public void destroy(final Contact c) {
final Vec2 v1 = tlV1.get();
final ContactPoint cp = tlCp.get();
final Shape shape1 = c.getShape1();
final Shape shape2 = c.getShape2();
// Inform the user that this contact is ending.
final int manifoldCount = c.getManifoldCount();
if (manifoldCount > 0 && (m_world.m_contactListener != null)) {
final Body b1 = shape1.getBody();
final Body b2 = shape2.getBody();
final List<Manifold> manifolds = c.getManifolds();
cp.shape1 = c.getShape1();
cp.shape2 = c.getShape2();
cp.friction = c.m_friction;
cp.restitution = c.m_restitution;
for (int i = 0; i < manifoldCount; ++i) {
final Manifold manifold = manifolds.get(i);
cp.normal.set(manifold.normal);
for (int j = 0; j < manifold.pointCount; ++j) {
final ManifoldPoint mp = manifold.points[j];
b1.getWorldLocationToOut(mp.localPoint1, cp.position);
b1.getLinearVelocityFromLocalPointToOut(mp.localPoint1, v1);
// velocity isn't initialized in the contact point
b2.getLinearVelocityFromLocalPointToOut(mp.localPoint2, cp.velocity);
cp.velocity.subLocal(v1);
cp.separation = mp.separation;
cp.id.set(mp.id);
m_world.m_contactListener.remove(cp);
}
}
}
// Remove from the world.
if (c.m_prev != null) {
c.m_prev.m_next = c.m_next;
}
if (c.m_next != null) {
c.m_next.m_prev = c.m_prev;
}
if (c == m_world.m_contactList) {
m_world.m_contactList = c.m_next;
}
final Body body1 = shape1.getBody();
final Body body2 = shape2.getBody();
// Remove from body 1
if (c.m_node1.prev != null) {
c.m_node1.prev.next = c.m_node1.next;
}
if (c.m_node1.next != null) {
c.m_node1.next.prev = c.m_node1.prev;
}
if (c.m_node1 == body1.m_contactList) {
body1.m_contactList = c.m_node1.next;
}
// Remove from body 2
if (c.m_node2.prev != null) {
c.m_node2.prev.next = c.m_node2.next;
}
if (c.m_node2.next != null) {
c.m_node2.next.prev = c.m_node2.prev;
}
if (c.m_node2 == body2.m_contactList) {
body2.m_contactList = c.m_node2.next;
}
// Call the factory.
Contact.destroy(c);
--m_world.m_contactCount;
}