.m_nodeB.contact = c;
c.m_nodeB.other = bodyA;
c.m_nodeB.prev = null;
c.m_nodeB.next = bodyB.m_contactList;
if (bodyB.m_contactList != null)
{
bodyB.m_contactList.prev = &c.m_nodeB;
}
bodyB.m_contactList = &c.m_nodeB;
// Wake up the bodies
bodyA.SetAwake(true);
bodyB.SetAwake(true);
++m_contactCount;
}
// This is a callback from the broadphase when two AABB proxies begin
// to overlap. We create a b2Contact to manage the narrow phase.
public void AddPair(object proxyUserDataA, object proxyUserDataB)
{
b2Fixture fixtureA = proxyUserDataA as b2Fixture;
b2Fixture fixtureB = proxyUserDataB as b2Fixture;
b2Body bodyA = fixtureA.GetBody();
b2Body bodyB = fixtureB.GetBody();
// Are the fixtures on the same body?
if (bodyA == bodyB)
{
return;
}
// Does a contact already exist?
b2ContactEdge edge = bodyB.GetContactList();
while (edge != null)
{
if (edge.other == bodyA)
{
b2Fixture fA = edge.contact.GetFixtureA();
b2Fixture fB = edge.contact.GetFixtureB();
if (fA == fixtureA && fB == fixtureB)
{
return;
}
if (fA == fixtureB && fB == fixtureA)
{
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 (m_contactFilter.ShouldCollide(fixtureA, fixtureB) == false)
{
return;
}
// Call the factory.
b2Contact c = m_contactFactory.Create(fixtureA, fixtureB);
// Contact creation may swap shapes.
fixtureA = c.GetFixtureA();
fixtureB = c.GetFixtureB();
bodyA = fixtureA.m_body;
bodyB = fixtureB.m_body;
// Insert into the world.
c.m_prev = null;
c.m_next = m_world.m_contactList;
if (m_world.m_contactList != null)
{
m_world.m_contactList.m_prev = c;
}
m_world.m_contactList = c;
// Connect to island graph.
// Connect to body A
c.m_nodeA.contact = c;
c.m_nodeA.other = bodyB;
c.m_nodeA.prev = null;
c.m_nodeA.next = bodyA.m_contactList;
if (bodyA.m_contactList != null)
{
bodyA.m_contactList.prev = c.m_nodeA;
}
bodyA.m_contactList = c.m_nodeA;
// Connect to body 2
c.m_nodeB.contact = c;
c.m_nodeB.other = bodyA;
c.m_nodeB.prev = null;
c.m_nodeB.next = bodyB.m_contactList;
if (bodyB.m_contactList != null)
{
bodyB.m_contactList.prev = c.m_nodeB;
}
bodyB.m_contactList = c.m_nodeB;
++m_world.m_contactCount;
return;
}
// This is the top level collision call for the time step. Here
// all the narrow phase collision is processed for the world
// contact list.
public void Collide()
{
// Update awake contacts.
b2Contact c = m_contactList;
while (c)
{
b2Fixture fixtureA = c.GetFixtureA();
b2Fixture fixtureB = c.GetFixtureB();
int indexA = c.GetChildIndexA();
int indexB = c.GetChildIndexB();
b2Body bodyA = fixtureA.GetBody();
b2Body bodyB = fixtureB.GetBody();
// Is this contact flagged for filtering?
if (c.m_flags & b2Contact.e_filterFlag)
{
// Should these bodies collide?
if (bodyB.ShouldCollide(bodyA) == false)
{
b2Contact cNuke = c;
c = cNuke.GetNext();
Destroy(cNuke);
continue;
}
// Check user filtering.
if (m_contactFilter && m_contactFilter.ShouldCollide(fixtureA, fixtureB) == false)
{
b2Contact cNuke = c;
c = cNuke.GetNext();
Destroy(cNuke);
continue;
}
// Clear the filtering flag.
c.m_flags &= ~b2Contact.e_filterFlag;
}
bool activeA = bodyA.IsAwake() && bodyA.m_type != b2BodyType.b2_staticBody;
bool activeB = bodyB.IsAwake() && bodyB.m_type != b2BodyType.b2_staticBody;
// At least one body must be awake and it must be dynamic or kinematic.
if (activeA == false && activeB == false)
{
c = c.GetNext();
continue;
}
int proxyIdA = fixtureA.m_proxies[indexA].proxyId;
int proxyIdB = fixtureB.m_proxies[indexB].proxyId;
bool overlap = m_broadPhase.TestOverlap(proxyIdA, proxyIdB);
// Here we destroy contacts that cease to overlap in the broad-phase.
if (overlap == false)
{
b2Contact cNuke = c;
c = cNuke.GetNext();
Destroy(cNuke);
continue;
}
// The contact persists.
c.Update(m_contactListener);
c = c.GetNext();
}
}
// This is the top level collision call for the time step. Here
// all the narrow phase collision is processed for the world
// contact list.
public void Collide()
{
// Update awake contacts.
b2Contact c = m_world.m_contactList;
while (c != null)
{
b2Fixture fixtureA = c.GetFixtureA();
b2Fixture fixtureB = c.GetFixtureB();
b2Body bodyA = fixtureA.GetBody();
b2Body bodyB = fixtureB.GetBody();
if (bodyA.IsAwake() == false && bodyB.IsAwake() == false)
{
c = c.GetNext();
continue;
}
b2Contact cNuke;
// Is this contact flagged for filtering?
if ((c.m_flags & b2Contact.e_filterFlag) > 0)
{
// Should these bodies collide?
if (bodyB.ShouldCollide(bodyA) == false)
{
cNuke = c;
c = cNuke.GetNext();
Destroy(cNuke);
continue;
}
// Check user filtering.
if (m_contactFilter.ShouldCollide(fixtureA, fixtureB) == false)
{
cNuke = c;
c = cNuke.GetNext();
Destroy(cNuke);
continue;
}
// Clear the filtering flag
c.m_flags &= ~b2Contact.e_filterFlag;
}
object proxyA = fixtureA.m_proxy;
object proxyB = fixtureB.m_proxy;
bool overlap = m_broadPhase.TestOverlap(proxyA, proxyB);
// Here we destroy contacts that cease to overlap in the broadphase
if (overlap == false)
{
cNuke = c;
c = cNuke.GetNext();
Destroy(cNuke);
continue;
}
c.Update(m_contactListener);
c = c.GetNext();
}
}
