// We need separation create/destroy functions from the constructor/destructor because
// the destructor cannot access the allocator (no destructor arguments allowed by C++).
public void Create(Body body, FixtureDef def)
{
UserData = def.UserData;
Friction = def.Friction;
Restitution = def.Restitution;
Body = body;
Next = null;
Filter.Set(def.Filter);
IsSensor = def.IsSensor;
Shape = def.Shape.Clone();
// Reserve proxy space
int childCount = Shape.ChildCount;
if (Proxies == null)
{
Proxies = new FixtureProxy[childCount];
for (int i = 0; i < childCount; i++)
{
Proxies[i] = new FixtureProxy {
Fixture = null, ProxyId = BroadPhase.NULL_PROXY
};
}
}
if (Proxies.Length < childCount)
{
FixtureProxy[] old = Proxies;
int newLen = MathUtils.Max(old.Length * 2, childCount);
Proxies = new FixtureProxy[newLen];
Array.Copy(old, 0, Proxies, 0, old.Length);
for (int i = 0; i < newLen; i++)
{
if (i >= old.Length)
{
Proxies[i] = new FixtureProxy();
}
Proxies[i].Fixture = null;
Proxies[i].ProxyId = BroadPhase.NULL_PROXY;
}
}
ProxyCount = 0;
m_density = def.Density;
}
static void Main(string[] args)
{
// Static Body
Vec2 gravity = new Vec2(0, -10);
bool doSleep = true;
World world = new World(gravity);
world.SleepingAllowed = doSleep;
BodyDef groundBodyDef = new BodyDef();
groundBodyDef.position.set_Renamed(0, -10);
Body groundBody = world.createBody(groundBodyDef);
PolygonShape groundBox = new PolygonShape();
groundBox.setAsBox(50, 10);
groundBody.createFixture(groundBox, 0);
// Dynamic Body
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType.DYNAMIC;
bodyDef.position.set_Renamed(0, 4);
Body body = world.createBody(bodyDef);
PolygonShape dynamicBox = new PolygonShape();
dynamicBox.setAsBox(1, 1);
FixtureDef fixtureDef = new FixtureDef();
fixtureDef.shape = dynamicBox;
fixtureDef.density = 1;
fixtureDef.friction = 0.3f;
body.createFixture(fixtureDef);
// Setup world
float timeStep = 1.0f / 60.0f;
int velocityIterations = 6;
int positionIterations = 2;
// Run loop
for (int i = 0; i < 60; ++i)
{
world.step(timeStep, velocityIterations, positionIterations);
Vec2 position = body.Position;
float angle = body.Angle;
Console.WriteLine("{0:0.00} {1:0.00} {2:0.00}", position.x, position.y, angle);
}
}
// 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);
}
// 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;
}
// We need separation create/destroy functions from the constructor/destructor because
// the destructor cannot access the allocator (no destructor arguments allowed by C++).
public void Create(Body body, FixtureDef def)
{
UserData = def.UserData;
Friction = def.Friction;
Restitution = def.Restitution;
Body = body;
Next = null;
Filter.Set(def.Filter);
IsSensor = def.IsSensor;
Shape = def.Shape.Clone();
// Reserve proxy space
int childCount = Shape.ChildCount;
if (Proxies == null)
{
Proxies = new FixtureProxy[childCount];
for (int i = 0; i < childCount; i++)
{
Proxies[i] = new FixtureProxy {Fixture = null, ProxyId = BroadPhase.NULL_PROXY};
}
}
if (Proxies.Length < childCount)
{
FixtureProxy[] old = Proxies;
int newLen = MathUtils.Max(old.Length * 2, childCount);
Proxies = new FixtureProxy[newLen];
Array.Copy(old, 0, Proxies, 0, old.Length);
for (int i = 0; i < newLen; i++)
{
if (i >= old.Length)
{
Proxies[i] = new FixtureProxy();
}
Proxies[i].Fixture = null;
Proxies[i].ProxyId = BroadPhase.NULL_PROXY;
}
}
ProxyCount = 0;
m_density = def.Density;
}
// 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;
}
private void InitializeWorld()
{
// Static Body
Vec2 gravity = new Vec2(0, -10);
bool doSleep = true;
world = new World(gravity);
world.SleepingAllowed = doSleep;
BodyDef groundBodyDef = new BodyDef();
groundBodyDef.Position.Set(0, -10);
Body groundBody = world.CreateBody(groundBodyDef);
PolygonShape groundBox = new PolygonShape();
groundBox.SetAsBox(50, 10);
groundBody.CreateFixture(groundBox, 0);
{
// Dynamic Body
BodyDef bodyDef = new BodyDef();
bodyDef.Type = BodyType.Dynamic;
bodyDef.Position.Set(5, 4);
bodyDef.Angle = (float)(2 * Math.PI / 3);
Body body = world.CreateBody(bodyDef);
PolygonShape dynamicBox = new PolygonShape();
dynamicBox.SetAsBox(1, 1);
FixtureDef fixtureDef = new FixtureDef();
fixtureDef.Shape = dynamicBox;
fixtureDef.Density = 1;
fixtureDef.Friction = 0.3f;
body.CreateFixture(fixtureDef);
Bodies.Add(new BodyAdapter(body));
}
{
// Dynamic Body
BodyDef bodyDef = new BodyDef();
bodyDef.Type = BodyType.Dynamic;
bodyDef.Position.Set(5, 10);
bodyDef.Angle = (float)(Math.PI / 3);
Body body = world.CreateBody(bodyDef);
PolygonShape dynamicBox = new PolygonShape();
dynamicBox.SetAsBox(1, 1);
FixtureDef fixtureDef = new FixtureDef();
fixtureDef.Shape = dynamicBox;
fixtureDef.Density = 1;
fixtureDef.Friction = 0.3f;
body.CreateFixture(fixtureDef);
Bodies.Add(new BodyAdapter(body));
}
{
// Dynamic Body
BodyDef bodyDef = new BodyDef();
bodyDef.Type = BodyType.Dynamic;
bodyDef.Position.Set(4.5f, 7);
bodyDef.AngularVelocity = (float)(2 * Math.PI);
Body body = world.CreateBody(bodyDef);
PolygonShape dynamicBox = new PolygonShape();
dynamicBox.SetAsBox(1, 1);
FixtureDef fixtureDef = new FixtureDef();
fixtureDef.Shape = dynamicBox;
fixtureDef.Density = 1;
fixtureDef.Friction = 0.3f;
body.CreateFixture(fixtureDef);
Bodies.Add(new BodyAdapter(body));
}
}
