示例#1
0
        /// <summary>
        /// Adds a contact to the arbiter (threadsafe). No more than four contacts
        /// are stored in the contactList. When adding a new contact
        /// to the arbiter the existing are checked and the best are kept.
        /// </summary>
        /// <param name="point1">Point on body1. In world space.</param>
        /// <param name="point2">Point on body2. In world space.</param>
        /// <param name="normal">The normal pointing to body2.</param>
        /// <param name="penetration">The estimated penetration depth.</param>
        public Contact AddContact(FPVector point1, FPVector point2, FPVector normal, FP penetration,
                                  ContactSettings contactSettings)
        {
            FPVector relPos1;

            FPVector.Subtract(ref point1, ref body1.position, out relPos1);

            int index;

            lock (contactList)
            {
                if (this.contactList.Count == 4)
                {
                    index = SortCachedPoints(ref relPos1, penetration);
                    ReplaceContact(ref point1, ref point2, ref normal, penetration, index, contactSettings);
                    return(null);
                }

                index = GetCacheEntry(ref relPos1, contactSettings.breakThreshold);

                if (index >= 0)
                {
                    ReplaceContact(ref point1, ref point2, ref normal, penetration, index, contactSettings);
                    return(null);
                }
                else
                {
                    Contact contact = Contact.Pool.GetNew();
                    contact.Initialize(body1, body2, ref point1, ref point2, ref normal, penetration, true, contactSettings);
                    contactList.Add(contact);
                    return(contact);
                }
            }
        }
示例#2
0
        private void ReplaceContact(ref FPVector point1, ref FPVector point2, ref FPVector n, FP p, int index,
                                    ContactSettings contactSettings)
        {
            Contact contact = contactList[index];

            Debug.Assert(body1 == contact.body1, "Body1 and Body2 not consistent.");

            contact.Initialize(body1, body2, ref point1, ref point2, ref n, p, false, contactSettings);
        }