/// <summary>
/// Destroy a rigid body.
/// Warning: This function is locked during callbacks.
/// Warning: This automatically deletes all associated shapes and joints.
/// </summary>
/// <param name="body">The body.</param>
public void RemoveBody(Body body)
{
Debug.Assert(BodyList.Count > 0);
Debug.Assert(!IsLocked);
if (IsLocked)
{
return;
}
// You tried to remove a body that is not contained in the BodyList.
// Are you removing the body more than once?
Debug.Assert(BodyList.Contains(body));
// Delete the attached joints.
JointEdge je = body.JointList;
while (je != null)
{
JointEdge je0 = je;
je = je.Next;
RemoveJoint(je0.Joint);
}
body.JointList = null;
// Delete the attached contacts.
ContactEdge ce = body.ContactList;
while (ce != null)
{
ContactEdge ce0 = ce;
ce = ce.Next;
ContactManager.Destroy(ce0.Contact);
}
body.ContactList = null;
// Delete the attached fixtures. This destroys broad-phase proxies.
foreach (Fixture fixture in body.FixtureList)
{
fixture.DestroyProxies(ContactManager.BroadPhase);
fixture.Destroy();
}
body.FixtureList = null;
// Remove world body list.
BodyList.Remove(body);
if (BodyRemoved != null)
{
BodyRemoved(body);
}
}
private void ProcessRemovedBodies()
{
if (_bodyRemoveList.Count > 0)
{
foreach (Body body in _bodyRemoveList)
{
Debug.Assert(BodyList.Count > 0);
// You tried to remove a body that is not contained in the BodyList.
// Are you removing the body more than once?
//Debug.Assert(BodyList.Contains(body));
if (!BodyList.Contains(body))
{
continue;
}
// Delete the attached joints.
foreach (Joint j in body.JointList)
{
RemoveJoint(j, false);
}
body.JointList.Clear();
// Delete the attached contacts.
ContactEdge ce = body.ContactList;
while (ce != null)
{
ContactEdge ce0 = ce;
ce = ce.Next;
ContactManager.Destroy(ce0.Contact);
}
body.ContactList = null;
// Delete the attached fixtures. This destroys broad-phase proxies.
for (int i = 0; i < body.FixtureList.Count; i++)
{
body.FixtureList[i].DestroyProxies(ContactManager.BroadPhase);
body.FixtureList[i].Destroy();
}
body.FixtureList = null;
// Remove world body list.
BodyList.Remove(body);
if (BodyRemoved != null)
{
BodyRemoved(body);
}
}
_bodyRemoveList.Clear();
}
}
private void ProcessRemovedItems()
{
//Remove any new geometries
for (int i = 0; i < geomRemoveList.Count; i++)
{
geomRemoveList[i].isRemoved = true;
geomList.Remove(geomRemoveList[i]);
//Remove any arbiters associated with the geometries being removed
for (int j = arbiterList.Count; j > 0; j--)
{
if (arbiterList[j - 1].GeometryA == geomRemoveList[i] ||
arbiterList[j - 1].GeometryB == geomRemoveList[i])
{
arbiterList.Remove(arbiterList[j - 1]);
}
}
}
if (geomRemoveList.Count > 0)
{
_broadPhaseCollider.ProcessRemovedGeoms();
}
geomRemoveList.Clear();
//Remove any new bodies
for (int i = 0; i < bodyRemoveList.Count; i++)
{
bodyList.Remove(bodyRemoveList[i]);
}
bodyRemoveList.Clear();
//Remove any new controllers
for (int i = 0; i < controllerRemoveList.Count; i++)
{
controllerList.Remove(controllerRemoveList[i]);
}
controllerRemoveList.Clear();
//Remove any new joints
for (int i = 0; i < jointRemoveList.Count; i++)
{
jointList.Remove(jointRemoveList[i]);
}
jointRemoveList.Clear();
//Remove any new springs
for (int i = 0; i < springRemoveList.Count; i++)
{
springList.Remove(springRemoveList[i]);
}
springRemoveList.Clear();
}
private void ProcessRemovedBodies()
{
if (_bodyRemoveList.Count > 0)
{
foreach (Body body in _bodyRemoveList)
{
System.Diagnostics.Debug.Assert(BodyList.Count > 0);
// You tried to remove a body that is not contained in the BodyList.
// Are you removing the body more than once?
//Debug.Assert(BodyList.Contains(body));
// Delete the attached joints.
JointEdge je = body.JointList;
while (je != null)
{
JointEdge je0 = je;
je = je.Next;
RemoveJoint(je0.Joint, false);
}
body.JointList = null;
// Delete the attached contacts.
ContactEdge ce = body.ContactList;
while (ce != null)
{
ContactEdge ce0 = ce;
ce = ce.Next;
ContactManager.Destroy(ce0.Contact);
}
body.ContactList = null;
// Delete the attached fixtures. This destroys broad-phase proxies.
if (body.FixtureList != null)
{
for (int i = 0; i < body.FixtureList.Count; i++)
{
body.FixtureList[i].DestroyProxies(ContactManager.BroadPhase);
body.FixtureList[i].Destroy();
}
}
body.FixtureList = null;
// Remove world body list.
BodyList.Remove(body);
BodyRemoved?.Invoke(body);
}
_bodyRemoveList.Clear();
}
}
public void PopBody(Body tgtBody)
{
// Add Body to BodyList
BodyList.Remove(tgtBody);
_nBodies -= 1;
}
public void Remove(Body body)
{
_bodyList.Remove(body);
}
/// <summary>
/// Processes the removed geometries (and their arbiters), bodies, controllers, joints and springs.
/// </summary>
private void ProcessRemovedItems()
{
//Remove any new geometries
_tempCount = _geomRemoveList.Count;
for (int i = 0; i < _tempCount; i++)
{
_geomRemoveList[i].InSimulation = false;
GeomList.Remove(_geomRemoveList[i]);
//Remove any arbiters associated with the geometries being removed
for (int j = ArbiterList.Count; j > 0; j--)
{
if (ArbiterList[j - 1].GeometryA == _geomRemoveList[i] ||
ArbiterList[j - 1].GeometryB == _geomRemoveList[i])
{
//TODO: Should we create a RemoveComplete method and remove all Contacts associated
//with the arbiter?
arbiterPool.Insert(ArbiterList[j - 1]);
ArbiterList.Remove(ArbiterList[j - 1]);
}
}
}
if (_geomRemoveList.Count > 0)
{
_broadPhaseCollider.ProcessRemovedGeoms();
}
_geomRemoveList.Clear();
//Remove any new bodies
_tempCount = _bodyRemoveList.Count;
for (int i = 0; i < _tempCount; i++)
{
BodyList.Remove(_bodyRemoveList[i]);
}
_bodyRemoveList.Clear();
//Remove any new controllers
_tempCount = _controllerRemoveList.Count;
for (int i = 0; i < _tempCount; i++)
{
ControllerList.Remove(_controllerRemoveList[i]);
}
_controllerRemoveList.Clear();
//Remove any new joints
int jointRemoveCount = _jointRemoveList.Count;
for (int i = 0; i < jointRemoveCount; i++)
{
JointList.Remove(_jointRemoveList[i]);
}
_jointRemoveList.Clear();
//Remove any new springs
_tempCount = _springRemoveList.Count;
for (int i = 0; i < _tempCount; i++)
{
SpringList.Remove(_springRemoveList[i]);
}
_springRemoveList.Clear();
}
