/// Set the position of the body's origin and rotation.
/// This breaks any contacts and wakes the other bodies.
/// @param position the world position of the body's local origin.
/// @param angle the world rotation in radians.
public void SetXForm(Vector2 position, float angle)
{
Debug.Assert(_world.IsLocked == false);
if (_world.IsLocked == true)
{
return;
}
_xf.R.Set(angle);
_xf.Position = position;
_sweep.c0 = _sweep.c = MathUtils.Multiply(ref _xf, _sweep.localCenter);
_sweep.a0 = _sweep.a = angle;
BroadPhase broadPhase = _world._contactManager._broadPhase;
for (Fixture f = _fixtureList; f != null; f = f._next)
{
f.Synchronize(broadPhase, ref _xf, ref _xf);
}
_world._contactManager.FindNewContacts();
}
// We need separation create/destroy functions from the ructor/destructor because
// the destructor cannot access the allocator or broad-phase (no destructor arguments allowed by C++).
internal void Create(BroadPhase broadPhase, Body body, ref XForm xf, FixtureDef def)
{
_userData = def.userData;
_friction = def.friction;
_restitution = def.restitution;
_density = def.density;
_body = body;
_next = null;
_filter = def.filter;
_isSensor = def.isSensor;
_shape = def.shape.Clone();
// Create proxy in the broad-phase.
AABB aabb;
_shape.ComputeAABB(out aabb, ref xf);
_proxyId = broadPhase.CreateProxy(ref aabb, this);
}
/// Call this to draw shapes and other debug draw data.
public void DrawDebugData()
{
if (DebugDraw == null)
{
return;
}
DebugDrawFlags flags = DebugDraw.Flags;
if ((flags & DebugDrawFlags.Shape) == DebugDrawFlags.Shape)
{
for (Body b = _bodyList; b != null; b = b.GetNext())
{
XForm xf;
b.GetXForm(out xf);
for (Fixture f = b.GetFixtureList(); f != null; f = f.GetNext())
{
if (b.IsStatic)
{
DrawShape(f, xf, ColorEx.FromScRgb(0.5f, 0.9f, 0.5f));
}
else if (b.IsSleeping)
{
DrawShape(f, xf, ColorEx.FromScRgb(0.5f, 0.5f, 0.9f));
}
else
{
DrawShape(f, xf, ColorEx.FromScRgb(0.9f, 0.9f, 0.9f));
}
}
}
}
if ((flags & DebugDrawFlags.Joint) == DebugDrawFlags.Joint)
{
for (Joint j = _jointList; j != null; j = j.GetNext())
{
if (j.JointType != JointType.Mouse)
{
DrawJoint(j);
}
}
}
if ((flags & DebugDrawFlags.Pair) == DebugDrawFlags.Pair)
{
// TODO
}
if ((flags & DebugDrawFlags.AABB) == DebugDrawFlags.AABB)
{
Color color = ColorEx.FromScRgb(0.9f, 0.3f, 0.9f);
BroadPhase bp = _contactManager._broadPhase;
for (Body b = _bodyList; b != null; b = b.GetNext())
{
for (Fixture f = b.GetFixtureList(); f != null; f = f.GetNext())
{
AABB aabb;
bp.GetAABB(f._proxyId, out aabb);
FixedArray8 <Vector2> vs = new FixedArray8 <Vector2>();
vs[0] = new Vector2(aabb.lowerBound.X, aabb.lowerBound.Y);
vs[1] = new Vector2(aabb.upperBound.X, aabb.lowerBound.Y);
vs[2] = new Vector2(aabb.upperBound.X, aabb.upperBound.Y);
vs[3] = new Vector2(aabb.lowerBound.X, aabb.upperBound.Y);
DebugDraw.DrawPolygon(ref vs, 4, color);
}
}
}
if ((flags & DebugDrawFlags.CenterOfMass) == DebugDrawFlags.CenterOfMass)
{
for (Body b = _bodyList; b != null; b = b.GetNext())
{
XForm xf;
b.GetXForm(out xf);
xf.Position = b.GetWorldCenter();
DebugDraw.DrawXForm(ref xf);
}
}
}