|
public Initialize ( RigidBody body1, RigidBody body2, Jitter.LinearMath.JVector &point1, Jitter.LinearMath.JVector &point2, Jitter.LinearMath.JVector &n, float penetration, bool newContact, |
||
| body1 | RigidBody | The first body. |
| body2 | RigidBody | The second body. |
| point1 | Jitter.LinearMath.JVector | The collision point in worldspace |
| point2 | Jitter.LinearMath.JVector | The collision point in worldspace |
| n | Jitter.LinearMath.JVector | The normal pointing to body2. |
| penetration | float | The estimated penetration depth. |
| newContact | bool | |
| settings | ||
| return | void | |
public void Initialize(RigidBody body1, RigidBody body2, ref JVector point1, ref JVector point2, ref JVector n,
float penetration, bool newContact, ContactSettings settings)
{
this.body1 = body1; this.body2 = body2;
this.normal = n; normal.Normalize();
this.p1 = point1; this.p2 = point2;
this.newContact = newContact;
JVector.Subtract(ref p1, ref body1.position, out relativePos1);
JVector.Subtract(ref p2, ref body2.position, out relativePos2);
JVector.Transform(ref relativePos1, ref body1.invOrientation, out realRelPos1);
JVector.Transform(ref relativePos2, ref body2.invOrientation, out realRelPos2);
this.initialPen = penetration;
this.penetration = penetration;
body1IsMassPoint = body1.isMassPoint;
body2IsMassPoint = body2.isMassPoint;
// Material Properties
if (newContact)
{
accumulatedNormalImpulse = 0.0f;
accumulatedTangentImpulse = 0.0f;
switch (settings.MaterialCoefficientMixing)
{
case ContactSettings.MaterialCoefficientMixingType.TakeMaximum:
staticFriction = JMath.Max(body1.material.staticFriction, body2.material.staticFriction);
dynamicFriction = JMath.Max(body1.material.kineticFriction, body2.material.kineticFriction);
restitution = JMath.Max(body1.material.restitution, body2.material.restitution);
break;
case ContactSettings.MaterialCoefficientMixingType.TakeMinimum:
staticFriction = JMath.Min(body1.material.staticFriction, body2.material.staticFriction);
dynamicFriction = JMath.Min(body1.material.kineticFriction, body2.material.kineticFriction);
restitution = JMath.Min(body1.material.restitution, body2.material.restitution);
break;
case ContactSettings.MaterialCoefficientMixingType.UseAverage:
staticFriction = (body1.material.staticFriction + body2.material.staticFriction) / 2.0f;
dynamicFriction = (body1.material.kineticFriction + body2.material.kineticFriction) / 2.0f;
restitution = (body1.material.restitution + body2.material.restitution) / 2.0f;
break;
}
}
this.settings = settings;
}
} /// <summary>
/// Adds a contact to the arbiter (threadsafe). No more than four contacts
/// are stored in the contactList. When adding a new contact
/// to the arbiter the existing are checked and the best are kept.
/// </summary>
/// <param name="point1">Point on body1. In world space.</param>
/// <param name="point2">Point on body2. In world space.</param>
/// <param name="normal">The normal pointing to body2.</param>
/// <param name="penetration">The estimated penetration depth.</param>
public Contact AddContact(JVector point1, JVector point2, JVector normal, float penetration,
ContactSettings contactSettings)
{
JVector relPos1;
JVector.Subtract(ref point1, ref body1.position, out relPos1);
int index;
lock (contactList)
{
if (this.contactList.Count == 4)
{
index = SortCachedPoints(ref relPos1, penetration);
ReplaceContact(ref point1, ref point2, ref normal, penetration, index, contactSettings);
return(null);
}
index = GetCacheEntry(ref relPos1, contactSettings.breakThreshold);
if (index >= 0)
{
ReplaceContact(ref point1, ref point2, ref normal, penetration, index, contactSettings);
return(null);
}
else
{
Contact contact = Contact.Pool.GetNew();
contact.Initialize(body1, body2, ref point1, ref point2, ref normal, penetration, true, contactSettings);
contactList.Add(contact);
return(contact);
}
}
}