Examples with ContactID spacegraph.space2d.phys.collision.ContactID used on opensource projects

Example 1 with ContactID

use of spacegraph.space2d.phys.collision.ContactID in project narchy by automenta.

the class Contact method update.

public void update(ContactListener listener) {
    oldManifold.set(m_manifold);
    // Re-enable this contact.
    m_flags |= ENABLED_FLAG;
    boolean touching = false;
    boolean wasTouching = (m_flags & TOUCHING_FLAG) == TOUCHING_FLAG;
    boolean sensorA = aFixture.isSensor();
    boolean sensorB = bFixture.isSensor();
    boolean sensor = sensorA || sensorB;
    Body2D bodyA = aFixture.getBody();
    Body2D bodyB = bFixture.getBody();
    Transform xfA = bodyA;
    Transform xfB = bodyB;
    if (sensor) {
        Shape shapeA = aFixture.shape();
        Shape shapeB = bFixture.shape();
        touching = pool.getCollision().testOverlap(shapeA, aIndex, shapeB, bIndex, xfA, xfB);
        // Sensors don't generate manifolds.
        m_manifold.pointCount = 0;
    } else {
        evaluate(m_manifold, xfA, xfB);
        touching = m_manifold.pointCount > 0;
        // stored impulses to warm start the solver.
        for (int i = 0; i < m_manifold.pointCount; ++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.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.setAwake(true);
            bodyB.setAwake(true);
        }
    }
    if (touching) {
        m_flags |= TOUCHING_FLAG;
    } else {
        m_flags &= ~TOUCHING_FLAG;
    }
    if (!sensor && touching) {
        m_angularVelocity_bodyA = aFixture.body.velAngular;
        m_linearVelocity_bodyA.set(aFixture.body.vel);
        m_angularVelocity_bodyB = bFixture.body.velAngular;
        m_linearVelocity_bodyB.set(bFixture.body.vel);
    }
    if (listener == null) {
        return;
    }
    if (!wasTouching && touching) {
        if (!listener.beginContact(this))
            touching = false;
    }
    if (wasTouching && !touching) {
        listener.endContact(this);
    }
    if (!sensor && touching) {
        listener.preSolve(this, oldManifold);
    }
}