Remove() публичный Метод

Called when a contact point is removed. This includes the last computed geometry and forces.
public Remove ( ContactPoint point ) : void
point ContactPoint
Результат void
Пример #1
0
        public override void Evaluate(ContactListener listener)
        {
            Body     body     = this._shape1.GetBody();
            Body     body2    = this._shape2.GetBody();
            Manifold manifold = this._manifold.Clone();

            Collision.Collision.CollideCircles(ref this._manifold, (CircleShape)this._shape1, body.GetXForm(), (CircleShape)this._shape2, body2.GetXForm());
            ContactPoint contactPoint = new ContactPoint();

            contactPoint.Shape1      = this._shape1;
            contactPoint.Shape2      = this._shape2;
            contactPoint.Friction    = Settings.MixFriction(this._shape1.Friction, this._shape2.Friction);
            contactPoint.Restitution = Settings.MixRestitution(this._shape1.Restitution, this._shape2.Restitution);
            if (this._manifold.PointCount > 0)
            {
                this._manifoldCount = 1;
                ManifoldPoint manifoldPoint = this._manifold.Points[0];
                if (manifold.PointCount == 0)
                {
                    manifoldPoint.NormalImpulse  = 0f;
                    manifoldPoint.TangentImpulse = 0f;
                    if (listener != null)
                    {
                        contactPoint.Position = body.GetWorldPoint(manifoldPoint.LocalPoint1);
                        Vec2 linearVelocityFromLocalPoint  = body.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint1);
                        Vec2 linearVelocityFromLocalPoint2 = body2.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint2);
                        contactPoint.Velocity   = linearVelocityFromLocalPoint2 - linearVelocityFromLocalPoint;
                        contactPoint.Normal     = this._manifold.Normal;
                        contactPoint.Separation = manifoldPoint.Separation;
                        contactPoint.ID         = manifoldPoint.ID;
                        listener.Add(contactPoint);
                    }
                }
                else
                {
                    ManifoldPoint manifoldPoint2 = manifold.Points[0];
                    manifoldPoint.NormalImpulse  = manifoldPoint2.NormalImpulse;
                    manifoldPoint.TangentImpulse = manifoldPoint2.TangentImpulse;
                    if (listener != null)
                    {
                        contactPoint.Position = body.GetWorldPoint(manifoldPoint.LocalPoint1);
                        Vec2 linearVelocityFromLocalPoint  = body.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint1);
                        Vec2 linearVelocityFromLocalPoint2 = body2.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint2);
                        contactPoint.Velocity   = linearVelocityFromLocalPoint2 - linearVelocityFromLocalPoint;
                        contactPoint.Normal     = this._manifold.Normal;
                        contactPoint.Separation = manifoldPoint.Separation;
                        contactPoint.ID         = manifoldPoint.ID;
                        listener.Persist(contactPoint);
                    }
                }
            }
            else
            {
                this._manifoldCount = 0;
                if (manifold.PointCount > 0 && listener != null)
                {
                    ManifoldPoint manifoldPoint2 = manifold.Points[0];
                    contactPoint.Position = body.GetWorldPoint(manifoldPoint2.LocalPoint1);
                    Vec2 linearVelocityFromLocalPoint  = body.GetLinearVelocityFromLocalPoint(manifoldPoint2.LocalPoint1);
                    Vec2 linearVelocityFromLocalPoint2 = body2.GetLinearVelocityFromLocalPoint(manifoldPoint2.LocalPoint2);
                    contactPoint.Velocity   = linearVelocityFromLocalPoint2 - linearVelocityFromLocalPoint;
                    contactPoint.Normal     = manifold.Normal;
                    contactPoint.Separation = manifoldPoint2.Separation;
                    contactPoint.ID         = manifoldPoint2.ID;
                    listener.Remove(contactPoint);
                }
            }
        }
Пример #2
0
 public override void Evaluate(ContactListener listener)
 {
     Body body = this._shape1.GetBody();
     Body body2 = this._shape2.GetBody();
     Manifold manifold = this._manifold.Clone();
     Collision.Collision.CollideCircles(ref this._manifold, (CircleShape)this._shape1, body.GetXForm(), (CircleShape)this._shape2, body2.GetXForm());
     ContactPoint contactPoint = new ContactPoint();
     contactPoint.Shape1 = this._shape1;
     contactPoint.Shape2 = this._shape2;
     contactPoint.Friction = Settings.MixFriction(this._shape1.Friction, this._shape2.Friction);
     contactPoint.Restitution = Settings.MixRestitution(this._shape1.Restitution, this._shape2.Restitution);
     if (this._manifold.PointCount > 0)
     {
         this._manifoldCount = 1;
         ManifoldPoint manifoldPoint = this._manifold.Points[0];
         if (manifold.PointCount == 0)
         {
             manifoldPoint.NormalImpulse = 0f;
             manifoldPoint.TangentImpulse = 0f;
             if (listener != null)
             {
                 contactPoint.Position = body.GetWorldPoint(manifoldPoint.LocalPoint1);
                 Vec2 linearVelocityFromLocalPoint = body.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint1);
                 Vec2 linearVelocityFromLocalPoint2 = body2.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint2);
                 contactPoint.Velocity = linearVelocityFromLocalPoint2 - linearVelocityFromLocalPoint;
                 contactPoint.Normal = this._manifold.Normal;
                 contactPoint.Separation = manifoldPoint.Separation;
                 contactPoint.ID = manifoldPoint.ID;
                 listener.Add(contactPoint);
             }
         }
         else
         {
             ManifoldPoint manifoldPoint2 = manifold.Points[0];
             manifoldPoint.NormalImpulse = manifoldPoint2.NormalImpulse;
             manifoldPoint.TangentImpulse = manifoldPoint2.TangentImpulse;
             if (listener != null)
             {
                 contactPoint.Position = body.GetWorldPoint(manifoldPoint.LocalPoint1);
                 Vec2 linearVelocityFromLocalPoint = body.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint1);
                 Vec2 linearVelocityFromLocalPoint2 = body2.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint2);
                 contactPoint.Velocity = linearVelocityFromLocalPoint2 - linearVelocityFromLocalPoint;
                 contactPoint.Normal = this._manifold.Normal;
                 contactPoint.Separation = manifoldPoint.Separation;
                 contactPoint.ID = manifoldPoint.ID;
                 listener.Persist(contactPoint);
             }
         }
     }
     else
     {
         this._manifoldCount = 0;
         if (manifold.PointCount > 0 && listener != null)
         {
             ManifoldPoint manifoldPoint2 = manifold.Points[0];
             contactPoint.Position = body.GetWorldPoint(manifoldPoint2.LocalPoint1);
             Vec2 linearVelocityFromLocalPoint = body.GetLinearVelocityFromLocalPoint(manifoldPoint2.LocalPoint1);
             Vec2 linearVelocityFromLocalPoint2 = body2.GetLinearVelocityFromLocalPoint(manifoldPoint2.LocalPoint2);
             contactPoint.Velocity = linearVelocityFromLocalPoint2 - linearVelocityFromLocalPoint;
             contactPoint.Normal = manifold.Normal;
             contactPoint.Separation = manifoldPoint2.Separation;
             contactPoint.ID = manifoldPoint2.ID;
             listener.Remove(contactPoint);
         }
     }
 }
Пример #3
0
		public override void Evaluate(ContactListener listener)
		{
			Body b1 = _shape1.GetBody();
			Body b2 = _shape2.GetBody();
#warning "needfix"
			//memcpy(&m0, &m_manifold, sizeof(b2Manifold));
			Manifold m0 = _manifold.Clone();

			Collision.Collision.CollidePolygons(ref _manifold, (PolygonShape)_shape1, b1.GetXForm(),
				(PolygonShape)_shape2, b2.GetXForm());

			bool[] persisted = new bool[] { false, false };

			ContactPoint cp = new ContactPoint();
			cp.Shape1 = _shape1;
			cp.Shape2 = _shape2;
			cp.Friction = Settings.MixFriction(_shape1.Friction, _shape2.Friction);
			cp.Restitution = Settings.MixRestitution(_shape1.Restitution, _shape2.Restitution);

			// Match contact ids to facilitate warm starting.
			if (_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 mp = _manifold.Points[i];
					mp.NormalImpulse = 0.0f;
					mp.TangentImpulse = 0.0f;
					bool found = false;
					ContactID id = mp.ID;

					for (int j = 0; j < m0.PointCount; ++j)
					{
						if (persisted[j] == true)
						{
							continue;
						}

						ManifoldPoint mp0 = m0.Points[j];

						if (mp0.ID.Key == id.Key)
						{
							persisted[j] = true;
							mp.NormalImpulse = mp0.NormalImpulse;
							mp.TangentImpulse = mp0.TangentImpulse;

							// A persistent point.
							found = true;

							// Report persistent point.
							if (listener != null)
							{
								cp.Position = b1.GetWorldPoint(mp.LocalPoint1);
								Vec2 v1 = b1.GetLinearVelocityFromLocalPoint(mp.LocalPoint1);
								Vec2 v2 = b2.GetLinearVelocityFromLocalPoint(mp.LocalPoint2);
								cp.Velocity = v2 - v1;
								cp.Normal = _manifold.Normal;
								cp.Separation = mp.Separation;
								cp.ID = id;
								listener.Persist(cp);
							}
							break;
						}
					}

					// Report added point.
					if (found == false && listener != null)
					{
						cp.Position = b1.GetWorldPoint(mp.LocalPoint1);
						Vec2 v1 = b1.GetLinearVelocityFromLocalPoint(mp.LocalPoint1);
						Vec2 v2 = b2.GetLinearVelocityFromLocalPoint(mp.LocalPoint2);
						cp.Velocity = v2 - v1;
						cp.Normal = _manifold.Normal;
						cp.Separation = mp.Separation;
						cp.ID = id;
						listener.Add(cp);
					}
				}

				_manifoldCount = 1;
			}
			else
			{
				_manifoldCount = 0;
			}

			if (listener == null)
			{
				return;
			}

			// Report removed points.
			for (int i = 0; i < m0.PointCount; ++i)
			{
				if (persisted[i])
				{
					continue;
				}

				ManifoldPoint mp0 = m0.Points[i];
				cp.Position = b1.GetWorldPoint(mp0.LocalPoint1);
				Vec2 v1 = b1.GetLinearVelocityFromLocalPoint(mp0.LocalPoint1);
				Vec2 v2 = b2.GetLinearVelocityFromLocalPoint(mp0.LocalPoint2);
				cp.Velocity = v2 - v1;
				cp.Normal = m0.Normal;
				cp.Separation = mp0.Separation;
				cp.ID = mp0.ID;
				listener.Remove(cp);
			}
		}
Пример #4
0
 public override void Evaluate(ContactListener listener)
 {
     Body body = this._shape1.GetBody();
     Body body2 = this._shape2.GetBody();
     Manifold manifold = this._manifold.Clone();
     Collision.Collision.CollidePolygonAndCircle(ref this._manifold, (PolygonShape)this._shape1, body.GetXForm(), (CircleShape)this._shape2, body2.GetXForm());
     bool[] array = new bool[2];
     bool[] array2 = array;
     ContactPoint contactPoint = new ContactPoint();
     contactPoint.Shape1 = this._shape1;
     contactPoint.Shape2 = this._shape2;
     contactPoint.Friction = Settings.MixFriction(this._shape1.Friction, this._shape2.Friction);
     contactPoint.Restitution = Settings.MixRestitution(this._shape1.Restitution, this._shape2.Restitution);
     if (this._manifold.PointCount > 0)
     {
         for (int i = 0; i < this._manifold.PointCount; i++)
         {
             ManifoldPoint manifoldPoint = this._manifold.Points[i];
             manifoldPoint.NormalImpulse = 0f;
             manifoldPoint.TangentImpulse = 0f;
             bool flag = false;
             ContactID iD = manifoldPoint.ID;
             for (int j = 0; j < manifold.PointCount; j++)
             {
                 if (!array2[j])
                 {
                     ManifoldPoint manifoldPoint2 = manifold.Points[j];
                     if (manifoldPoint2.ID.Key == iD.Key)
                     {
                         array2[j] = true;
                         manifoldPoint.NormalImpulse = manifoldPoint2.NormalImpulse;
                         manifoldPoint.TangentImpulse = manifoldPoint2.TangentImpulse;
                         flag = true;
                         if (listener != null)
                         {
                             contactPoint.Position = body.GetWorldPoint(manifoldPoint.LocalPoint1);
                             Vec2 linearVelocityFromLocalPoint = body.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint1);
                             Vec2 linearVelocityFromLocalPoint2 = body2.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint2);
                             contactPoint.Velocity = linearVelocityFromLocalPoint2 - linearVelocityFromLocalPoint;
                             contactPoint.Normal = this._manifold.Normal;
                             contactPoint.Separation = manifoldPoint.Separation;
                             contactPoint.ID = iD;
                             listener.Persist(contactPoint);
                         }
                         break;
                     }
                 }
             }
             if (!flag && listener != null)
             {
                 contactPoint.Position = body.GetWorldPoint(manifoldPoint.LocalPoint1);
                 Vec2 linearVelocityFromLocalPoint = body.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint1);
                 Vec2 linearVelocityFromLocalPoint2 = body2.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint2);
                 contactPoint.Velocity = linearVelocityFromLocalPoint2 - linearVelocityFromLocalPoint;
                 contactPoint.Normal = this._manifold.Normal;
                 contactPoint.Separation = manifoldPoint.Separation;
                 contactPoint.ID = iD;
                 listener.Add(contactPoint);
             }
         }
         this._manifoldCount = 1;
     }
     else
     {
         this._manifoldCount = 0;
     }
     if (listener != null)
     {
         for (int i = 0; i < manifold.PointCount; i++)
         {
             if (!array2[i])
             {
                 ManifoldPoint manifoldPoint2 = manifold.Points[i];
                 contactPoint.Position = body.GetWorldPoint(manifoldPoint2.LocalPoint1);
                 Vec2 linearVelocityFromLocalPoint = body.GetLinearVelocityFromLocalPoint(manifoldPoint2.LocalPoint1);
                 Vec2 linearVelocityFromLocalPoint2 = body2.GetLinearVelocityFromLocalPoint(manifoldPoint2.LocalPoint2);
                 contactPoint.Velocity = linearVelocityFromLocalPoint2 - linearVelocityFromLocalPoint;
                 contactPoint.Normal = manifold.Normal;
                 contactPoint.Separation = manifoldPoint2.Separation;
                 contactPoint.ID = manifoldPoint2.ID;
                 listener.Remove(contactPoint);
             }
         }
     }
 }
Пример #5
0
		public override void Evaluate(ContactListener listener)
		{
			Body b1 = _shape1.GetBody();
			Body b2 = _shape2.GetBody();
#warning "needfix"
			//memcpy(&m0, &m_manifold, sizeof(b2Manifold));
			Manifold m0 = _manifold.Clone();

			Collision.Collision.CollideCircles(ref _manifold, (CircleShape)_shape1, b1.GetXForm(), 
				(CircleShape)_shape2, b2.GetXForm());

			ContactPoint cp = new ContactPoint();
			cp.Shape1 = _shape1;
			cp.Shape2 = _shape2;
			cp.Friction = Settings.MixFriction(_shape1.Friction, _shape2.Friction);
			cp.Restitution = Settings.MixRestitution(_shape1.Restitution, _shape2.Restitution);

			if (_manifold.PointCount > 0)
			{
				_manifoldCount = 1;
				ManifoldPoint mp = _manifold.Points[0];

				if (m0.PointCount == 0)
				{
					mp.NormalImpulse = 0.0f;
					mp.TangentImpulse = 0.0f;

					if (listener!=null)
					{
						cp.Position = b1.GetWorldPoint(mp.LocalPoint1);
						Vec2 v1 = b1.GetLinearVelocityFromLocalPoint(mp.LocalPoint1);
						Vec2 v2 = b2.GetLinearVelocityFromLocalPoint(mp.LocalPoint2);
						cp.Velocity = v2 - v1;
						cp.Normal = _manifold.Normal;
						cp.Separation = mp.Separation;
						cp.ID = mp.ID;
						listener.Add(cp);
					}
				}
				else
				{
					ManifoldPoint mp0 = m0.Points[0];
					mp.NormalImpulse = mp0.NormalImpulse;
					mp.TangentImpulse = mp0.TangentImpulse;

					if (listener!=null)
					{
						cp.Position = b1.GetWorldPoint(mp.LocalPoint1);
						Vec2 v1 = b1.GetLinearVelocityFromLocalPoint(mp.LocalPoint1);
						Vec2 v2 = b2.GetLinearVelocityFromLocalPoint(mp.LocalPoint2);
						cp.Velocity = v2 - v1;
						cp.Normal = _manifold.Normal;
						cp.Separation = mp.Separation;
						cp.ID = mp.ID;
						listener.Persist(cp);
					}
				}
			}
			else
			{
				_manifoldCount = 0;
				if (m0.PointCount > 0 && listener!=null)
				{
					ManifoldPoint mp0 = m0.Points[0];
					cp.Position = b1.GetWorldPoint(mp0.LocalPoint1);
					Vec2 v1 = b1.GetLinearVelocityFromLocalPoint(mp0.LocalPoint1);
					Vec2 v2 = b2.GetLinearVelocityFromLocalPoint(mp0.LocalPoint2);
					cp.Velocity = v2 - v1;
					cp.Normal = m0.Normal;
					cp.Separation = mp0.Separation;
					cp.ID = mp0.ID;
					listener.Remove(cp);
				}
			}
		}
Пример #6
0
        public override void Evaluate(ContactListener listener)
        {
            Body b1 = _shape1.GetBody();
            Body b2 = _shape2.GetBody();

#warning "needfix"
            //memcpy(&m0, &m_manifold, sizeof(b2Manifold));
            Manifold m0 = _manifold.Clone();

            Collision.Collision.CollidePolygons(ref _manifold, (PolygonShape)_shape1, b1.GetXForm(),
                                                (PolygonShape)_shape2, b2.GetXForm());

            bool[] persisted = new bool[] { false, false };

            ContactPoint cp = new ContactPoint();
            cp.Shape1      = _shape1;
            cp.Shape2      = _shape2;
            cp.Friction    = Settings.MixFriction(_shape1.Friction, _shape2.Friction);
            cp.Restitution = Settings.MixRestitution(_shape1.Restitution, _shape2.Restitution);

            // Match contact ids to facilitate warm starting.
            if (_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 mp = _manifold.Points[i];
                    mp.NormalImpulse  = 0.0f;
                    mp.TangentImpulse = 0.0f;
                    bool      found = false;
                    ContactID id    = mp.ID;

                    for (int j = 0; j < m0.PointCount; ++j)
                    {
                        if (persisted[j] == true)
                        {
                            continue;
                        }

                        ManifoldPoint mp0 = m0.Points[j];

                        if (mp0.ID.Key == id.Key)
                        {
                            persisted[j]      = true;
                            mp.NormalImpulse  = mp0.NormalImpulse;
                            mp.TangentImpulse = mp0.TangentImpulse;

                            // A persistent point.
                            found = true;

                            // Report persistent point.
                            if (listener != null)
                            {
                                cp.Position = b1.GetWorldPoint(mp.LocalPoint1);
                                Vec2 v1 = b1.GetLinearVelocityFromLocalPoint(mp.LocalPoint1);
                                Vec2 v2 = b2.GetLinearVelocityFromLocalPoint(mp.LocalPoint2);
                                cp.Velocity   = v2 - v1;
                                cp.Normal     = _manifold.Normal;
                                cp.Separation = mp.Separation;
                                cp.ID         = id;
                                listener.Persist(cp);
                            }
                            break;
                        }
                    }

                    // Report added point.
                    if (found == false && listener != null)
                    {
                        cp.Position = b1.GetWorldPoint(mp.LocalPoint1);
                        Vec2 v1 = b1.GetLinearVelocityFromLocalPoint(mp.LocalPoint1);
                        Vec2 v2 = b2.GetLinearVelocityFromLocalPoint(mp.LocalPoint2);
                        cp.Velocity   = v2 - v1;
                        cp.Normal     = _manifold.Normal;
                        cp.Separation = mp.Separation;
                        cp.ID         = id;
                        listener.Add(cp);
                    }
                }

                _manifoldCount = 1;
            }
            else
            {
                _manifoldCount = 0;
            }

            if (listener == null)
            {
                return;
            }

            // Report removed points.
            for (int i = 0; i < m0.PointCount; ++i)
            {
                if (persisted[i])
                {
                    continue;
                }

                ManifoldPoint mp0 = m0.Points[i];
                cp.Position = b1.GetWorldPoint(mp0.LocalPoint1);
                Vec2 v1 = b1.GetLinearVelocityFromLocalPoint(mp0.LocalPoint1);
                Vec2 v2 = b2.GetLinearVelocityFromLocalPoint(mp0.LocalPoint2);
                cp.Velocity   = v2 - v1;
                cp.Normal     = m0.Normal;
                cp.Separation = mp0.Separation;
                cp.ID         = mp0.ID;
                listener.Remove(cp);
            }
        }
Пример #7
0
        public override void Evaluate(ContactListener listener)
        {
            Body b1 = _shape1.GetBody();
            Body b2 = _shape2.GetBody();

#warning "needfix"
            //memcpy(&m0, &m_manifold, sizeof(b2Manifold));
            Manifold m0 = _manifold.Clone();

            Collision.Collision.CollideCircles(ref _manifold, (CircleShape)_shape1, b1.GetXForm(),
                                               (CircleShape)_shape2, b2.GetXForm());

            ContactPoint cp = new ContactPoint();
            cp.Shape1      = _shape1;
            cp.Shape2      = _shape2;
            cp.Friction    = Settings.MixFriction(_shape1.Friction, _shape2.Friction);
            cp.Restitution = Settings.MixRestitution(_shape1.Restitution, _shape2.Restitution);

            if (_manifold.PointCount > 0)
            {
                _manifoldCount = 1;
                ManifoldPoint mp = _manifold.Points[0];

                if (m0.PointCount == 0)
                {
                    mp.NormalImpulse  = 0.0f;
                    mp.TangentImpulse = 0.0f;

                    if (listener != null)
                    {
                        cp.Position = b1.GetWorldPoint(mp.LocalPoint1);
                        Vec2 v1 = b1.GetLinearVelocityFromLocalPoint(mp.LocalPoint1);
                        Vec2 v2 = b2.GetLinearVelocityFromLocalPoint(mp.LocalPoint2);
                        cp.Velocity   = v2 - v1;
                        cp.Normal     = _manifold.Normal;
                        cp.Separation = mp.Separation;
                        cp.ID         = mp.ID;
                        listener.Add(cp);
                    }
                }
                else
                {
                    ManifoldPoint mp0 = m0.Points[0];
                    mp.NormalImpulse  = mp0.NormalImpulse;
                    mp.TangentImpulse = mp0.TangentImpulse;

                    if (listener != null)
                    {
                        cp.Position = b1.GetWorldPoint(mp.LocalPoint1);
                        Vec2 v1 = b1.GetLinearVelocityFromLocalPoint(mp.LocalPoint1);
                        Vec2 v2 = b2.GetLinearVelocityFromLocalPoint(mp.LocalPoint2);
                        cp.Velocity   = v2 - v1;
                        cp.Normal     = _manifold.Normal;
                        cp.Separation = mp.Separation;
                        cp.ID         = mp.ID;
                        listener.Persist(cp);
                    }
                }
            }
            else
            {
                _manifoldCount = 0;
                if (m0.PointCount > 0 && listener != null)
                {
                    ManifoldPoint mp0 = m0.Points[0];
                    cp.Position = b1.GetWorldPoint(mp0.LocalPoint1);
                    Vec2 v1 = b1.GetLinearVelocityFromLocalPoint(mp0.LocalPoint1);
                    Vec2 v2 = b2.GetLinearVelocityFromLocalPoint(mp0.LocalPoint2);
                    cp.Velocity   = v2 - v1;
                    cp.Normal     = m0.Normal;
                    cp.Separation = mp0.Separation;
                    cp.ID         = mp0.ID;
                    listener.Remove(cp);
                }
            }
        }
Пример #8
0
        public override void Evaluate(ContactListener listener)
        {
            Body     body     = this._shape1.GetBody();
            Body     body2    = this._shape2.GetBody();
            Manifold manifold = this._manifold.Clone();

            Collision.Collision.CollidePolygons(ref this._manifold, (PolygonShape)this._shape1, body.GetXForm(), (PolygonShape)this._shape2, body2.GetXForm());
            bool[]       array        = new bool[2];
            bool[]       array2       = array;
            ContactPoint contactPoint = new ContactPoint();

            contactPoint.Shape1      = this._shape1;
            contactPoint.Shape2      = this._shape2;
            contactPoint.Friction    = Settings.MixFriction(this._shape1.Friction, this._shape2.Friction);
            contactPoint.Restitution = Settings.MixRestitution(this._shape1.Restitution, this._shape2.Restitution);
            if (this._manifold.PointCount > 0)
            {
                for (int i = 0; i < this._manifold.PointCount; i++)
                {
                    ManifoldPoint manifoldPoint = this._manifold.Points[i];
                    manifoldPoint.NormalImpulse  = 0f;
                    manifoldPoint.TangentImpulse = 0f;
                    bool      flag = false;
                    ContactID iD   = manifoldPoint.ID;
                    for (int j = 0; j < manifold.PointCount; j++)
                    {
                        if (!array2[j])
                        {
                            ManifoldPoint manifoldPoint2 = manifold.Points[j];
                            if (manifoldPoint2.ID.Key == iD.Key)
                            {
                                array2[j] = true;
                                manifoldPoint.NormalImpulse  = manifoldPoint2.NormalImpulse;
                                manifoldPoint.TangentImpulse = manifoldPoint2.TangentImpulse;
                                flag = true;
                                if (listener != null)
                                {
                                    contactPoint.Position = body.GetWorldPoint(manifoldPoint.LocalPoint1);
                                    Vec2 linearVelocityFromLocalPoint  = body.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint1);
                                    Vec2 linearVelocityFromLocalPoint2 = body2.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint2);
                                    contactPoint.Velocity   = linearVelocityFromLocalPoint2 - linearVelocityFromLocalPoint;
                                    contactPoint.Normal     = this._manifold.Normal;
                                    contactPoint.Separation = manifoldPoint.Separation;
                                    contactPoint.ID         = iD;
                                    listener.Persist(contactPoint);
                                }
                                break;
                            }
                        }
                    }
                    if (!flag && listener != null)
                    {
                        contactPoint.Position = body.GetWorldPoint(manifoldPoint.LocalPoint1);
                        Vec2 linearVelocityFromLocalPoint  = body.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint1);
                        Vec2 linearVelocityFromLocalPoint2 = body2.GetLinearVelocityFromLocalPoint(manifoldPoint.LocalPoint2);
                        contactPoint.Velocity   = linearVelocityFromLocalPoint2 - linearVelocityFromLocalPoint;
                        contactPoint.Normal     = this._manifold.Normal;
                        contactPoint.Separation = manifoldPoint.Separation;
                        contactPoint.ID         = iD;
                        listener.Add(contactPoint);
                    }
                }
                this._manifoldCount = 1;
            }
            else
            {
                this._manifoldCount = 0;
            }
            if (listener != null)
            {
                for (int i = 0; i < manifold.PointCount; i++)
                {
                    if (!array2[i])
                    {
                        ManifoldPoint manifoldPoint2 = manifold.Points[i];
                        contactPoint.Position = body.GetWorldPoint(manifoldPoint2.LocalPoint1);
                        Vec2 linearVelocityFromLocalPoint  = body.GetLinearVelocityFromLocalPoint(manifoldPoint2.LocalPoint1);
                        Vec2 linearVelocityFromLocalPoint2 = body2.GetLinearVelocityFromLocalPoint(manifoldPoint2.LocalPoint2);
                        contactPoint.Velocity   = linearVelocityFromLocalPoint2 - linearVelocityFromLocalPoint;
                        contactPoint.Normal     = manifold.Normal;
                        contactPoint.Separation = manifoldPoint2.Separation;
                        contactPoint.ID         = manifoldPoint2.ID;
                        listener.Remove(contactPoint);
                    }
                }
            }
        }