Package org.jbox2d.dynamics.contacts

Examples of org.jbox2d.dynamics.contacts.Contact


    if (m_contactFilter != null && m_contactFilter.shouldCollide(fixtureA, fixtureB) == false) {
      return;
    }

    // Call the factory.
    Contact c = pool.popContact(fixtureA, indexA, fixtureB, indexB);
    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;
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  /** 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.
    Contact c = m_contactList;
    while (c != null) {
      Fixture fixtureA = c.getFixtureA();
      Fixture fixtureB = c.getFixtureB();
      int indexA = c.getChildIndexA();
      int indexB = c.getChildIndexB();
      Body bodyA = fixtureA.getBody();
      Body bodyB = fixtureB.getBody();

      // is this contact flagged for filtering?
      if ((c.m_flags & Contact.FILTER_FLAG) == Contact.FILTER_FLAG) {
        // Should these bodies collide?
        if (bodyB.shouldCollide(bodyA) == false) {
          Contact cNuke = c;
          c = cNuke.getNext();
          destroy(cNuke);
          continue;
        }

        // Check user filtering.
        if (m_contactFilter != null && m_contactFilter.shouldCollide(fixtureA, fixtureB) == false) {
          Contact cNuke = c;
          c = cNuke.getNext();
          destroy(cNuke);
          continue;
        }

        // Clear the filtering flag.
        c.m_flags &= ~Contact.FILTER_FLAG;
      }

      boolean activeA = bodyA.isAwake() && bodyA.m_type != BodyType.STATIC;
      boolean activeB = bodyB.isAwake() && bodyB.m_type != BodyType.STATIC;

      // 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;
      boolean overlap = m_broadPhase.testOverlap(proxyIdA, proxyIdB);

      // Here we destroy contacts that cease to overlap in the broad-phase.
      if (overlap == false) {
        Contact cNuke = c;
        c = cNuke.getNext();
        destroy(cNuke);
        continue;
      }

      // The contact persists.
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    final ContactRegister reg = contactStacks[type1.ordinal()][type2.ordinal()];
    final IDynamicStack<Contact> creator = reg.creator;
    if (creator != null) {
      if (reg.primary) {
        Contact c = creator.pop();
        c.init(fixtureA, indexA, fixtureB, indexB);
        return c;
      } else {
        Contact c = creator.pop();
        c.init(fixtureB, indexB, fixtureA, indexA);
        return c;
      }
    } else {
      return null;
    }
View Full Code Here

          continue;
        }

        // Search all contacts connected to this body.
        for (ContactEdge ce = b.m_contactList; ce != null; ce = ce.next) {
          Contact contact = ce.contact;

          // Has this contact already been added to an island?
          if ((contact.m_flags & Contact.ISLAND_FLAG) == Contact.ISLAND_FLAG) {
            continue;
          }

          // Is this contact solid and touching?
          if (contact.isEnabled() == false || contact.isTouching() == false) {
            continue;
          }

          // Skip sensors.
          boolean sensorA = contact.m_fixtureA.m_isSensor;
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    }

    // 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;
            }

View Full Code Here

    final ContactRegister reg = contactStacks[type1.ordinal()][type2.ordinal()];
    final IDynamicStack<Contact> creator = reg.creator;
    if (creator != null) {
      if (reg.primary) {
        Contact c = creator.pop();
        c.init(fixtureA, indexA, fixtureB, indexB);
        return c;
      } else {
        Contact c = creator.pop();
        c.init(fixtureB, indexB, fixtureA, indexA);
        return c;
      }
    } else {
      return null;
    }
View Full Code Here

          continue;
        }

        // Search all contacts connected to this body.
        for (ContactEdge ce = b.m_contactList; ce != null; ce = ce.next) {
          Contact contact = ce.contact;

          // Has this contact already been added to an island?
          if ((contact.m_flags & Contact.ISLAND_FLAG) == Contact.ISLAND_FLAG) {
            continue;
          }

          // Is this contact solid and touching?
          if (contact.isEnabled() == false || contact.isTouching() == false) {
            continue;
          }

          // Skip sensors.
          boolean sensorA = contact.m_fixtureA.m_isSensor;
View Full Code Here

    }

    // 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;
            }

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    }

    // 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();
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Related Classes of org.jbox2d.dynamics.contacts.Contact

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