mirror of https://github.com/axmolengine/axmol.git
248 lines
7.2 KiB
C++
248 lines
7.2 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/Contacts/b2Contact.h>
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#include <Box2D/Dynamics/Contacts/b2CircleContact.h>
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#include <Box2D/Dynamics/Contacts/b2PolygonAndCircleContact.h>
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#include <Box2D/Dynamics/Contacts/b2PolygonContact.h>
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#include <Box2D/Dynamics/Contacts/b2EdgeAndCircleContact.h>
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#include <Box2D/Dynamics/Contacts/b2EdgeAndPolygonContact.h>
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#include <Box2D/Dynamics/Contacts/b2ChainAndCircleContact.h>
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#include <Box2D/Dynamics/Contacts/b2ChainAndPolygonContact.h>
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#include <Box2D/Dynamics/Contacts/b2ContactSolver.h>
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#include <Box2D/Collision/b2Collision.h>
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#include <Box2D/Collision/b2TimeOfImpact.h>
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#include <Box2D/Collision/Shapes/b2Shape.h>
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#include <Box2D/Common/b2BlockAllocator.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/b2World.h>
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b2ContactRegister b2Contact::s_registers[b2Shape::e_typeCount][b2Shape::e_typeCount];
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bool b2Contact::s_initialized = false;
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void b2Contact::InitializeRegisters()
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{
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AddType(b2CircleContact::Create, b2CircleContact::Destroy, b2Shape::e_circle, b2Shape::e_circle);
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AddType(b2PolygonAndCircleContact::Create, b2PolygonAndCircleContact::Destroy, b2Shape::e_polygon, b2Shape::e_circle);
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AddType(b2PolygonContact::Create, b2PolygonContact::Destroy, b2Shape::e_polygon, b2Shape::e_polygon);
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AddType(b2EdgeAndCircleContact::Create, b2EdgeAndCircleContact::Destroy, b2Shape::e_edge, b2Shape::e_circle);
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AddType(b2EdgeAndPolygonContact::Create, b2EdgeAndPolygonContact::Destroy, b2Shape::e_edge, b2Shape::e_polygon);
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AddType(b2ChainAndCircleContact::Create, b2ChainAndCircleContact::Destroy, b2Shape::e_chain, b2Shape::e_circle);
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AddType(b2ChainAndPolygonContact::Create, b2ChainAndPolygonContact::Destroy, b2Shape::e_chain, b2Shape::e_polygon);
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}
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void b2Contact::AddType(b2ContactCreateFcn* createFcn, b2ContactDestroyFcn* destoryFcn,
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b2Shape::Type type1, b2Shape::Type type2)
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{
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b2Assert(0 <= type1 && type1 < b2Shape::e_typeCount);
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b2Assert(0 <= type2 && type2 < b2Shape::e_typeCount);
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s_registers[type1][type2].createFcn = createFcn;
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s_registers[type1][type2].destroyFcn = destoryFcn;
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s_registers[type1][type2].primary = true;
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if (type1 != type2)
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{
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s_registers[type2][type1].createFcn = createFcn;
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s_registers[type2][type1].destroyFcn = destoryFcn;
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s_registers[type2][type1].primary = false;
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}
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}
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b2Contact* b2Contact::Create(b2Fixture* fixtureA, int32 indexA, b2Fixture* fixtureB, int32 indexB, b2BlockAllocator* allocator)
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{
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if (s_initialized == false)
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{
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InitializeRegisters();
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s_initialized = true;
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}
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b2Shape::Type type1 = fixtureA->GetType();
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b2Shape::Type type2 = fixtureB->GetType();
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b2Assert(0 <= type1 && type1 < b2Shape::e_typeCount);
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b2Assert(0 <= type2 && type2 < b2Shape::e_typeCount);
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b2ContactCreateFcn* createFcn = s_registers[type1][type2].createFcn;
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if (createFcn)
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{
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if (s_registers[type1][type2].primary)
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{
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return createFcn(fixtureA, indexA, fixtureB, indexB, allocator);
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}
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else
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{
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return createFcn(fixtureB, indexB, fixtureA, indexA, allocator);
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}
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}
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else
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{
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return NULL;
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}
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}
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void b2Contact::Destroy(b2Contact* contact, b2BlockAllocator* allocator)
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{
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b2Assert(s_initialized == true);
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b2Fixture* fixtureA = contact->m_fixtureA;
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b2Fixture* fixtureB = contact->m_fixtureB;
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if (contact->m_manifold.pointCount > 0 &&
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fixtureA->IsSensor() == false &&
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fixtureB->IsSensor() == false)
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{
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fixtureA->GetBody()->SetAwake(true);
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fixtureB->GetBody()->SetAwake(true);
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}
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b2Shape::Type typeA = fixtureA->GetType();
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b2Shape::Type typeB = fixtureB->GetType();
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b2Assert(0 <= typeA && typeB < b2Shape::e_typeCount);
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b2Assert(0 <= typeA && typeB < b2Shape::e_typeCount);
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b2ContactDestroyFcn* destroyFcn = s_registers[typeA][typeB].destroyFcn;
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destroyFcn(contact, allocator);
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}
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b2Contact::b2Contact(b2Fixture* fA, int32 indexA, b2Fixture* fB, int32 indexB)
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{
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m_flags = e_enabledFlag;
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m_fixtureA = fA;
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m_fixtureB = fB;
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m_indexA = indexA;
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m_indexB = indexB;
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m_manifold.pointCount = 0;
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m_prev = NULL;
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m_next = NULL;
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m_nodeA.contact = NULL;
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m_nodeA.prev = NULL;
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m_nodeA.next = NULL;
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m_nodeA.other = NULL;
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m_nodeB.contact = NULL;
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m_nodeB.prev = NULL;
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m_nodeB.next = NULL;
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m_nodeB.other = NULL;
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m_toiCount = 0;
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m_friction = b2MixFriction(m_fixtureA->m_friction, m_fixtureB->m_friction);
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m_restitution = b2MixRestitution(m_fixtureA->m_restitution, m_fixtureB->m_restitution);
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m_tangentSpeed = 0.0f;
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}
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// Update the contact manifold and touching status.
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// Note: do not assume the fixture AABBs are overlapping or are valid.
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void b2Contact::Update(b2ContactListener* listener)
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{
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b2Manifold oldManifold = m_manifold;
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// Re-enable this contact.
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m_flags |= e_enabledFlag;
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bool touching = false;
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bool wasTouching = (m_flags & e_touchingFlag) == e_touchingFlag;
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bool sensorA = m_fixtureA->IsSensor();
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bool sensorB = m_fixtureB->IsSensor();
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bool sensor = sensorA || sensorB;
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b2Body* bodyA = m_fixtureA->GetBody();
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b2Body* bodyB = m_fixtureB->GetBody();
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const b2Transform& xfA = bodyA->GetTransform();
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const b2Transform& xfB = bodyB->GetTransform();
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// Is this contact a sensor?
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if (sensor)
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{
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const b2Shape* shapeA = m_fixtureA->GetShape();
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const b2Shape* shapeB = m_fixtureB->GetShape();
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touching = b2TestOverlap(shapeA, m_indexA, shapeB, m_indexB, xfA, xfB);
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// Sensors don't generate manifolds.
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m_manifold.pointCount = 0;
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}
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else
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{
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Evaluate(&m_manifold, xfA, xfB);
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touching = m_manifold.pointCount > 0;
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// Match old contact ids to new contact ids and copy the
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// stored impulses to warm start the solver.
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for (int32 i = 0; i < m_manifold.pointCount; ++i)
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{
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b2ManifoldPoint* mp2 = m_manifold.points + i;
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mp2->normalImpulse = 0.0f;
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mp2->tangentImpulse = 0.0f;
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b2ContactID id2 = mp2->id;
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for (int32 j = 0; j < oldManifold.pointCount; ++j)
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{
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b2ManifoldPoint* mp1 = oldManifold.points + j;
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if (mp1->id.key == id2.key)
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{
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mp2->normalImpulse = mp1->normalImpulse;
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mp2->tangentImpulse = mp1->tangentImpulse;
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break;
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}
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}
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}
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if (touching != wasTouching)
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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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}
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if (touching)
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{
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m_flags |= e_touchingFlag;
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}
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else
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{
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m_flags &= ~e_touchingFlag;
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}
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if (wasTouching == false && touching == true && listener)
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{
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listener->BeginContact(this);
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}
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if (wasTouching == true && touching == false && listener)
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{
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listener->EndContact(this);
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}
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if (sensor == false && touching && listener)
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{
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listener->PreSolve(this, &oldManifold);
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}
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}
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