public b2JointEdge GetJointList()
{
global::System.IntPtr cPtr = Box2DPINVOKE.b2Body_GetJointList__SWIG_0(swigCPtr);
b2JointEdge ret = (cPtr == global::System.IntPtr.Zero) ? null : new b2JointEdge(cPtr, false);
return(ret);
}
public virtual bool ShouldCollide(b2Body other)
{
// At least one body should be dynamic.
if (m_type != b2BodyType.b2_dynamicBody && other.m_type != b2BodyType.b2_dynamicBody)
{
return(false);
}
// Does a joint prevent collision?
for (b2JointEdge jn = m_jointList; jn != null; jn = jn.Next)
{
if (jn.Other == other)
{
if (jn.Joint.GetCollideConnected() == false)
{
return(false);
}
}
}
return(true);
}
public b2Body(b2BodyDef bd, b2World world)
{
m_flags = 0;
if (bd.bullet)
{
m_flags |= b2BodyFlags.e_bulletFlag;
}
if (bd.fixedRotation)
{
m_flags |= b2BodyFlags.e_fixedRotationFlag;
}
if (bd.allowSleep)
{
m_flags |= b2BodyFlags.e_autoSleepFlag;
}
if (bd.awake)
{
m_flags |= b2BodyFlags.e_awakeFlag;
}
if (bd.active)
{
m_flags |= b2BodyFlags.e_activeFlag;
}
m_world = world;
m_xf.p = bd.position;
m_xf.q.Set(bd.angle);
Sweep.localCenter.SetZero();
Sweep.c0 = m_xf.p;
Sweep.c = m_xf.p;
Sweep.a0 = bd.angle;
Sweep.a = bd.angle;
Sweep.alpha0 = 0.0f;
m_jointList = null;
m_contactList = null;
Prev = null;
Next = null;
m_linearVelocity = bd.linearVelocity;
m_angularVelocity = bd.angularVelocity;
m_linearDamping = bd.linearDamping;
m_angularDamping = bd.angularDamping;
m_gravityScale = bd.gravityScale;
m_force.SetZero();
m_torque = 0.0f;
m_sleepTime = 0.0f;
m_type = bd.type;
if (m_type == b2BodyType.b2_dynamicBody)
{
m_mass = 1.0f;
m_invMass = 1.0f;
}
else
{
m_mass = 0.0f;
m_invMass = 0.0f;
}
m_I = 0.0f;
m_invI = 0.0f;
m_userData = bd.userData;
m_fixtureList = null;
m_fixtureCount = 0;
}
// Find islands, integrate and solveraints, solve positionraints
public void Solve(b2TimeStep step)
{
m_profile.solveInit = 0.0f;
m_profile.solveVelocity = 0.0f;
m_profile.solvePosition = 0.0f;
// Size the island for the worst case.
b2Island island = new b2Island(m_bodyCount,
m_contactManager.ContactCount,
m_jointCount,
m_contactManager.ContactListener);
// Clear all the island flags.
for (b2Body b = m_bodyList; b != null; b = b.Next)
{
b.BodyFlags &= ~b2BodyFlags.e_islandFlag;
}
for (b2Contact c = m_contactManager.ContactList; c != null; c = c.Next)
{
c.ContactFlags &= ~b2ContactFlags.e_islandFlag;
}
for (b2Joint j = m_jointList; j; j = j.Next)
{
j.m_islandFlag = false;
}
// Build and simulate all awake islands.
int stackSize = m_bodyCount;
b2Body[] stack = new b2Body[stackSize];
for (b2Body seed = m_bodyList; seed != null; seed = seed.Next)
{
if (seed.BodyFlags & b2BodyFlags.e_islandFlag)
{
continue;
}
if (seed.IsAwake() == false || seed.IsActive() == false)
{
continue;
}
// The seed can be dynamic or kinematic.
if (seed.BodyType == b2BodyType.b2_staticBody)
{
continue;
}
// Reset island and stack.
island.Clear();
int stackCount = 0;
stack[stackCount++] = seed;
seed.BodyFlags |= b2BodyFlags.e_islandFlag;
// Perform a depth first search (DFS) on theraint graph.
while (stackCount > 0)
{
// Grab the next body off the stack and add it to the island.
b2Body b = stack[--stackCount];
island.Add(b);
// Make sure the body is awake.
b.SetAwake(true);
// To keep islands as small as possible, we don't
// propagate islands across static bodies.
if (b.BodyType == b2BodyType.b2_staticBody)
{
continue;
}
// Search all contacts connected to this body.
for (b2ContactEdge ce = b.ContactList; ce != null; ce = ce.next)
{
b2Contact contact = ce.contact;
// Has this contact already been added to an island?
if (contact.ContactFlags & b2ContactFlags.e_islandFlag)
{
continue;
}
// Is this contact solid and touching?
if (contact.IsEnabled() == false ||
contact.IsTouching() == false)
{
continue;
}
// Skip sensors.
bool sensorA = contact.m_fixtureA.m_isSensor;
bool sensorB = contact.m_fixtureB.m_isSensor;
if (sensorA || sensorB)
{
continue;
}
island.Add(contact);
contact.ContactFlags |= b2ContactType.e_islandFlag;
b2Body other = ce.other;
// Was the other body already added to this island?
if ((other.BodyFlags & b2BodyFlags.e_islandFlag) > 0)
{
continue;
}
stack[stackCount++] = other;
other.BodyFlags |= b2BodyFlags.e_islandFlag;
}
// Search all joints connect to this body.
for (b2JointEdge je = b.JointList; je; je = je.next)
{
if (je.joint.IslandFlag == true)
{
continue;
}
b2Body other = je.other;
// Don't simulate joints connected to inactive bodies.
if (other.IsActive() == false)
{
continue;
}
island.Add(je.joint);
je.joint.m_islandFlag = true;
if ((other.BodyFlags & b2BodyFlags.e_islandFlag) > 0)
{
continue;
}
stack[stackCount++] = other;
other.BodyFlags |= b2BodyFlags.e_islandFlag;
}
}
b2Profile profile = island.Solve(step, m_gravity, m_allowSleep);
m_profile.solveInit += profile.solveInit;
m_profile.solveVelocity += profile.solveVelocity;
m_profile.solvePosition += profile.solvePosition;
// Post solve cleanup.
for (int i = 0; i < island.m_bodyCount; ++i)
{
// Allow static bodies to participate in other islands.
b2Body b = island.m_bodies[i];
if (b.BodyType == b2BodyType.b2_staticBody)
{
b.BodyFlags &= ~b2BodyFlags.e_islandFlag;
}
}
}
{
b2Timer timer;
// Synchronize fixtures, check for out of range bodies.
for (b2Body b = m_bodyList; b != null; b = b.Next)
{
// If a body was not in an island then it did not move.
if ((b.BodyFlags & b2BodyType.e_islandFlag) == 0)
{
continue;
}
if (b.GetBodyType() == b2BodyType.b2_staticBody)
{
continue;
}
// Update fixtures (for broad-phase).
b.SynchronizeFixtures();
}
// Look for new contacts.
m_contactManager.FindNewContacts();
m_profile.broadphase = timer.GetMilliseconds();
}
}
public void DestroyBody(b2Body b)
{
if (IsLocked())
{
return;
}
// Delete the attached joints.
b2JointEdge je = b.JointList;
while (je)
{
b2JointEdge je0 = je;
je = je.next;
if (m_destructionListener != null)
{
m_destructionListener.SayGoodbye(je0.joint);
}
DestroyJoint(je0.joint);
b.JointList = je;
}
b.JointList = null;
// Delete the attached contacts.
b2ContactEdge ce = b.ContactList;
while (ce)
{
b2ContactEdge ce0 = ce;
ce = ce.next;
m_contactManager.Destroy(ce0.contact);
}
b.ContactList = null;
// Delete the attached fixtures. This destroys broad-phase proxies.
b2Fixture f = b.FixtureList;
while (f != null)
{
b2Fixture f0 = f;
f = f.Next;
if (m_destructionListener != null)
{
m_destructionListener.SayGoodbye(f0);
}
f0.DestroyProxies(m_contactManager.BroadPhase);
b.FixtureList = f;
b.FixtureCount -= 1;
}
b.FixtureList = null;
b.FixtureCount = 0;
// Remove world body list.
if (b.Prev != null)
{
b.Prev.Next = b.Next;
}
if (b.Next != null)
{
b.Next.Prev = b.Prev;
}
if (b == m_bodyList)
{
m_bodyList = b.Next;
}
--m_bodyCount;
}
public b2Body(b2BodyDef bd, b2World world)
{
m_flags = 0;
if (bd.bullet)
{
m_flags |= b2BodyFlags.e_bulletFlag;
}
if (bd.fixedRotation)
{
m_flags |= b2BodyFlags.e_fixedRotationFlag;
}
if (bd.allowSleep)
{
m_flags |= b2BodyFlags.e_autoSleepFlag;
}
if (bd.awake)
{
m_flags |= b2BodyFlags.e_awakeFlag;
}
if (bd.active)
{
m_flags |= b2BodyFlags.e_activeFlag;
}
m_world = world;
m_xf.p = bd.position;
m_xf.q.Set(bd.angle);
m_sweep.localCenter.SetZero();
m_sweep.c0 = m_xf.p;
m_sweep.c = m_xf.p;
m_sweep.a0 = bd.angle;
m_sweep.a = bd.angle;
m_sweep.alpha0 = 0.0f;
m_jointList = null;
m_contactList = null;
m_prev = null;
m_next = null;
m_linearVelocity = bd.linearVelocity;
m_angularVelocity = bd.angularVelocity;
m_linearDamping = bd.linearDamping;
m_angularDamping = bd.angularDamping;
m_gravityScale = bd.gravityScale;
m_force.SetZero();
m_torque = 0.0f;
m_sleepTime = 0.0f;
m_type = bd.type;
if (m_type == b2BodyType.b2_dynamicBody)
{
m_mass = 1.0f;
m_invMass = 1.0f;
}
else
{
m_mass = 0.0f;
m_invMass = 0.0f;
}
m_I = 0.0f;
m_invI = 0.0f;
m_userData = bd.userData;
m_fixtureList = null;
m_fixtureCount = 0;
}
public b2Body(b2BodyDef bd, b2World world)
{
BodyFlags = 0;
if (bd.bullet)
{
BodyFlags |= b2BodyFlags.e_bulletFlag;
}
if (bd.fixedRotation)
{
BodyFlags |= b2BodyFlags.e_fixedRotationFlag;
}
if (bd.allowSleep)
{
BodyFlags |= b2BodyFlags.e_autoSleepFlag;
}
if (bd.awake)
{
BodyFlags |= b2BodyFlags.e_awakeFlag;
}
if (bd.active)
{
BodyFlags |= b2BodyFlags.e_activeFlag;
}
World = world;
Transform.p = bd.position;
Transform.q.Set(bd.angle);
Sweep.localCenter.SetZero();
Sweep.c0 = Transform.p;
Sweep.c = Transform.p;
Sweep.a0 = bd.angle;
Sweep.a = bd.angle;
Sweep.alpha0 = 0.0f;
JointList = null;
ContactList = null;
Prev = null;
Next = null;
m_linearVelocity = bd.linearVelocity;
m_angularVelocity = bd.angularVelocity;
LinearDamping = bd.linearDamping;
AngularDamping = bd.angularDamping;
GravityScale = bd.gravityScale;
Force.SetZero();
Torque = 0.0f;
SleepTime = 0.0f;
BodyType = bd.type;
if (BodyType == b2BodyType.b2_dynamicBody)
{
Mass = 1.0f;
InvertedMass = 1.0f;
}
else
{
Mass = 0.0f;
InvertedMass = 0.0f;
}
m_I = 0.0f;
InvertedI = 0.0f;
UserData = bd.userData;
FixtureList = null;
FixtureCount = 0;
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(b2JointEdge obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
