public void QueryCircle(
Vector2 point,
float radius,
VoltBuffer<VoltBody> outBuffer)
{
outBuffer.Add(this.bodies, this.count);
}
public VoltWorld(
int historyLength = 0,
float damping = VoltConfig.DEFAULT_DAMPING)
{
this.HistoryLength = historyLength;
this.Damping = damping;
this.IterationCount = VoltConfig.DEFAULT_ITERATION_COUNT;
this.DeltaTime = VoltConfig.DEFAULT_DELTA_TIME;
this.bodies = new CheapList<VoltBody>();
this.manifolds = new List<Manifold>();
this.dynamicBroadphase = new NaiveBroadphase();
this.staticBroadphase = new TreeBroadphase();
this.reusableBuffer = new VoltBuffer<VoltBody>();
this.reusableOutput = new VoltBuffer<VoltBody>();
this.bodyPool = new VoltPool<VoltBody>();
this.circlePool = new VoltPool<VoltShape, VoltCircle>();
this.polygonPool = new VoltPool<VoltShape, VoltPolygon>();
this.contactPool = new VoltPool<Contact>();
this.manifoldPool = new VoltPool<Manifold>();
this.historyPool = new VoltPool<HistoryBuffer>();
}
public void CircleCast(
ref VoltRayCast ray,
float radius,
VoltBuffer<VoltBody> outBuffer)
{
outBuffer.Add(this.bodies, this.count);
}
public void RayCast(
ref VoltRayCast ray,
VoltBuffer<VoltBody> outBuffer)
{
outBuffer.Add(this.bodies, this.count);
}
public void QueryPoint(
Vector2 point,
VoltBuffer<VoltBody> outBuffer)
{
outBuffer.Add(this.bodies, this.count);
}
public void QueryOverlap(
VoltAABB aabb,
VoltBuffer<VoltBody> outBuffer)
{
outBuffer.Add(this.bodies, this.count);
}
private void StartQuery(VoltBuffer<VoltBody> outBuffer)
{
this.queryStack.Clear();
this.ExpandChild(this.rootId, outBuffer);
}
/// <summary>
/// Finds all dynamic bodies that overlap with the explosion AABB
/// and pass the target filter test. Does not test actual shapes.
/// </summary>
private void PopulateFiltered(
Vector2 origin,
float radius,
VoltBodyFilter targetFilter,
int ticksBehind,
ref VoltBuffer<VoltBody> filterBuffer)
{
if (filterBuffer == null)
filterBuffer = new VoltBuffer<VoltBody>();
filterBuffer.Clear();
this.reusableBuffer.Clear();
this.staticBroadphase.QueryCircle(origin, radius, this.reusableBuffer);
this.dynamicBroadphase.QueryCircle(origin, radius, this.reusableBuffer);
VoltAABB aabb = new VoltAABB(origin, radius);
for (int i = 0; i < this.reusableBuffer.Count; i++)
{
VoltBody body = this.reusableBuffer[i];
if ((targetFilter == null) || targetFilter.Invoke(body))
if (body.QueryAABBOnly(aabb, ticksBehind))
filterBuffer.Add(body);
}
}
/// <summary>
/// If the node is a leaf, we do not test the actual proxy bounding box.
/// This is redundant since we will be testing the body's bounding box in
/// the first step of the narrowphase, and the two are almost equivalent.
/// </summary>
private void ExpandChild(int query, VoltBuffer<VoltBody> outBuffer)
{
if (query != TreeBroadphase.NULL_NODE)
{
Node node = this.nodes[query];
if (node.IsLeaf)
outBuffer.Add(node.body);
else
this.queryStack.Push(query);
}
}
private void ExpandNode(Node node, VoltBuffer<VoltBody> outBuffer)
{
VoltDebug.Assert(node.IsLeaf == false);
this.ExpandChild(node.left, outBuffer);
this.ExpandChild(node.right, outBuffer);
}
public void RayCast(
ref VoltRayCast ray,
VoltBuffer<VoltBody> outBuffer)
{
this.StartQuery(outBuffer);
while (this.queryStack.Count > 0)
{
Node node = this.GetNextNode();
if (node.aabb.RayCast(ref ray))
this.ExpandNode(node, outBuffer);
}
}
public void QueryPoint(
Vector2 point,
VoltBuffer<VoltBody> outBuffer)
{
this.StartQuery(outBuffer);
while (this.queryStack.Count > 0)
{
Node node = this.GetNextNode();
if (node.aabb.QueryPoint(point))
this.ExpandNode(node, outBuffer);
}
}
public void QueryOverlap(
VoltAABB aabb,
VoltBuffer<VoltBody> outBuffer)
{
this.StartQuery(outBuffer);
while (this.queryStack.Count > 0)
{
Node node = this.GetNextNode();
if (node.aabb.Intersect(aabb))
this.ExpandNode(node, outBuffer);
}
}
public void QueryCircle(
Vector2 point,
float radius,
VoltBuffer<VoltBody> outBuffer)
{
this.StartQuery(outBuffer);
while (this.queryStack.Count > 0)
{
Node node = this.GetNextNode();
if (node.aabb.QueryCircleApprox(point, radius))
this.ExpandNode(node, outBuffer);
}
}
public void CircleCast(
ref VoltRayCast ray,
float radius,
VoltBuffer<VoltBody> outBuffer)
{
this.StartQuery(outBuffer);
while (this.queryStack.Count > 0)
{
Node node = this.GetNextNode();
if (node.aabb.CircleCastApprox(ref ray, radius))
this.ExpandNode(node, outBuffer);
}
}
