use of org.jbox2d.dynamics.contacts.ContactEdge in project libgdx by libgdx.
the class WorldRayCastWrapper method destroyJoint.
/**
* destroy a joint. This may cause the connected bodies to begin colliding.
*
* @warning This function is locked during callbacks.
* @param joint
*/
public void destroyJoint(Joint j) {
assert (isLocked() == false);
if (isLocked()) {
return;
}
boolean collideConnected = j.getCollideConnected();
// Remove from the doubly linked list.
if (j.m_prev != null) {
j.m_prev.m_next = j.m_next;
}
if (j.m_next != null) {
j.m_next.m_prev = j.m_prev;
}
if (j == m_jointList) {
m_jointList = j.m_next;
}
// Disconnect from island graph.
Body bodyA = j.getBodyA();
Body bodyB = j.getBodyB();
// Wake up connected bodies.
bodyA.setAwake(true);
bodyB.setAwake(true);
// Remove from body 1.
if (j.m_edgeA.prev != null) {
j.m_edgeA.prev.next = j.m_edgeA.next;
}
if (j.m_edgeA.next != null) {
j.m_edgeA.next.prev = j.m_edgeA.prev;
}
if (j.m_edgeA == bodyA.m_jointList) {
bodyA.m_jointList = j.m_edgeA.next;
}
j.m_edgeA.prev = null;
j.m_edgeA.next = null;
// Remove from body 2
if (j.m_edgeB.prev != null) {
j.m_edgeB.prev.next = j.m_edgeB.next;
}
if (j.m_edgeB.next != null) {
j.m_edgeB.next.prev = j.m_edgeB.prev;
}
if (j.m_edgeB == bodyB.m_jointList) {
bodyB.m_jointList = j.m_edgeB.next;
}
j.m_edgeB.prev = null;
j.m_edgeB.next = null;
Joint.destroy(j);
assert (m_jointCount > 0);
--m_jointCount;
// If the joint prevents collisions, then flag any contacts for filtering.
if (collideConnected == false) {
ContactEdge edge = bodyB.getContactList();
while (edge != null) {
if (edge.other == bodyA) {
// Flag the contact for filtering at the next time step (where either
// body is awake).
edge.contact.flagForFiltering();
}
edge = edge.next;
}
}
}
use of org.jbox2d.dynamics.contacts.ContactEdge in project libgdx by libgdx.
the class WorldRayCastWrapper method destroyBody.
/**
* destroy a rigid body given a definition. No reference to the definition is retained. This
* function is locked during callbacks.
*
* @warning This automatically deletes all associated shapes and joints.
* @warning This function is locked during callbacks.
* @param body
*/
public void destroyBody(Body body) {
assert (m_bodyCount > 0);
assert (isLocked() == false);
if (isLocked()) {
return;
}
// Delete the attached joints.
JointEdge je = body.m_jointList;
while (je != null) {
JointEdge je0 = je;
je = je.next;
if (m_destructionListener != null) {
m_destructionListener.sayGoodbye(je0.joint);
}
destroyJoint(je0.joint);
body.m_jointList = je;
}
body.m_jointList = null;
// Delete the attached contacts.
ContactEdge ce = body.m_contactList;
while (ce != null) {
ContactEdge ce0 = ce;
ce = ce.next;
m_contactManager.destroy(ce0.contact);
}
body.m_contactList = null;
Fixture f = body.m_fixtureList;
while (f != null) {
Fixture f0 = f;
f = f.m_next;
if (m_destructionListener != null) {
m_destructionListener.sayGoodbye(f0);
}
f0.destroyProxies(m_contactManager.m_broadPhase);
f0.destroy();
// TODO djm recycle fixtures (here or in that destroy method)
body.m_fixtureList = f;
body.m_fixtureCount -= 1;
}
body.m_fixtureList = null;
body.m_fixtureCount = 0;
// Remove world body list.
if (body.m_prev != null) {
body.m_prev.m_next = body.m_next;
}
if (body.m_next != null) {
body.m_next.m_prev = body.m_prev;
}
if (body == m_bodyList) {
m_bodyList = body.m_next;
}
--m_bodyCount;
// TODO djm recycle body
}
use of org.jbox2d.dynamics.contacts.ContactEdge in project libgdx by libgdx.
the class Fixture method refilter.
/**
* Call this if you want to establish collision that was previously disabled by
* ContactFilter::ShouldCollide.
*/
public void refilter() {
if (m_body == null) {
return;
}
// Flag associated contacts for filtering.
ContactEdge edge = m_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;
}
World world = m_body.getWorld();
if (world == null) {
return;
}
// Touch each proxy so that new pairs may be created
BroadPhase broadPhase = world.m_contactManager.m_broadPhase;
for (int i = 0; i < m_proxyCount; ++i) {
broadPhase.touchProxy(m_proxies[i].proxyId);
}
}
use of org.jbox2d.dynamics.contacts.ContactEdge in project libgdx by libgdx.
the class WorldRayCastWrapper method createJoint.
/**
* create a joint to constrain bodies together. No reference to the definition is retained. This
* may cause the connected bodies to cease colliding.
*
* @warning This function is locked during callbacks.
* @param def
* @return
*/
public Joint createJoint(JointDef def) {
assert (isLocked() == false);
if (isLocked()) {
return null;
}
Joint j = Joint.create(this, def);
// Connect to the world list.
j.m_prev = null;
j.m_next = m_jointList;
if (m_jointList != null) {
m_jointList.m_prev = j;
}
m_jointList = j;
++m_jointCount;
// Connect to the bodies' doubly linked lists.
j.m_edgeA.joint = j;
j.m_edgeA.other = j.getBodyB();
j.m_edgeA.prev = null;
j.m_edgeA.next = j.getBodyA().m_jointList;
if (j.getBodyA().m_jointList != null) {
j.getBodyA().m_jointList.prev = j.m_edgeA;
}
j.getBodyA().m_jointList = j.m_edgeA;
j.m_edgeB.joint = j;
j.m_edgeB.other = j.getBodyA();
j.m_edgeB.prev = null;
j.m_edgeB.next = j.getBodyB().m_jointList;
if (j.getBodyB().m_jointList != null) {
j.getBodyB().m_jointList.prev = j.m_edgeB;
}
j.getBodyB().m_jointList = j.m_edgeB;
Body bodyA = def.bodyA;
Body bodyB = def.bodyB;
// If the joint prevents collisions, then flag any contacts for filtering.
if (def.collideConnected == false) {
ContactEdge edge = bodyB.getContactList();
while (edge != null) {
if (edge.other == bodyA) {
// Flag the contact for filtering at the next time step (where either
// body is awake).
edge.contact.flagForFiltering();
}
edge = edge.next;
}
}
return j;
}
use of org.jbox2d.dynamics.contacts.ContactEdge in project libgdx by libgdx.
the class WorldRayCastWrapper method solveTOI.
private void solveTOI(final TimeStep step) {
final Island island = toiIsland;
island.init(2 * Settings.maxTOIContacts, Settings.maxTOIContacts, 0, m_contactManager.m_contactListener);
if (m_stepComplete) {
for (Body b = m_bodyList; b != null; b = b.m_next) {
b.m_flags &= ~Body.e_islandFlag;
b.m_sweep.alpha0 = 0.0f;
}
for (Contact c = m_contactManager.m_contactList; c != null; c = c.m_next) {
// Invalidate TOI
c.m_flags &= ~(Contact.TOI_FLAG | Contact.ISLAND_FLAG);
c.m_toiCount = 0;
c.m_toi = 1.0f;
}
}
// Find TOI events and solve them.
for (; ; ) {
// Find the first TOI.
Contact minContact = null;
float minAlpha = 1.0f;
for (Contact c = m_contactManager.m_contactList; c != null; c = c.m_next) {
// Is this contact disabled?
if (c.isEnabled() == false) {
continue;
}
// Prevent excessive sub-stepping.
if (c.m_toiCount > Settings.maxSubSteps) {
continue;
}
float alpha = 1.0f;
if ((c.m_flags & Contact.TOI_FLAG) != 0) {
// This contact has a valid cached TOI.
alpha = c.m_toi;
} else {
Fixture fA = c.getFixtureA();
Fixture fB = c.getFixtureB();
// Is there a sensor?
if (fA.isSensor() || fB.isSensor()) {
continue;
}
Body bA = fA.getBody();
Body bB = fB.getBody();
BodyType typeA = bA.m_type;
BodyType typeB = bB.m_type;
assert (typeA == BodyType.DYNAMIC || typeB == BodyType.DYNAMIC);
boolean activeA = bA.isAwake() && typeA != BodyType.STATIC;
boolean activeB = bB.isAwake() && typeB != BodyType.STATIC;
// Is at least one body active (awake and dynamic or kinematic)?
if (activeA == false && activeB == false) {
continue;
}
boolean collideA = bA.isBullet() || typeA != BodyType.DYNAMIC;
boolean collideB = bB.isBullet() || typeB != BodyType.DYNAMIC;
// Are these two non-bullet dynamic bodies?
if (collideA == false && collideB == false) {
continue;
}
// Compute the TOI for this contact.
// Put the sweeps onto the same time interval.
float alpha0 = bA.m_sweep.alpha0;
if (bA.m_sweep.alpha0 < bB.m_sweep.alpha0) {
alpha0 = bB.m_sweep.alpha0;
bA.m_sweep.advance(alpha0);
} else if (bB.m_sweep.alpha0 < bA.m_sweep.alpha0) {
alpha0 = bA.m_sweep.alpha0;
bB.m_sweep.advance(alpha0);
}
assert (alpha0 < 1.0f);
int indexA = c.getChildIndexA();
int indexB = c.getChildIndexB();
// Compute the time of impact in interval [0, minTOI]
final TOIInput input = toiInput;
input.proxyA.set(fA.getShape(), indexA);
input.proxyB.set(fB.getShape(), indexB);
input.sweepA.set(bA.m_sweep);
input.sweepB.set(bB.m_sweep);
input.tMax = 1.0f;
pool.getTimeOfImpact().timeOfImpact(toiOutput, input);
// Beta is the fraction of the remaining portion of the .
float beta = toiOutput.t;
if (toiOutput.state == TOIOutputState.TOUCHING) {
alpha = MathUtils.min(alpha0 + (1.0f - alpha0) * beta, 1.0f);
} else {
alpha = 1.0f;
}
c.m_toi = alpha;
c.m_flags |= Contact.TOI_FLAG;
}
if (alpha < minAlpha) {
// This is the minimum TOI found so far.
minContact = c;
minAlpha = alpha;
}
}
if (minContact == null || 1.0f - 10.0f * Settings.EPSILON < minAlpha) {
// No more TOI events. Done!
m_stepComplete = true;
break;
}
// Advance the bodies to the TOI.
Fixture fA = minContact.getFixtureA();
Fixture fB = minContact.getFixtureB();
Body bA = fA.getBody();
Body bB = fB.getBody();
backup1.set(bA.m_sweep);
backup2.set(bB.m_sweep);
bA.advance(minAlpha);
bB.advance(minAlpha);
// The TOI contact likely has some new contact points.
minContact.update(m_contactManager.m_contactListener);
minContact.m_flags &= ~Contact.TOI_FLAG;
++minContact.m_toiCount;
// Is the contact solid?
if (minContact.isEnabled() == false || minContact.isTouching() == false) {
// Restore the sweeps.
minContact.setEnabled(false);
bA.m_sweep.set(backup1);
bB.m_sweep.set(backup2);
bA.synchronizeTransform();
bB.synchronizeTransform();
continue;
}
bA.setAwake(true);
bB.setAwake(true);
// Build the island
island.clear();
island.add(bA);
island.add(bB);
island.add(minContact);
bA.m_flags |= Body.e_islandFlag;
bB.m_flags |= Body.e_islandFlag;
minContact.m_flags |= Contact.ISLAND_FLAG;
// Get contacts on bodyA and bodyB.
tempBodies[0] = bA;
tempBodies[1] = bB;
for (int i = 0; i < 2; ++i) {
Body body = tempBodies[i];
if (body.m_type == BodyType.DYNAMIC) {
for (ContactEdge ce = body.m_contactList; ce != null; ce = ce.next) {
if (island.m_bodyCount == island.m_bodyCapacity) {
break;
}
if (island.m_contactCount == island.m_contactCapacity) {
break;
}
Contact contact = ce.contact;
// Has this contact already been added to the island?
if ((contact.m_flags & Contact.ISLAND_FLAG) != 0) {
continue;
}
// Only add static, kinematic, or bullet bodies.
Body other = ce.other;
if (other.m_type == BodyType.DYNAMIC && body.isBullet() == false && other.isBullet() == false) {
continue;
}
// Skip sensors.
boolean sensorA = contact.m_fixtureA.m_isSensor;
boolean sensorB = contact.m_fixtureB.m_isSensor;
if (sensorA || sensorB) {
continue;
}
// Tentatively advance the body to the TOI.
backup1.set(other.m_sweep);
if ((other.m_flags & Body.e_islandFlag) == 0) {
other.advance(minAlpha);
}
// Update the contact points
contact.update(m_contactManager.m_contactListener);
// Was the contact disabled by the user?
if (contact.isEnabled() == false) {
other.m_sweep.set(backup1);
other.synchronizeTransform();
continue;
}
// Are there contact points?
if (contact.isTouching() == false) {
other.m_sweep.set(backup1);
other.synchronizeTransform();
continue;
}
// Add the contact to the island
contact.m_flags |= Contact.ISLAND_FLAG;
island.add(contact);
// Has the other body already been added to the island?
if ((other.m_flags & Body.e_islandFlag) != 0) {
continue;
}
// Add the other body to the island.
other.m_flags |= Body.e_islandFlag;
if (other.m_type != BodyType.STATIC) {
other.setAwake(true);
}
island.add(other);
}
}
}
subStep.dt = (1.0f - minAlpha) * step.dt;
subStep.inv_dt = 1.0f / subStep.dt;
subStep.dtRatio = 1.0f;
subStep.positionIterations = 20;
subStep.velocityIterations = step.velocityIterations;
subStep.warmStarting = false;
island.solveTOI(subStep, bA.m_islandIndex, bB.m_islandIndex);
// Reset island flags and synchronize broad-phase proxies.
for (int i = 0; i < island.m_bodyCount; ++i) {
Body body = island.m_bodies[i];
body.m_flags &= ~Body.e_islandFlag;
if (body.m_type != BodyType.DYNAMIC) {
continue;
}
body.synchronizeFixtures();
// Invalidate all contact TOIs on this displaced body.
for (ContactEdge ce = body.m_contactList; ce != null; ce = ce.next) {
ce.contact.m_flags &= ~(Contact.TOI_FLAG | Contact.ISLAND_FLAG);
}
}
// Commit fixture proxy movements to the broad-phase so that new contacts are created.
// Also, some contacts can be destroyed.
m_contactManager.findNewContacts();
if (m_subStepping) {
m_stepComplete = false;
break;
}
}
}
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