public void AddBody(VoltBody body)
{
if (this.count >= this.bodies.Length)
VoltUtil.ExpandArray(ref this.bodies);
this.bodies[this.count] = body;
body.ProxyId = this.count;
this.count++;
}
void Awake()
{
VoltWorld world = VolatileWorld.Instance.World;
IEnumerable<VoltShape> shapes = this.shapes.Select((s) => s.PrepareShape(world));
Vector2 position = transform.position;
float radians = Mathf.Deg2Rad * transform.eulerAngles.z;
if (this.isStatic == true)
this.body = world.CreateStaticBody(position, radians, shapes.ToArray());
else
this.body = world.CreateDynamicBody(position, radians, shapes.ToArray());
this.lastPosition = this.nextPosition = transform.position;
this.lastAngle = this.nextAngle = transform.eulerAngles.z;
}
private void AddBodyInternal(VoltBody body)
{
this.bodies.Add(body);
if (body.IsStatic)
this.staticBroadphase.AddBody(body);
else
this.dynamicBroadphase.AddBody(body);
body.AssignWorld(this);
if ((this.HistoryLength > 0) && (body.IsStatic == false))
body.AssignHistory(this.AllocateHistory());
}
/// <summary>
/// Updates a single body, resolving only collisions with that body.
/// If a frame number is provided, all dynamic bodies will store their
/// state for that frame for later testing.
///
/// Note: This function is best used with dynamic collisions disabled,
/// otherwise you might get symmetric duplicates on collisions.
/// </summary>
public void Update(VoltBody body, bool collideDynamic = false)
{
if (body.IsStatic)
{
VoltDebug.LogWarning("Updating static body, doing nothing");
return;
}
body.Update();
this.dynamicBroadphase.UpdateBody(body);
this.BroadPhase(body, collideDynamic);
this.UpdateCollision();
this.FreeManifolds();
}
/// <summary>
/// Removes a body from the world. The body will be partially reset so it
/// can be added later. The pointer is still valid and the body can be
/// returned to the world using AddBody.
/// </summary>
public void RemoveBody(VoltBody body)
{
VoltDebug.Assert(body.World == this);
body.PartialReset();
this.RemoveBodyInternal(body);
}
/// <summary>
/// Removes a body from the tree.
/// </summary>
public void RemoveBody(VoltBody body)
{
int proxyId = body.ProxyId;
VoltDebug.Assert((0 <= proxyId) && (proxyId < this.nodeCapacity));
VoltDebug.Assert(this.nodes[proxyId].IsLeaf);
this.RemoveLeaf(proxyId);
this.FreeNode(proxyId);
body.ProxyId = TreeBroadphase.NULL_NODE;
}
private bool Filter(VoltBody body)
{
if (this.ignoreBody != null)
return body != this.ignoreBody.Body;
return true;
}
private void RemoveBodyInternal(VoltBody body)
{
this.bodies.Remove(body);
if (body.IsStatic)
this.staticBroadphase.RemoveBody(body);
else
this.dynamicBroadphase.RemoveBody(body);
body.FreeHistory();
body.AssignWorld(null);
}
public static VoltBodyFilter FilterExcept(VoltBody exception)
{
return ((body) => body != exception);
}
public static bool FilterDynamic(VoltBody body)
{
return body.IsStatic;
}
public static bool FilterAll(VoltBody body)
{
return false;
}
private static void WorldToBody(
VoltBody body,
Vector2[] worldVertices,
Vector2[] bodyVertices,
int count)
{
for (int i = 0; i < count; i++)
bodyVertices[i] = body.WorldToBodyPointCurrent(worldVertices[i]);
}
internal void Reset()
{
this.aabb = default(VoltAABB);
this.left = NULL_NODE;
this.right = NULL_NODE;
this.height = 0;
this.parentOrNext = NULL_NODE;
this.body = null;
}
/// <summary>
/// Updates a body's position. If the body has moved outside of its
/// expanded AABB, then the body is removed from the tree and re-inserted.
/// Otherwise the function returns immediately.
/// </summary>
public void UpdateBody(VoltBody body)
{
int proxyId = body.ProxyId;
VoltDebug.Assert((0 <= proxyId) && (proxyId < this.nodeCapacity));
Node proxyNode = this.nodes[proxyId];
VoltDebug.Assert(proxyNode.IsLeaf);
if (proxyNode.aabb.Contains(body.AABB))
return;
this.RemoveLeaf(proxyId);
// Extend AABB
VoltAABB expanded =
VoltAABB.CreateExpanded(body.AABB, VoltConfig.AABB_EXTENSION);
// Predict AABB displacement and sweep the AABB
//Vector2 sweep = VoltConfig.AABB_MULTIPLIER * displacement;
//VoltAABB swept = VoltAABB.CreateSwept(expanded, sweep);
//this.nodes[proxyId].aabb = swept;
proxyNode.aabb = expanded;
this.InsertLeaf(proxyId);
return;
}
/// <summary>
/// Identifies collisions for a single body. Does not keep track of
/// symmetrical duplicates (they could be counted twice).
/// </summary>
private void BroadPhase(VoltBody query, bool collideDynamic = false)
{
VoltDebug.Assert(query.IsStatic == false);
this.reusableBuffer.Clear();
this.staticBroadphase.QueryOverlap(query.AABB, this.reusableBuffer);
if (collideDynamic)
this.dynamicBroadphase.QueryOverlap(query.AABB, this.reusableBuffer);
this.TestBuffer(query);
}
public static bool FilterNone(VoltBody body)
{
return true;
}
private void FreeBody(VoltBody body)
{
this.bodyPool.Deallocate(body);
}
public static bool FilterStatic(VoltBody body)
{
return (body.IsStatic == false);
}
private void TestBuffer(VoltBody query)
{
for (int i = 0; i < this.reusableBuffer.Count; i++)
{
VoltBody test = this.reusableBuffer[i];
bool canCollide =
query.CanCollide(test) &&
test.CanCollide(query) &&
query.AABB.Intersect(test.AABB);
if (canCollide)
for (int i_q = 0; i_q < query.shapeCount; i_q++)
for (int j_t = 0; j_t < test.shapeCount; j_t++)
this.NarrowPhase(query.shapes[i_q], test.shapes[j_t]);
}
}
/// <summary>
/// Adds a body to the world. Used for reintroducing bodies that
/// have been removed. For new bodies, use CreateBody.
/// </summary>
public void AddBody(
VoltBody body,
Vector2 position,
float radians)
{
#if DEBUG
VoltDebug.Assert(body.IsInitialized);
#endif
VoltDebug.Assert(body.World == null);
this.AddBodyInternal(body);
body.Set(position, radians);
}
public void UpdateBody(VoltBody body)
{
// Do nothing
}
/// <summary>
/// Removes a body from the world and deallocates it. The pointer is
/// invalid after this point.
/// </summary>
public void DestroyBody(VoltBody body)
{
VoltDebug.Assert(body.World == this);
body.FreeShapes();
this.RemoveBodyInternal(body);
this.FreeBody(body);
}
public void RemoveBody(VoltBody body)
{
int index = body.ProxyId;
VoltDebug.Assert(index >= 0);
VoltDebug.Assert(index < this.count);
int lastIndex = this.count - 1;
if (index < lastIndex)
{
VoltBody lastBody = this.bodies[lastIndex];
this.bodies[lastIndex].ProxyId = -1;
this.bodies[lastIndex] = null;
this.bodies[index] = lastBody;
lastBody.ProxyId = index;
}
this.count--;
}
/// <summary>
/// Adds a body to the tree.
/// </summary>
public void AddBody(VoltBody body)
{
VoltDebug.Assert(body.ProxyId == TreeBroadphase.NULL_NODE);
int proxyId;
Node proxyNode = this.AllocateNode(out proxyId);
// Expand the aabb
proxyNode.aabb =
VoltAABB.CreateExpanded(
body.AABB,
VoltConfig.AABB_EXTENSION);
proxyNode.body = body;
proxyNode.height = 0;
this.InsertLeaf(proxyId);
body.ProxyId = proxyId;
}
