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/*
* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
#include "b2PolyAndCircleContact.h"
#include "../b2Body.h"
#include "../b2WorldCallbacks.h"
#include "../../Common/b2BlockAllocator.h"
#include <new>
#include <cstring>
b2Contact* b2PolyAndCircleContact::Create(b2Shape* shape1, b2Shape* shape2, b2BlockAllocator* allocator)
{
void* mem = allocator->Allocate(sizeof(b2PolyAndCircleContact));
return new (mem) b2PolyAndCircleContact(shape1, shape2);
}
void b2PolyAndCircleContact::Destroy(b2Contact* contact, b2BlockAllocator* allocator)
{
((b2PolyAndCircleContact*)contact)->~b2PolyAndCircleContact();
allocator->Free(contact, sizeof(b2PolyAndCircleContact));
}
b2PolyAndCircleContact::b2PolyAndCircleContact(b2Shape* s1, b2Shape* s2)
: b2Contact(s1, s2)
{
b2Assert(m_shape1->GetType() == e_polygonShape);
b2Assert(m_shape2->GetType() == e_circleShape);
m_manifold.pointCount = 0;
}
void b2PolyAndCircleContact::Evaluate(b2ContactListener* listener)
{
b2Body* b1 = m_shape1->GetBody();
b2Body* b2 = m_shape2->GetBody();
b2Manifold m0;
memcpy(&m0, &m_manifold, sizeof(b2Manifold));
b2CollidePolygonAndCircle(&m_manifold, (b2PolygonShape*)m_shape1, b1->GetXForm(), (b2CircleShape*)m_shape2, b2->GetXForm());
bool persisted[b2_maxManifoldPoints] = {false, false};
b2ContactPoint cp;
cp.shape1 = m_shape1;
cp.shape2 = m_shape2;
cp.friction = b2MixFriction(m_shape1->GetFriction(), m_shape2->GetFriction());
cp.restitution = b2MixRestitution(m_shape1->GetRestitution(), m_shape2->GetRestitution());
// Match contact ids to facilitate warm starting.
if (m_manifold.pointCount > 0)
{
// Match old contact ids to new contact ids and copy the
// stored impulses to warm start the solver.
for (int32 i = 0; i < m_manifold.pointCount; ++i)
{
b2ManifoldPoint* mp = m_manifold.points + i;
mp->normalImpulse = 0.0f;
mp->tangentImpulse = 0.0f;
bool found = false;
b2ContactID id = mp->id;
for (int32 j = 0; j < m0.pointCount; ++j)
{
if (persisted[j] == true)
{
continue;
}
b2ManifoldPoint* mp0 = m0.points + j;
if (mp0->id.key == id.key)
{
persisted[j] = true;
mp->normalImpulse = mp0->normalImpulse;
mp->tangentImpulse = mp0->tangentImpulse;
// A persistent point.
found = true;
// Report persistent point.
if (listener != NULL)
{
cp.position = b1->GetWorldPoint(mp->localPoint1);
b2Vec2 v1 = b1->GetLinearVelocityFromLocalPoint(mp->localPoint1);
b2Vec2 v2 = b2->GetLinearVelocityFromLocalPoint(mp->localPoint2);
cp.velocity = v2 - v1;
cp.normal = m_manifold.normal;
cp.separation = mp->separation;
cp.id = id;
listener->Persist(&cp);
}
break;
}
}
// Report added point.
if (found == false && listener != NULL)
{
cp.position = b1->GetWorldPoint(mp->localPoint1);
b2Vec2 v1 = b1->GetLinearVelocityFromLocalPoint(mp->localPoint1);
b2Vec2 v2 = b2->GetLinearVelocityFromLocalPoint(mp->localPoint2);
cp.velocity = v2 - v1;
cp.normal = m_manifold.normal;
cp.separation = mp->separation;
cp.id = id;
listener->Add(&cp);
}
}
m_manifoldCount = 1;
}
else
{
m_manifoldCount = 0;
}
if (listener == NULL)
{
return;
}
// Report removed points.
for (int32 i = 0; i < m0.pointCount; ++i)
{
if (persisted[i])
{
continue;
}
b2ManifoldPoint* mp0 = m0.points + i;
cp.position = b1->GetWorldPoint(mp0->localPoint1);
b2Vec2 v1 = b1->GetLinearVelocityFromLocalPoint(mp0->localPoint1);
b2Vec2 v2 = b2->GetLinearVelocityFromLocalPoint(mp0->localPoint2);
cp.velocity = v2 - v1;
cp.normal = m0.normal;
cp.separation = mp0->separation;
cp.id = mp0->id;
listener->Remove(&cp);
}
}
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