public static bool OverlapCircle(Fix64Vec2 center, Fix64 radius, int mask, PShapeOverlapResult2D shapeOverlapResult)
{
if (!initialized)
{
Initialize();
}
int count = 0;
bool hit = NativeParallel2D.CircleOverlap(internalWorld.IntPointer, center, radius, mask, _queryBodyIDs, ref count);
shapeOverlapResult.count = count;
for (int i = 0; i < count; i++)
{
UInt16 bodyID = _queryBodyIDs[i];
if (bodySortedList.ContainsKey(bodyID))
{
shapeOverlapResult.rigidbodies[i] = bodySortedList[bodyID].RigidBody;
}
else
{
Debug.LogError($"Rigibody not found: {bodyID}");
}
}
return(hit);
}
public Fix64 Length()
{
Fix64 result = Fix64.zero;
NativeParallel2D.Vec2Length64(this, ref result);
return(result);
}
public static bool CircleCast(Fix64Vec2 center, Fix64 radius, Fix64Vec2 translation, int mask, ref PShapecastHit2D shapecastHit2D)
{
if (!initialized)
{
Initialize();
}
UInt16 bodyID = 0;
Fix64Vec2 point = Fix64Vec2.zero;
Fix64Vec2 normal = Fix64Vec2.zero;
Fix64 fraction = Fix64.zero;
bool hit = NativeParallel2D.CircleCast(center, radius, mask, translation, ref point, ref normal, ref fraction, out bodyID, internalWorld.IntPointer);
if (hit)
{
shapecastHit2D.point = point;
shapecastHit2D.normal = normal;
shapecastHit2D.fraction = fraction;
if (bodySortedList.ContainsKey(bodyID))
{
shapecastHit2D.rigidbody = bodySortedList[bodyID].RigidBody;
}
else
{
Debug.LogError($"Rigibody not found: {bodyID}");
}
return(true);
}
else
{
return(false);
}
}
//common
public static void Initialize()
{
ReadCollisionLayerMatrix();
NativeParallel2D.Initialize();
internalWorld = CreateWorld(gravity);
initialized = true;
}
public static bool RayCast(Fix64Vec2 p1, Fix64Vec2 p2, int mask, out PRaycastHit2D raycastHit2D)
{
if (!initialized)
{
Initialize();
}
raycastHit2D = new PRaycastHit2D();
UInt16 bodyID = 0;
Fix64Vec2 point = Fix64Vec2.zero;
Fix64Vec2 normal = Fix64Vec2.zero;
bool hit = NativeParallel2D.RayCast(p1, p2, mask, ref point, ref normal, out bodyID, internalWorld.IntPointer);
if (hit)
{
raycastHit2D.point = point;
raycastHit2D.normal = normal;
if (bodySortedList.ContainsKey(bodyID))
{
raycastHit2D.rigidbody = bodySortedList[bodyID].RigidBody;
}
else
{
Debug.LogError($"Rigibody not found: {bodyID}");
}
return(true);
}
else
{
return(false);
}
}
public static void AppleEngineInternalState(PInternalState2D internalState)
{
for (int i = 0; i < internalState.contactCount; i++)
{
PContactExport2D export = internalState.contactExports[i];
NativeParallel2D.AddExternalContactData(export);
}
}
public static void ReadNativeBody(PBody2D body2D)
{
if (!initialized)
{
Initialize();
}
NativeParallel2D.GetTransform(body2D.IntPointer, ref body2D.position, ref body2D.angle);
NativeParallel2D.GetVelocity(body2D.IntPointer, ref body2D.linearVelocity, ref body2D.angularVelocity);
}
public static void UpdateCapsule(PShape2D shape, PFixture2D fixture, Fix64Vec2 v1, Fix64Vec2 v2, Fix64 radius, Fix64Vec2 center, Fix64 angle)
{
if (!initialized)
{
Initialize();
}
NativeParallel2D.UpdateCapsule(shape.IntPointer, fixture.IntPointer, v1, v2, radius, center, angle);
}
public static void ApplyForceToCenter(PBody2D body, Fix64Vec2 force)
{
if (!initialized)
{
Initialize();
}
NativeParallel2D.ApplyForceToCenter(body.IntPointer, force);
}
public static void UpdateBodyVelocity(PBody2D body, Fix64Vec2 linearVelocity, Fix64 angularVelocity)
{
if (!initialized)
{
Initialize();
}
NativeParallel2D.UpdateBodyVelocity(body.IntPointer, linearVelocity, angularVelocity);
}
public static void ApplyLinearImpulseToCenter(PBody2D body, Fix64Vec2 impulse)
{
if (!initialized)
{
Initialize();
}
NativeParallel2D.ApplyLinearImpulseToCenter(body.IntPointer, impulse);
}
public static void SetFixtureProperties(PFixture2D fixture, bool isTrigger, Fix64 friction, Fix64 bounciness)
{
if (!initialized)
{
Initialize();
}
NativeParallel2D.SetFixtureProperties(fixture.IntPointer, isTrigger, friction, bounciness);
}
public static void UpdateBodyTransForm(PBody2D body, Fix64Vec2 pos, Fix64 angle)
{
if (!initialized)
{
Initialize();
}
NativeParallel2D.UpdateBodyTransform(body.IntPointer, pos, angle);
}
public static void UpdateBox(PShape2D shape, PFixture2D fixture, Fix64 width, Fix64 height, Fix64Vec2 center, Fix64 angle)
{
if (!initialized)
{
Initialize();
}
NativeParallel2D.UpdateBox(shape.IntPointer, fixture.IntPointer, width, height, center, angle);
}
public static void ApplyAngularImpulse(PBody2D body, Fix64 impulse)
{
if (!initialized)
{
Initialize();
}
NativeParallel2D.ApplyAngularImpulse(body.IntPointer, impulse);
}
public static void UpdateCircle(PShape2D shape, PFixture2D fixture, Fix64 radius, Fix64Vec2 center)
{
if (!initialized)
{
Initialize();
}
NativeParallel2D.UpdateCircle(shape.IntPointer, fixture.IntPointer, radius, center);
}
public static void ApplyTorque(PBody2D body, Fix64 torque)
{
if (!initialized)
{
Initialize();
}
NativeParallel2D.ApplyTorque(body.IntPointer, torque);
}
//2D fixture
public static PFixture2D AddFixture(PBody2D body2D, PShape2D shape2D, Fix64 density)
{
if (!initialized)
{
Initialize();
}
IntPtr m_NativeObject = NativeParallel2D.AddFixtureToBody(body2D.IntPointer, shape2D.IntPointer, density);
return(new PFixture2D(m_NativeObject));
}
public static PShape2D GetShapeOfFixture(PFixture2D fixture2D)
{
if (!initialized)
{
Initialize();
}
IntPtr m_NativeObject = NativeParallel2D.GetShapeOfFixture(fixture2D.IntPointer);
return(new PShape2D(m_NativeObject));
}
public static PShape2D CreateBox(Fix64 width, Fix64 height, Fix64Vec2 center, Fix64 angle)
{
if (!initialized)
{
Initialize();
}
IntPtr m_NativeObject = NativeParallel2D.CreateBox(width, height, center, angle);
return(new PShape2D(m_NativeObject));
}
//2D shapes
public static PShape2D CreateCircle(Fix64 radius, Fix64Vec2 center)
{
if (!initialized)
{
Initialize();
}
IntPtr m_NativeObject = NativeParallel2D.CreateCircle(radius, center);
return(new PShape2D(m_NativeObject));
}
public static PShape2D CreateCapsule(Fix64Vec2 v1, Fix64Vec2 v2, Fix64 radius, Fix64Vec2 center, Fix64 angle)
{
if (!initialized)
{
Initialize();
}
IntPtr m_NativeObject = NativeParallel2D.CreateCapsule(v1, v2, radius, center, angle);
return(new PShape2D(m_NativeObject));
}
public static void UpdatePolygon(PShape2D shape, PFixture2D fixture, Fix64Vec2[] verts, int count, Fix64Vec2 center, Fix64 angle)
{
if (!initialized)
{
Initialize();
}
ParallelVec2List parallelVec2List = new ParallelVec2List();
parallelVec2List.count = count;
parallelVec2List.points = verts;
NativeParallel2D.UpdatePolygon(shape.IntPointer, fixture.IntPointer, ref parallelVec2List, center, angle);
}
public static void SetLayer(PFixture2D fixture, int layer, bool refilter)
{
if (!initialized)
{
Initialize();
}
int mask = masksByLayer[layer];
//shift layer
int shiftedLayer = 1 << layer;
NativeParallel2D.SetLayer(fixture.IntPointer, shiftedLayer, mask, refilter);
}
public static void DestoryBody(PBody2D body2D, IParallelRigidbody2D rigidBody2D)
{
if (!initialized)
{
Initialize();
}
if (bodySortedList.ContainsKey(body2D.BodyID))
{
bodySortedList.Remove(body2D.BodyID);
}
NativeParallel2D.DestroyBody(internalWorld.IntPointer, body2D.IntPointer);
}
public static void UpdateBodyProperties(PBody2D body,
int bodyType,
Fix64 linearDamping,
Fix64 angularDamping,
bool fixedRotation,
Fix64 gravityScale)
{
if (!initialized)
{
Initialize();
}
NativeParallel2D.UpdateBodyProperties(body.IntPointer, bodyType, linearDamping, angularDamping, fixedRotation, gravityScale);
}
public static void Step(Fix64 time, int velocityIterations, int positionIterations)
{
if (!initialized)
{
Initialize();
}
ResetEnterContacts();
ResetExitContacts();
ResetAllContacts();
NativeParallel2D.Step(internalWorld.IntPointer, time, velocityIterations, positionIterations);
ExportFromEngine();
}
//polygon
public static PShape2D CreatePolygon(Fix64Vec2[] verts, int count, Fix64Vec2 center, Fix64 angle)
{
if (!initialized)
{
Initialize();
}
ParallelVec2List parallelVec2List = new ParallelVec2List();
parallelVec2List.count = count;
parallelVec2List.points = verts;
IntPtr m_NativeObject = NativeParallel2D.CreatePolygon(ref parallelVec2List, center, angle);
return(new PShape2D(m_NativeObject));
}
public static void GetContactDetail(IntPtr contactHandler, ref PContactPoints2D contactPoints2D)
{
if (!initialized)
{
Initialize();
}
contactPoints2D.contactPointCount = 0;
contactPoints2D.contactPointCount = NativeParallel2D.GetContactDetail(
contactHandler,
ref contactPoints2D.point1,
ref contactPoints2D.point2,
ref contactPoints2D.penetration1,
ref contactPoints2D.penetration2,
ref contactPoints2D.contactNormal);
}
// convex hull
public static ParallelVec2List ConvexHull2D(Fix64Vec2[] verts, int count, int limit)
{
if (!initialized)
{
Initialize();
}
ParallelVec2List parallelVec2List = new ParallelVec2List();
parallelVec2List.count = count;
parallelVec2List.points = verts;
ParallelVec2List parallelVec2ListOutput = new ParallelVec2List();
parallelVec2ListOutput.count = count;
parallelVec2ListOutput.points = new Fix64Vec2[count];
NativeParallel2D.ConvexHull2D(ref parallelVec2List, ref parallelVec2ListOutput, limit);
return(parallelVec2ListOutput);
}
