public Fixture()
{
m_userData = null;
m_body = null;
m_next = null;
m_proxies = null;
m_proxyCount = 0;
m_shape = null;
m_filter = new Filter();
}
/// <summary>
/// Return true if contact calculations should be performed between these two shapes.
/// </summary>
/// <warning>
/// for performance reasons this is only called when the AABBs begin to overlap.
/// </warning>
/// <param name="fixtureA"></param>
/// <param name="fixtureB"></param>
/// <returns></returns>
public virtual bool shouldCollide(Fixture fixtureA, Fixture fixtureB)
{
Filter filterA = fixtureA.FilterData;
Filter filterB = fixtureB.FilterData;
if (filterA.groupIndex == filterB.groupIndex && filterA.groupIndex != 0)
{
return filterA.groupIndex > 0;
}
bool collide = (filterA.maskBits & filterB.categoryBits) != 0 && (filterA.categoryBits & filterB.maskBits) != 0;
return collide;
}
/// <summary>
/// Return true if contact calculations should be performed between these two shapes.
/// </summary>
/// <warning>
/// for performance reasons this is only called when the AABBs begin to overlap.
/// </warning>
/// <param name="fixtureA"></param>
/// <param name="fixtureB"></param>
/// <returns></returns>
public bool ShouldCollide(Fixture fixtureA, Fixture fixtureB)
{
var filterA = fixtureA.FilterData;
var filterB = fixtureB.FilterData;
if (filterA.GroupIndex == filterB.GroupIndex && filterA.GroupIndex != 0)
{
return filterA.GroupIndex > 0;
}
bool collide = (filterA.MaskBits & filterB.CategoryBits) != 0 && (filterA.CategoryBits & filterB.MaskBits) != 0;
return collide;
}
public virtual Contact popContact(Fixture fixtureA, int indexA, Fixture fixtureB, int indexB)
{
ShapeType type1 = fixtureA.Type;
ShapeType type2 = fixtureB.Type;
ContactRegister reg = contactStacks[(int)type1][(int)type2];
IDynamicStack<Contact> creator = reg.creator;
if (creator != null)
{
if (reg.primary)
{
Contact c = creator.pop();
c.init(fixtureA, indexA, fixtureB, indexB);
return c;
}
else
{
Contact c = creator.pop();
c.init(fixtureB, indexB, fixtureA, indexA);
return c;
}
}
else
{
return null;
}
}
private void drawShape(Fixture fixture, Transform xf, Color3f color)
{
switch (fixture.Type)
{
case ShapeType.CIRCLE:
{
CircleShape circle = (CircleShape)fixture.Shape;
// Vec2 center = Mul(xf, circle.m_p);
Transform.mulToOutUnsafe(xf, circle.m_p, center);
float radius = circle.m_radius;
xf.q.getXAxis(axis);
if (fixture.UserData != null && fixture.UserData.Equals(LIQUID_INT))
{
Body b = fixture.Body;
liquidOffset.set_Renamed(b.m_linearVelocity);
float linVelLength = b.m_linearVelocity.length();
if (averageLinearVel == -1)
{
averageLinearVel = linVelLength;
}
else
{
averageLinearVel = .98f * averageLinearVel + .02f * linVelLength;
}
liquidOffset.mulLocal(liquidLength / averageLinearVel / 2);
circCenterMoved.set_Renamed(center).addLocal(liquidOffset);
center.subLocal(liquidOffset);
m_debugDraw.drawSegment(center, circCenterMoved, liquidColor);
return;
}
m_debugDraw.drawSolidCircle(center, radius, axis, color);
}
break;
case ShapeType.POLYGON:
{
PolygonShape poly = (PolygonShape)fixture.Shape;
int vertexCount = poly.m_count;
Debug.Assert(vertexCount <= Settings.maxPolygonVertices);
Vec2[] vertices = tlvertices.get_Renamed(Settings.maxPolygonVertices);
for (int i = 0; i < vertexCount; ++i)
{
// vertices[i] = Mul(xf, poly.m_vertices[i]);
Transform.mulToOutUnsafe(xf, poly.m_vertices[i], vertices[i]);
}
m_debugDraw.drawSolidPolygon(vertices, vertexCount, color);
}
break;
case ShapeType.EDGE:
{
EdgeShape edge = (EdgeShape)fixture.Shape;
Transform.mulToOutUnsafe(xf, edge.m_vertex1, v1);
Transform.mulToOutUnsafe(xf, edge.m_vertex2, v2);
m_debugDraw.drawSegment(v1, v2, color);
}
break;
case ShapeType.CHAIN:
{
ChainShape chain = (ChainShape)fixture.Shape;
int count = chain.m_count;
Vec2[] vertices = chain.m_vertices;
Transform.mulToOutUnsafe(xf, vertices[0], v1);
for (int i = 1; i < count; ++i)
{
Transform.mulToOutUnsafe(xf, vertices[i], v2);
m_debugDraw.drawSegment(v1, v2, color);
m_debugDraw.drawCircle(v1, 0.05f, color);
v1.set_Renamed(v2);
}
}
break;
default:
break;
}
}
public Body(BodyDef bd, World world)
{
Debug.Assert(bd.position.Valid);
Debug.Assert(bd.linearVelocity.Valid);
Debug.Assert(bd.gravityScale >= 0.0f);
Debug.Assert(bd.angularDamping >= 0.0f);
Debug.Assert(bd.linearDamping >= 0.0f);
m_flags = 0;
if (bd.bullet)
{
m_flags |= e_bulletFlag;
}
if (bd.fixedRotation)
{
m_flags |= e_fixedRotationFlag;
}
if (bd.allowSleep)
{
m_flags |= e_autoSleepFlag;
}
if (bd.awake)
{
m_flags |= e_awakeFlag;
}
if (bd.active)
{
m_flags |= e_activeFlag;
}
m_world = world;
m_xf.p.set_Renamed(bd.position);
m_xf.q.set_Renamed(bd.angle);
m_sweep.localCenter.setZero();
m_sweep.c0.set_Renamed(m_xf.p);
m_sweep.c.set_Renamed(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.set_Renamed(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 == BodyType.DYNAMIC)
{
m_mass = 1f;
m_invMass = 1f;
}
else
{
m_mass = 0f;
m_invMass = 0f;
}
m_I = 0.0f;
m_invI = 0.0f;
m_userData = bd.userData;
m_fixtureList = null;
m_fixtureCount = 0;
}
/// <summary>
/// Destroy a fixture. This removes the fixture from the broad-phase and destroys all contacts
/// associated with this fixture. This will automatically adjust the mass of the body if the body
/// is dynamic and the fixture has positive density. All fixtures attached to a body are implicitly
/// destroyed when the body is destroyed.
/// </summary>
/// <param name="fixture">the fixture to be removed.</param>
/// <warning>This function is locked during callbacks.</warning>
public void destroyFixture(Fixture fixture)
{
Debug.Assert(m_world.Locked == false);
if (m_world.Locked == true)
{
return;
}
Debug.Assert(fixture.m_body == this);
// Remove the fixture from this body's singly linked list.
Debug.Assert(m_fixtureCount > 0);
Fixture node = m_fixtureList;
Fixture last = null; // java change
bool found = false;
while (node != null)
{
if (node == fixture)
{
node = fixture.m_next;
found = true;
break;
}
last = node;
node = node.m_next;
}
// You tried to remove a shape that is not attached to this body.
Debug.Assert(found);
// java change, remove it from the list
if (last == null)
{
m_fixtureList = fixture.m_next;
}
else
{
last.m_next = fixture.m_next;
}
// Destroy any contacts associated with the fixture.
ContactEdge edge = m_contactList;
while (edge != null)
{
Contact c = edge.contact;
edge = edge.next;
Fixture fixtureA = c.FixtureA;
Fixture fixtureB = c.FixtureB;
if (fixture == fixtureA || fixture == fixtureB)
{
// This destroys the contact and removes it from
// this body's contact list.
m_world.m_contactManager.destroy(c);
}
}
if ((m_flags & e_activeFlag) == e_activeFlag)
{
BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
fixture.destroyProxies(broadPhase);
}
fixture.destroy();
fixture.m_body = null;
fixture.m_next = null;
fixture = null;
--m_fixtureCount;
// Reset the mass data.
resetMassData();
}
// TODO djm: check out about this new fixture here
/// <summary>
/// Creates a fixture and attach it to this body. Use this function if you need to set some fixture
/// parameters, like friction. Otherwise you can create the fixture directly from a shape. If the
/// density is non-zero, this function automatically updates the mass of the body. Contacts are not
/// created until the next time step.
/// </summary>
/// <param name="def">the fixture definition.</param>
/// <warning>This function is locked during callbacks.</warning>
public Fixture createFixture(FixtureDef def)
{
Debug.Assert(m_world.Locked == false);
if (m_world.Locked == true)
{
return null;
}
// djm TODO from pool?
Fixture fixture = new Fixture();
fixture.create(this, def);
if ((m_flags & e_activeFlag) == e_activeFlag)
{
BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
fixture.createProxies(broadPhase, m_xf);
}
fixture.m_next = m_fixtureList;
m_fixtureList = fixture;
++m_fixtureCount;
fixture.m_body = this;
// Adjust mass properties if needed.
if (fixture.m_density > 0.0f)
{
resetMassData();
}
// Let the world know we have a new fixture. This will cause new contacts
// to be created at the beginning of the next time step.
m_world.m_flags |= World.NEW_FIXTURE;
return fixture;
}
private void DrawShape(Fixture fixture, Transform xf, Color3f color)
{
switch (fixture.Type)
{
case ShapeType.Circle:
{
CircleShape circle = (CircleShape)fixture.Shape;
// Vec2 center = Mul(xf, circle.m_p);
Transform.MulToOutUnsafe(xf, circle.P, center);
float radius = circle.Radius;
xf.Q.GetXAxis(axis);
if (fixture.UserData != null && fixture.UserData.Equals(LIQUID_INT))
{
Body b = fixture.Body;
liquidOffset.Set(b.LinearVelocity);
float linVelLength = b.LinearVelocity.Length();
if (averageLinearVel == -1)
{
averageLinearVel = linVelLength;
}
else
{
averageLinearVel = .98f * averageLinearVel + .02f * linVelLength;
}
liquidOffset.MulLocal(LIQUID_LENGTH / averageLinearVel / 2);
circCenterMoved.Set(center).AddLocal(liquidOffset);
center.SubLocal(liquidOffset);
DebugDraw.DrawSegment(center, circCenterMoved, liquidColor);
return;
}
DebugDraw.DrawSolidCircle(center, radius, axis, color);
}
break;
case ShapeType.Polygon:
{
PolygonShape poly = (PolygonShape)fixture.Shape;
int vertexCount = poly.VertexCount;
Debug.Assert(vertexCount <= Settings.MAX_POLYGON_VERTICES);
Vec2[] vertices = tlvertices.Get(Settings.MAX_POLYGON_VERTICES);
for (int i = 0; i < vertexCount; ++i)
{
// vertices[i] = Mul(xf, poly.m_vertices[i]);
Transform.MulToOutUnsafe(xf, poly.Vertices[i], vertices[i]);
}
DebugDraw.DrawSolidPolygon(vertices, vertexCount, color);
}
break;
case ShapeType.Edge:
{
EdgeShape edge = (EdgeShape)fixture.Shape;
Transform.MulToOutUnsafe(xf, edge.Vertex1, v1);
Transform.MulToOutUnsafe(xf, edge.Vertex2, v2);
DebugDraw.DrawSegment(v1, v2, color);
}
break;
case ShapeType.Chain:
{
ChainShape chain = (ChainShape)fixture.Shape;
int count = chain.Count;
Vec2[] vertices = chain.Vertices;
Transform.MulToOutUnsafe(xf, vertices[0], v1);
for (int i = 1; i < count; ++i)
{
Transform.MulToOutUnsafe(xf, vertices[i], v2);
DebugDraw.DrawSegment(v1, v2, color);
DebugDraw.DrawCircle(v1, 0.05f, color);
v1.Set(v2);
}
}
break;
}
}
public virtual void destroy()
{
// The proxies must be destroyed before calling this.
Debug.Assert(m_proxyCount == 0);
// Free the child shape.
m_shape = null;
m_proxies = null;
m_next = null;
// TODO pool shapes
// TODO pool fixtures
}
// We need separation create/destroy functions from the constructor/destructor because
// the destructor cannot access the allocator (no destructor arguments allowed by C++).
public virtual void create(Body body, FixtureDef def)
{
m_userData = def.userData;
m_friction = def.friction;
m_restitution = def.restitution;
m_body = body;
m_next = null;
m_filter.set_Renamed(def.filter);
m_isSensor = def.isSensor;
m_shape = def.shape.Clone();
// Reserve proxy space
int childCount = m_shape.ChildCount;
if (m_proxies == null)
{
m_proxies = new FixtureProxy[childCount];
for (int i = 0; i < childCount; i++)
{
m_proxies[i] = new FixtureProxy();
m_proxies[i].fixture = null;
m_proxies[i].proxyId = BroadPhase.NULL_PROXY;
}
}
if (m_proxies.Length < childCount)
{
FixtureProxy[] old = m_proxies;
int newLen = MathUtils.max(old.Length * 2, childCount);
m_proxies = new FixtureProxy[newLen];
Array.Copy(old, 0, m_proxies, 0, old.Length);
for (int i = 0; i < newLen; i++)
{
if (i >= old.Length)
{
m_proxies[i] = new FixtureProxy();
}
m_proxies[i].fixture = null;
m_proxies[i].proxyId = BroadPhase.NULL_PROXY;
}
}
m_proxyCount = 0;
m_density = def.density;
}
// TODO djm: check out about this new fixture here
/// <summary>
/// Creates a fixture and attach it to this body. Use this function if you need to set some fixture
/// parameters, like friction. Otherwise you can create the fixture directly from a shape. If the
/// density is non-zero, this function automatically updates the mass of the body. Contacts are not
/// created until the next time step.
/// </summary>
/// <param name="def">the fixture definition.</param>
/// <warning>This function is locked during callbacks.</warning>
public Fixture CreateFixture(FixtureDef def)
{
Debug.Assert(World.Locked == false);
if (World.Locked == true)
{
return null;
}
// djm TODO from pool?
Fixture fixture = new Fixture();
fixture.Create(this, def);
if ((Flags & TypeFlags.Active) == TypeFlags.Active)
{
BroadPhase broadPhase = World.ContactManager.BroadPhase;
fixture.CreateProxies(broadPhase, Xf);
}
fixture.Next = FixtureList;
FixtureList = fixture;
++FixtureCount;
fixture.Body = this;
// Adjust mass properties if needed.
if (fixture.Density > 0.0f)
{
ResetMassData();
}
// Let the world know we have a new fixture. This will cause new contacts
// to be created at the beginning of the next time step.
World.Flags |= World.NEW_FIXTURE;
return fixture;
}