297 lines
6.9 KiB
C++
297 lines
6.9 KiB
C++
/*
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* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#include "Box2D/Dynamics/b2ContactManager.h"
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#include "Box2D/Dynamics/b2Body.h"
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#include "Box2D/Dynamics/b2Fixture.h"
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#include "Box2D/Dynamics/b2WorldCallbacks.h"
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#include "Box2D/Dynamics/Contacts/b2Contact.h"
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b2ContactFilter b2_defaultFilter;
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b2ContactListener b2_defaultListener;
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b2ContactManager::b2ContactManager()
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{
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m_contactList = nullptr;
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m_contactCount = 0;
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m_contactFilter = &b2_defaultFilter;
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m_contactListener = &b2_defaultListener;
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m_allocator = nullptr;
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}
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void b2ContactManager::Destroy(b2Contact* c)
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{
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b2Fixture* fixtureA = c->GetFixtureA();
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b2Fixture* fixtureB = c->GetFixtureB();
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b2Body* bodyA = fixtureA->GetBody();
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b2Body* bodyB = fixtureB->GetBody();
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if (m_contactListener && c->IsTouching())
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{
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m_contactListener->EndContact(c);
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}
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// Remove from the world.
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if (c->m_prev)
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{
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c->m_prev->m_next = c->m_next;
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}
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if (c->m_next)
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{
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c->m_next->m_prev = c->m_prev;
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}
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if (c == m_contactList)
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{
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m_contactList = c->m_next;
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}
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// Remove from body 1
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if (c->m_nodeA.prev)
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{
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c->m_nodeA.prev->next = c->m_nodeA.next;
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}
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if (c->m_nodeA.next)
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{
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c->m_nodeA.next->prev = c->m_nodeA.prev;
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}
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if (&c->m_nodeA == bodyA->m_contactList)
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{
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bodyA->m_contactList = c->m_nodeA.next;
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}
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// Remove from body 2
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if (c->m_nodeB.prev)
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{
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c->m_nodeB.prev->next = c->m_nodeB.next;
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}
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if (c->m_nodeB.next)
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{
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c->m_nodeB.next->prev = c->m_nodeB.prev;
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}
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if (&c->m_nodeB == bodyB->m_contactList)
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{
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bodyB->m_contactList = c->m_nodeB.next;
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}
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// Call the factory.
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b2Contact::Destroy(c, m_allocator);
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--m_contactCount;
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}
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// This is the top level collision call for the time step. Here
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// all the narrow phase collision is processed for the world
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// contact list.
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void b2ContactManager::Collide()
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{
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// Update awake contacts.
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b2Contact* c = m_contactList;
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while (c)
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{
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b2Fixture* fixtureA = c->GetFixtureA();
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b2Fixture* fixtureB = c->GetFixtureB();
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int32 indexA = c->GetChildIndexA();
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int32 indexB = c->GetChildIndexB();
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b2Body* bodyA = fixtureA->GetBody();
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b2Body* bodyB = fixtureB->GetBody();
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// Is this contact flagged for filtering?
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if (c->m_flags & b2Contact::e_filterFlag)
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{
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// Should these bodies collide?
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if (bodyB->ShouldCollide(bodyA) == false)
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{
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b2Contact* cNuke = c;
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c = cNuke->GetNext();
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Destroy(cNuke);
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continue;
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}
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// Check user filtering.
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if (m_contactFilter && m_contactFilter->ShouldCollide(fixtureA, fixtureB) == false)
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{
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b2Contact* cNuke = c;
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c = cNuke->GetNext();
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Destroy(cNuke);
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continue;
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}
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// Clear the filtering flag.
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c->m_flags &= ~b2Contact::e_filterFlag;
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}
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bool activeA = bodyA->IsAwake() && bodyA->m_type != b2_staticBody;
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bool activeB = bodyB->IsAwake() && bodyB->m_type != b2_staticBody;
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// At least one body must be awake and it must be dynamic or kinematic.
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if (activeA == false && activeB == false)
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{
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c = c->GetNext();
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continue;
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}
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int32 proxyIdA = fixtureA->m_proxies[indexA].proxyId;
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int32 proxyIdB = fixtureB->m_proxies[indexB].proxyId;
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bool overlap = m_broadPhase.TestOverlap(proxyIdA, proxyIdB);
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// Here we destroy contacts that cease to overlap in the broad-phase.
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if (overlap == false)
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{
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b2Contact* cNuke = c;
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c = cNuke->GetNext();
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Destroy(cNuke);
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continue;
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}
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// The contact persists.
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c->Update(m_contactListener);
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c = c->GetNext();
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}
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}
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void b2ContactManager::FindNewContacts()
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{
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m_broadPhase.UpdatePairs(this);
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}
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void b2ContactManager::AddPair(void* proxyUserDataA, void* proxyUserDataB)
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{
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b2FixtureProxy* proxyA = (b2FixtureProxy*)proxyUserDataA;
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b2FixtureProxy* proxyB = (b2FixtureProxy*)proxyUserDataB;
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b2Fixture* fixtureA = proxyA->fixture;
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b2Fixture* fixtureB = proxyB->fixture;
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int32 indexA = proxyA->childIndex;
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int32 indexB = proxyB->childIndex;
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b2Body* bodyA = fixtureA->GetBody();
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b2Body* bodyB = fixtureB->GetBody();
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// Are the fixtures on the same body?
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if (bodyA == bodyB)
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{
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return;
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}
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// TODO_ERIN use a hash table to remove a potential bottleneck when both
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// bodies have a lot of contacts.
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// Does a contact already exist?
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b2ContactEdge* edge = bodyB->GetContactList();
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while (edge)
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{
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if (edge->other == bodyA)
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{
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b2Fixture* fA = edge->contact->GetFixtureA();
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b2Fixture* fB = edge->contact->GetFixtureB();
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int32 iA = edge->contact->GetChildIndexA();
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int32 iB = edge->contact->GetChildIndexB();
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if (fA == fixtureA && fB == fixtureB && iA == indexA && iB == indexB)
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{
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// A contact already exists.
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return;
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}
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if (fA == fixtureB && fB == fixtureA && iA == indexB && iB == indexA)
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{
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// A contact already exists.
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return;
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}
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}
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edge = edge->next;
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}
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// Does a joint override collision? Is at least one body dynamic?
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if (bodyB->ShouldCollide(bodyA) == false)
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{
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return;
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}
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// Check user filtering.
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if (m_contactFilter && m_contactFilter->ShouldCollide(fixtureA, fixtureB) == false)
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{
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return;
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}
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// Call the factory.
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b2Contact* c = b2Contact::Create(fixtureA, indexA, fixtureB, indexB, m_allocator);
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if (c == nullptr)
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{
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return;
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}
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// Contact creation may swap fixtures.
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fixtureA = c->GetFixtureA();
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fixtureB = c->GetFixtureB();
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indexA = c->GetChildIndexA();
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indexB = c->GetChildIndexB();
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bodyA = fixtureA->GetBody();
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bodyB = fixtureB->GetBody();
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// Insert into the world.
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c->m_prev = nullptr;
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c->m_next = m_contactList;
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if (m_contactList != nullptr)
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{
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m_contactList->m_prev = c;
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}
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m_contactList = c;
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// Connect to island graph.
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// Connect to body A
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c->m_nodeA.contact = c;
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c->m_nodeA.other = bodyB;
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c->m_nodeA.prev = nullptr;
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c->m_nodeA.next = bodyA->m_contactList;
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if (bodyA->m_contactList != nullptr)
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{
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bodyA->m_contactList->prev = &c->m_nodeA;
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}
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bodyA->m_contactList = &c->m_nodeA;
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// Connect to body B
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c->m_nodeB.contact = c;
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c->m_nodeB.other = bodyA;
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c->m_nodeB.prev = nullptr;
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c->m_nodeB.next = bodyB->m_contactList;
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if (bodyB->m_contactList != nullptr)
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{
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bodyB->m_contactList->prev = &c->m_nodeB;
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}
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bodyB->m_contactList = &c->m_nodeB;
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// Wake up the bodies
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if (fixtureA->IsSensor() == false && fixtureB->IsSensor() == false)
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{
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bodyA->SetAwake(true);
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bodyB->SetAwake(true);
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}
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++m_contactCount;
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}
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