--- /dev/null
+/*
+* 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 <string.h>
+
+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;
+ m_manifold.points[0].normalImpulse = 0.0f;
+ m_manifold.points[0].tangentImpulse = 0.0f;
+}
+
+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 = m_friction;
+ cp.restitution = m_restitution;
+
+ // 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);
+ }
+}