def PreSolve(self, contact, old_manifold):
"""
This is a critical function when there are many contacts in the world.
It should be optimized as much as possible.
"""
if not (self.settings.drawContactPoints
or self.settings.drawContactNormals or self.using_contacts):
return
elif len(self.points) > self.settings.maxContactPoints:
return
manifold = contact.manifold
if manifold.pointCount == 0:
return
_, state2 = b2.b2GetPointStates(old_manifold, manifold)
if not state2:
return
worldManifold = contact.worldManifold
for i, _ in enumerate(state2):
self.points.append({
'fixtureA': contact.fixtureA,
'fixtureB': contact.fixtureB,
'position': worldManifold.points[i],
'normal': worldManifold.normal,
'state': state2[i]
})
def PreSolve(self, contact, old_manifold):
"""
This is a critical function when there are many contacts in the world.
It should be optimized as much as possible.
"""
if not (self.settings.drawContactPoints
or self.settings.drawContactNormals or self.using_contacts):
return
elif len(self.points) > self.settings.maxContactPoints:
return
manifold = contact.manifold
if manifold.pointCount == 0:
return
_, state2 = b2.b2GetPointStates(old_manifold, manifold)
if not state2:
return
worldManifold = contact.worldManifold
for i, _ in enumerate(state2):
point = worldManifold.points[0]
bodyA = contact.fixtureA.body
bodyB = contact.fixtureB.body
vA = bodyA.GetLinearVelocityFromWorldPoint(point)
vB = bodyB.GetLinearVelocityFromWorldPoint(point)
approachVelocity = b2.b2Dot(vB - vA, worldManifold.normal)
# print("approachVelocity", approachVelocity)
if abs(approachVelocity) > 1.0:
self.collision = True
self.points.append({
'fixtureA': contact.fixtureA,
'fixtureB': contact.fixtureB,
'bodyA': bodyA,
'bodyB': bodyB,
'position': worldManifold.points[i],
'normal': worldManifold.normal,
'state': state2[i]
})
