Бурундук: нет столкновения между фигурами

Question

Это первый раз, когда я прихожу сюда, потому что у меня есть проблема, которую я не могу решить даже после нескольких дней поиска.

Я пытаюсь сделать небольшую фреймворковую игру (и учусь одновременно) с Monogame и Chipmunk-sharp (эта: https://github.com/netonjm/ChipmunkSharp)

Я создал 2 физических объекта, но столкновения между этими двумя объектами нет, хотя они падают под действием силы тяжести.

Мои сценарии:

GameObject

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Microsoft.Xna.Framework;
using Microsoft.Xna.Framework.Graphics;

    namespace TestPhysic
    {
        class GameObject
        {
            public Vector2 Position
            {
                get { return pos; }
                set { pos = value; }
            }
            protected Vector2 pos;
            protected Texture2D text;
            protected float angle = 0;

            public GameObject(Texture2D firstText,Vector2 startingPos)
            {
                text = firstText;
                pos = startingPos;
            }

            public virtual void Draw(SpriteBatch spriteBatch)
            {
                spriteBatch.Draw(text,pos,null,Color.White,angle,Vector2.Zero,0.25f,SpriteEffects.None,0f);
            }

            public virtual void Draw(SpriteBatch spriteBatch,float rotation)
            {
                spriteBatch.Draw(text, pos, null, Color.White, rotation, Vector2.Zero, 0.25f, SpriteEffects.None, 0f);
            }

            public virtual void Update(GameTime gametime)
            {

            }
        }
    }

PhysicObject

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Microsoft.Xna.Framework;
using Microsoft.Xna.Framework.Graphics;
using ChipmunkSharp;

namespace TestPhysic
{
    class PhysicObject : GameObject
    {
        static int collCount = 0;
        ChipmunkSharp.cpBody physic;
        ChipmunkSharp.cpSpace space;
        ChipmunkSharp.cpShape shp;
        ChipmunkSharp.cpTransform trsf;

        public ChipmunkSharp.cpBody Physic
        {
            get { return physic; }
        }

        public ChipmunkSharp.cpShape Shape
        {
            get { return shp; }
        }

        public PhysicObject(Texture2D firstText, Vector2 startingPos, ChipmunkSharp.cpSpace space,bool isKinematic = false) : base(firstText, startingPos)
        {
            trsf = new cpTransform();
            collCount++;
            physic = new cpBody(1000,cp.PHYSICS_INFINITY);

            if (isKinematic)
                physic.SetBodyType(cpBodyType.KINEMATIC);
            shp = new ChipmunkSharp.cpCircleShape(physic, 100, ChipmunkSharp.cpVect.Zero);
            shp.Active();
            shp.SetSensor(true);
            shp.SetCollisionType(1);
            physic.SetPosition(new ChipmunkSharp.cpVect(Position.X, Position.Y));
            if (space != null)
            {
                space.AddBody(physic);
                space.AddShape(shp);
                this.space = space;
            }
        }

        public override void Update(GameTime gametime)
        {
            base.Update(gametime);
            physic.UpdateVelocity(space.GetGravity(), 1,0.01f);
            physic.UpdatePosition(1);
            shp.Update(trsf);
            ChipmunkSharp.cpVect vec = physic.GetPosition();
            Position = new Vector2(vec.x, vec.y);
            angle = (physic.GetAngle() % 360) / 57.2958f;
            if (Position.Y > 200) {            
                physic.ApplyImpulse(new ChipmunkSharp.cpVect(1, -100), new ChipmunkSharp.cpVect(0.1f,0.1f));
            }
        }
    }
}

Game1.cs (основной класс)

using Microsoft.Xna.Framework;
using Microsoft.Xna.Framework.Graphics;
using Microsoft.Xna.Framework.Input;
using ChipmunkSharp;
using System;

namespace TestPhysic
{
    /// <summary>
    /// This is the main type for your game.
    /// </summary>
    public class Game1 : Game
    {
        GraphicsDeviceManager graphics;
        SpriteBatch spriteBatch;
        PhysicObject square;
        PhysicObject ground;
        ChipmunkSharp.cpSpace spc;
        ChipmunkSharp.cpTransform tr = new ChipmunkSharp.cpTransform();

        public Game1()
        {
            graphics = new GraphicsDeviceManager(this);
            Content.RootDirectory = "Content";
            spc = new ChipmunkSharp.cpSpace();
            spc.SetGravity(new ChipmunkSharp.cpVect(0, 1f));
            spc.AddDefaultCollisionHandler().preSolveFunc = new Func<cpArbiter, cpSpace, object, bool>((arg1, arg2, arg3) => { Console.WriteLine("ij"); return true; });
            spc.AddDefaultCollisionHandler().beginFunc = new Func<cpArbiter, cpSpace, object, bool>((arg1, arg2, arg3) => { Console.WriteLine("ij"); return true; });
        }

        /// <summary>
        /// Allows the game to perform any initialization it needs to before starting to run.
        /// This is where it can query for any required services and load any non-graphic
        /// related content.  Calling base.Initialize will enumerate through any components
        /// and initialize them as well.
        /// </summary>
        protected override void Initialize()
        {
            // TODO: Add your initialization logic here

            base.Initialize();
        }

        /// <summary>
        /// LoadContent will be called once per game and is the place to load
        /// all of your content.
        /// </summary>
        protected override void LoadContent()
        {
            // Create a new SpriteBatch, which can be used to draw textures.
            spriteBatch = new SpriteBatch(GraphicsDevice);

            square = new PhysicObject(Content.Load<Texture2D>("square"), new Vector2(300,0),spc);
            ground = new PhysicObject(Content.Load<Texture2D>("rose"), new Vector2(250,150),spc,true);


            // TODO: use this.Content to load your game content here
        }

        /// <summary>
        /// UnloadContent will be called once per game and is the place to unload
        /// game-specific content.
        /// </summary>
        protected override void UnloadContent()
        {
            // TODO: Unload any non ContentManager content here
        }

        /// <summary>
        /// Allows the game to run logic such as updating the world,
        /// checking for collisions, gathering input, and playing audio.
        /// </summary>
        /// <param name="gameTime">Provides a snapshot of timing values.</param>
        protected override void Update(GameTime gameTime)
        {
            if (GamePad.GetState(PlayerIndex.One).Buttons.Back == ButtonState.Pressed || Keyboard.GetState().IsKeyDown(Keys.Escape))
                Exit();

            // TODO: Add your update logic here
            spc.Step(1 / 60);
            square.Update(gameTime);
            ground.Update(gameTime);
            base.Update(gameTime);
        }

        /// <summary>
        /// This is called when the game should draw itself.
        /// </summary>
        /// <param name="gameTime">Provides a snapshot of timing values.</param>
        protected override void Draw(GameTime gameTime)
        {
            GraphicsDevice.Clear(Color.CornflowerBlue);

            // TODO: Add your drawing code here
            spriteBatch.Begin();
            ground.Draw(spriteBatch);
            square.Draw(spriteBatch);
            spriteBatch.End();

            base.Draw(gameTime);
        }
    }
}

Как я могу решить эту проблему? и почему объекты все еще могут двигаться, даже когда я удаляю строку spc.Step?

большое спасибо