Add trigger collisions.

src/oimo/dynamics/Contact.hx

@@ -41,6 +41,7 @@ class Contact {
 	public var _updater:ManifoldUpdater;
 	public var _contactConstraint:ContactConstraint;
 	public var _touching:Bool;
+	public var _triggering:Bool;
 
 	@:dox(hide)
 	public function new() {
@@ -112,6 +113,26 @@ class Contact {
 		if (cc2 != null) cc2.endContact(this);
 	}
 
+	extern inline function sendBeginTriggerContact():Void {
+		var cc1:ContactCallback = _s1._contactCallback;
+		var cc2:ContactCallback = _s2._contactCallback;
+		if (cc1 == cc2) {
+			cc2 = null; // avoid calling twice
+		}
+		if (cc1 != null) cc1.beginTriggerContact(this);
+		if (cc2 != null) cc2.beginTriggerContact(this);
+	}
+
+	extern inline function sendEndTriggerContact():Void {
+		var cc1:ContactCallback = _s1._contactCallback;
+		var cc2:ContactCallback = _s2._contactCallback;
+		if (cc1 == cc2) {
+			cc2 = null; // avoid calling twice
+		}
+		if (cc1 != null) cc1.endTriggerContact(this);
+		if (cc2 != null) cc2.endTriggerContact(this);
+	}
+
 	extern inline function sendPreSolve():Void {
 		var cc1:ContactCallback = _s1._contactCallback;
 		var cc2:ContactCallback = _s2._contactCallback;
@@ -153,6 +174,11 @@ class Contact {
 			sendEndContact();
 		}
 
+		if (_triggering) {
+			// triggering in the last frame
+			sendEndTriggerContact();
+		}
+
 		detachLinks();
 		_s1 = null;
 		_s2 = null;
@@ -172,12 +198,14 @@ class Contact {
 		if (_detector == null) return;
 
 		var ptouching:Bool = _touching;
+		var pTriggering:Bool = _triggering;
 
 		var result:DetectorResult = _detectorResult;
 		_detector.detect(result, _s1._geom, _s2._geom, _s1._transform, _s2._transform, _cachedDetectorData);
 
 		var num:Int = result.numPoints;
 		_touching = num > 0;
+		if (!_touching && _triggering) _triggering = false;
 
 		if (_touching) {
 			// update manifold basis
@@ -200,6 +228,8 @@ class Contact {
 				// one-shot manifold
 				_updater.totalUpdate(result, _b1._transform, _b2._transform);
 			}
+
+			if (_s1._rigidBody._isTrigger || _s2._rigidBody._isTrigger) _triggering = true;
 		} else {
 			_manifold._clear();
 		}
@@ -210,6 +240,12 @@ class Contact {
 		if (!_touching && ptouching) {
 			sendEndContact();
 		}
+		if (_triggering && !pTriggering) {
+			sendBeginTriggerContact();
+		}
+		if (!_triggering && pTriggering) {
+			sendEndTriggerContact();
+		}
 		if (_touching) {
 			sendPreSolve();
 		}
@@ -243,6 +279,13 @@ class Contact {
 		return _touching;
 	}
 
+	/**
+	 * Returns whether the shapes are triggering.
+	 */
+	public inline function isTriggering():Bool {
+		return _triggering;
+	}
+
 	/**
 	 * Returns the contact manifold.
 	 */

src/oimo/dynamics/ContactManager.hx

@@ -142,7 +142,7 @@ class ContactManager {
 			return false;
 		}
 
-		if (r1._type != RigidBodyType._DYNAMIC && r2._type != RigidBodyType._DYNAMIC) {
+		if (r1._type != RigidBodyType._DYNAMIC && r2._type != RigidBodyType._DYNAMIC && (!s1._rigidBody._isTrigger && !s2._rigidBody._isTrigger)) {
 			// none of the two bodies are dynamic
 			return false;
 		}

src/oimo/dynamics/World.hx

@@ -204,7 +204,7 @@ class World {
 				// ignore if not touching
 				var cc:ContactConstraint = cl._contact._contactConstraint;
 				var ccs:ConstraintSolver = cl._contact._contactConstraint._solver;
-				if (cc.isTouching() && !ccs._addedToIsland) {
+				if (!cl._contact._triggering && cc.isTouching() && !ccs._addedToIsland) {
 
 					// add to constraint array (to clear island flag later)
 					if (_solversInIslands.length == _numSolversInIslands) {
@@ -795,6 +795,7 @@ class World {
 
 		Performance.totalTime = M.profile({
 			_updateContacts();
+			// FEHM - here the manifolds of triggers must be cleared? Detached etc.
 			_solveIslands();
 		});
 	}

src/oimo/dynamics/callback/ContactCallback.hx

@@ -1,4 +1,7 @@
 package oimo.dynamics.callback;
+
+import oimo.dynamics.constraint.contact.Manifold;
+import oimo.collision.narrowphase.DetectorResult;
 import oimo.dynamics.Contact;
 
 /**
@@ -47,4 +50,16 @@ class ContactCallback {
 	 */
 	public function endContact(c:Contact):Void {
 	}
+
+	/**
+	 * Trigger event started.
+	 */
+	public function beginTriggerContact(c:Contact):Void {
+	}
+
+	/**
+	 * Trigger event ended.
+	 */
+	public function endTriggerContact(c:Contact):Void {
+	}
 }

src/oimo/dynamics/rigidbody/RigidBody.hx

@@ -74,6 +74,8 @@ class RigidBody {
 	public var _addedToIsland:Bool;
 	public var _gravityScale:Float;
 
+	public var _isTrigger:Bool;
+
 	/**
 	 * Extra field that users can use for their own purposes.
 	 */
@@ -842,6 +844,13 @@ class RigidBody {
 		wakeUp();
 	}
 
+	/**
+	 * Sets if the body is a trigger or not.
+	 */
+	public inline function setIsTrigger(isTrigger:Bool) {
+		_isTrigger = isTrigger;
+	}
+
 	/**
 	 * Returns the local coordinates of the point `worldPoint` in world coodinates.
 	 */