comments

src/contact.c

@@ -482,7 +482,7 @@ static bool b2TestShapeOverlap(const b2Shape* shapeA, b2Transform xfA, const b2S
 	return output.distance < 10.0f * FLT_EPSILON;
 }
 
-// Update the contact manifold and touching status.
+// Update the contact manifold and touching status. Also updates sensor overlap.
 // Note: do not assume the shape AABBs are overlapping or are valid.
 bool b2UpdateContact(b2World* world, b2ContactSim* contactSim, b2Shape* shapeA, b2Transform transformA, b2Vec2 centerOffsetA,
 					 b2Shape* shapeB, b2Transform transformB, b2Vec2 centerOffsetB)

src/contact.h

@@ -13,7 +13,7 @@ typedef struct b2World b2World;
 
 enum b2ContactFlags
 {
-	// Set when the non-sensor shapes are touching.
+	// Set when the solid shapes are touching.
 	b2_contactTouchingFlag = 0x00000001,
 
 	// Contact has a hit event
@@ -23,6 +23,7 @@ enum b2ContactFlags
 	b2_contactSensorFlag = 0x0000004,
 
 	// Set when a sensor is touching
+	// todo this is not used, perhaps have b2Body_GetSensorContactData()
 	b2_contactSensorTouchingFlag = 0x00000008,
 
 	// This contact wants sensor events

src/world.c

@@ -343,12 +343,11 @@ static void b2CollideTask(int startIndex, int endIndex, uint32_t threadIndex, vo
 			b2Vec2 centerOffsetA = b2RotateVector(transformA.q, bodySimA->localCenter);
 			b2Vec2 centerOffsetB = b2RotateVector(transformB.q, bodySimB->localCenter);
 
+			// This updates solid contacts and sensors
 			bool touching =
 				b2UpdateContact(world, contactSim, shapeA, transformA, centerOffsetA, shapeB, transformB, centerOffsetB);
 
-			// Move
-
-			// State changes that affect island connectivity
+			// State changes that affect island connectivity. Also contact and sensor events.
 			if (touching == true && wasTouching == false)
 			{
 				contactSim->simFlags |= b2_simStartedTouching;