}
// 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;
}