public virtual void SetTransform(b2Vec2 position, float angle)
{
if (m_world.IsLocked == true)
{
return;
}
m_xf.q.Set(angle);
m_xf.p = position;
Sweep.c = b2Math.b2Mul(m_xf, Sweep.localCenter);
Sweep.a = angle;
Sweep.c0 = Sweep.c;
Sweep.a0 = angle;
b2BroadPhase broadPhase = m_world.ContactManager.BroadPhase;
for (b2Fixture f = m_fixtureList; f != null; f = f.Next)
{
f.Synchronize(broadPhase, m_xf, m_xf);
}
m_world.ContactManager.FindNewContacts();
}
public virtual b2Fixture CreateFixture(b2FixtureDef def)
{
if (m_world.IsLocked == true)
{
return(null);
}
b2Fixture fixture = new b2Fixture();
fixture.Create(this, def);
if (m_flags.HasFlag(b2BodyFlags.e_activeFlag))
{
b2BroadPhase broadPhase = m_world.ContactManager.BroadPhase;
fixture.CreateProxies(broadPhase, m_xf);
}
fixture.Next = m_fixtureList;
m_fixtureList = fixture;
++m_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.
m_world.Flags |= b2WorldFlags.e_newFixture;
return(fixture);
}
public virtual void SynchronizeFixtures()
{
/*
* b2Transform xf1 = b2Transform.Identity;
* xf1.q.Set(Sweep.a0);
* xf1.p = Sweep.c0 - b2Math.b2Mul(xf1.q, Sweep.localCenter);
*
* b2BroadPhase broadPhase = World.ContactManager.BroadPhase;
* for (b2Fixture f = FixtureList; f != null; f = f.Next)
* {
* f.Synchronize(broadPhase, ref xf1, ref Transform);
* }
*/
b2Transform xf1;
xf1.q.s = (float)Math.Sin(Sweep.a0);
xf1.q.c = (float)Math.Cos(Sweep.a0);
xf1.p.x = Sweep.c0.x - (xf1.q.c * Sweep.localCenter.x - xf1.q.s * Sweep.localCenter.y);
xf1.p.y = Sweep.c0.y - (xf1.q.s * Sweep.localCenter.x + xf1.q.c * Sweep.localCenter.y);
b2BroadPhase broadPhase = World.ContactManager.BroadPhase;
for (b2Fixture f = FixtureList; f != null; f = f.Next)
{
f.Synchronize(broadPhase, ref xf1, ref Transform);
}
}
public virtual void Synchronize(b2BroadPhase broadPhase, ref b2Transform transform1, ref b2Transform transform2)
{
if (m_proxyCount == 0)
{
return;
}
for (int i = 0, count = m_proxyCount; i < count; ++i)
{
b2FixtureProxy proxy = m_proxies[i];
// Compute an AABB that covers the swept shape (may miss some rotation effect).
b2AABB aabb1, aabb2;
Shape.ComputeAABB(out aabb1, ref transform1, proxy.childIndex);
Shape.ComputeAABB(out aabb2, ref transform2, proxy.childIndex);
proxy.aabb.Combine(ref aabb1, ref aabb2);
b2Vec2 displacement;
displacement.x = transform2.p.x - transform1.p.x;
displacement.y = transform2.p.y - transform1.p.y;
broadPhase.MoveProxy(proxy.proxyId, ref proxy.aabb, ref displacement);
}
}
public b2ContactManager()
{
m_contactList = null;
m_contactCount = 0;
m_contactFilter = b2ContactFilter.b2_defaultFilter;
m_contactListener = b2ContactListener.b2_defaultListener;
m_broadPhase = new b2BroadPhase();
}
public b2ContactManager()
{
m_contactList = null;
m_contactCount = 0;
m_contactFilter = b2ContactFilter.b2_defaultFilter;
m_contactListener = b2ContactListener.b2_defaultListener;
m_broadPhase = new b2BroadPhase();
}
/// Set the type of this body. This may alter the mass and velocity.
public void SetType(BodyType type)
{
Debug.Assert(m_world.IsLocked() == false);
if (m_world.IsLocked() == true)
{
return;
}
if (m_type == type)
{
return;
}
m_type = type;
ResetMassData();
if (m_type == BodyType.b2_staticBody)
{
m_linearVelocity.SetZero();
m_angularVelocity = 0.0f;
m_sweep.a0 = m_sweep.a;
m_sweep.c0 = m_sweep.c;
SynchronizeFixtures();
}
SetAwake(true);
m_force.SetZero();
m_torque = 0.0f;
// Delete the attached contacts.
b2ContactEdge ce = m_contactList;
while (ce != null)
{
b2ContactEdge ce0 = ce;
ce = ce.next;
m_world.m_contactManager.Destroy(ce0.contact);
}
m_contactList = null;
// Touch the proxies so that new contacts will be created (when appropriate)
b2BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
for (b2Fixture f = m_fixtureList; f != null; f = f.m_next)
{
int proxyCount = f.m_proxyCount;
for (int i = 0; i < proxyCount; ++i)
{
broadPhase.TouchProxy(f.m_proxies[i].proxyId);
}
}
}
public virtual void DestroyProxies(b2BroadPhase broadPhase)
{
// Destroy proxies in the broad-phase.
for (int i = 0; i < m_proxyCount; ++i)
{
broadPhase.DestroyProxy(m_proxies[i].proxyId);
m_proxies[i].proxyId = b2BroadPhase.e_nullProxy;
}
m_proxyCount = 0;
}
internal void DestroyProxies(b2BroadPhase broadPhase)
{
// Destroy proxies in the broad-phase.
for (int i = 0; i < m_proxyCount; ++i)
{
b2FixtureProxy proxy = m_proxies[i];
broadPhase.DestroyProxy(proxy.proxyId);
proxy.proxyId = (int)b2BroadPhase.AnonymousEnum.e_nullProxy;
}
m_proxyCount = 0;
}
public virtual void DestroyProxies(b2BroadPhase broadPhase)
{
// Destroy proxies in the broad-phase.
for (int i = 0; i < m_proxyCount; ++i)
{
b2FixtureProxy proxy = m_proxies[i];
broadPhase.DestroyProxy(proxy.proxyId);
proxy.proxyId = b2BroadPhase.e_nullProxy;
}
m_proxies.Clear();
m_proxyCount = 0;
}
public virtual void CreateProxies(b2BroadPhase broadPhase, b2Transform xf)
{
// Create proxies in the broad-phase.
m_proxyCount = m_shape.GetChildCount();
for (int i = 0; i < m_proxyCount; ++i)
{
b2FixtureProxy proxy = m_proxies[i];
proxy.aabb = m_shape.ComputeAABB(xf, i);
proxy.proxyId = broadPhase.CreateProxy(proxy.aabb, proxy);
proxy.fixture = this;
proxy.childIndex = i;
}
}
internal void SynchronizeFixtures()
{
b2Transform xf1 = new b2Transform();
xf1.q.Set(m_sweep.a0);
xf1.p = m_sweep.c0 - Utils.b2Mul(xf1.q, m_sweep.localCenter);
b2BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
for (b2Fixture f = m_fixtureList; f != null; f = f.m_next)
{
f.Synchronize(broadPhase, xf1, m_xf);
}
}
public virtual void SynchronizeFixtures()
{
b2Transform xf1 = b2Transform.Create();
xf1.q.Set(Sweep.a0);
xf1.p = Sweep.c0 - b2Math.b2Mul(xf1.q, Sweep.localCenter);
b2BroadPhase broadPhase = m_world.ContactManager.BroadPhase;
for (b2Fixture f = m_fixtureList; f != null; f = f.Next)
{
f.Synchronize(broadPhase, xf1, m_xf);
}
}
// These support body activation/deactivation.
internal void CreateProxies(b2BroadPhase broadPhase, b2Transform xf)
{
Debug.Assert(m_proxyCount == 0);
// Create proxies in the broad-phase.
m_proxyCount = m_shape.GetChildCount();
for (int i = 0; i < m_proxyCount; ++i)
{
b2FixtureProxy proxy = m_proxies[i];
m_shape.ComputeAABB(ref proxy.aabb, xf, i);
proxy.proxyId = broadPhase.CreateProxy(ref proxy.aabb, proxy);
proxy.fixture = this;
proxy.childIndex = i;
}
}
/// Set the active state of the body. An inactive body is not
/// simulated and cannot be collided with or woken up.
/// If you pass a flag of true, all fixtures will be added to the
/// broad-phase.
/// If you pass a flag of false, all fixtures will be removed from
/// the broad-phase and all contacts will be destroyed.
/// Fixtures and joints are otherwise unaffected. You may continue
/// to create/destroy fixtures and joints on inactive bodies.
/// Fixtures on an inactive body are implicitly inactive and will
/// not participate in collisions, ray-casts, or queries.
/// Joints connected to an inactive body are implicitly inactive.
/// An inactive body is still owned by a b2World object and remains
/// in the body list.
public void SetActive(bool flag)
{
Debug.Assert(m_world.IsLocked() == false);
if (flag == IsActive())
{
return;
}
if (flag)
{
m_flags |= BodyFlags.e_activeFlag;
// Create all proxies.
b2BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
for (b2Fixture f = m_fixtureList; f != null; f = f.m_next)
{
f.CreateProxies(broadPhase, m_xf);
}
// Contacts are created the next time step.
}
else
{
m_flags &= ~BodyFlags.e_activeFlag;
// Destroy all proxies.
b2BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
for (b2Fixture f = m_fixtureList; f != null; f = f.m_next)
{
f.DestroyProxies(broadPhase);
}
// Destroy the attached contacts.
b2ContactEdge ce = m_contactList;
while (ce != null)
{
b2ContactEdge ce0 = ce;
ce = ce.next;
m_world.m_contactManager.Destroy(ce0.contact);
}
m_contactList = null;
}
}
public virtual void SetActive(bool flag)
{
if (flag == IsActive())
{
return;
}
if (flag)
{
m_flags |= b2BodyFlags.e_activeFlag;
// Create all proxies.
b2BroadPhase broadPhase = m_world.ContactManager.BroadPhase;
for (b2Fixture f = m_fixtureList; f != null; f = f.Next)
{
f.CreateProxies(broadPhase, m_xf);
}
// Contacts are created the next time step.
}
else
{
m_flags &= ~b2BodyFlags.e_activeFlag;
// Destroy all proxies.
b2BroadPhase broadPhase = m_world.ContactManager.BroadPhase;
for (b2Fixture f = m_fixtureList; f != null; f = f.Next)
{
f.DestroyProxies(broadPhase);
}
// Destroy the attached contacts.
b2ContactEdge ce = m_contactList;
while (ce != null)
{
b2ContactEdge ce0 = ce;
ce = ce.Next;
m_world.ContactManager.Destroy(ce0.Contact);
}
m_contactList = null;
}
}
public virtual void Refilter()
{
if (m_body == null)
{
return;
}
// Flag associated contacts for filtering.
b2ContactEdge edge = m_body.ContactList;
while (edge != null)
{
b2Contact contact = edge.Contact;
b2Fixture fixtureA = contact.GetFixtureA();
b2Fixture fixtureB = contact.GetFixtureB();
if (fixtureA == this || fixtureB == this)
{
contact.FlagForFiltering();
}
edge = edge.Next;
}
b2World world = m_body.World;
if (world == null)
{
return;
}
// Touch each proxy so that new pairs may be created
b2BroadPhase broadPhase = world.ContactManager.BroadPhase;
for (int i = 0; i < m_proxyCount; ++i)
{
broadPhase.TouchProxy(m_proxies[i].proxyId);
}
}
public virtual void Synchronize(b2BroadPhase broadPhase, b2Transform transform1, b2Transform transform2)
{
if (m_proxyCount == 0)
{
return;
}
for (int i = 0; i < m_proxyCount; ++i)
{
b2FixtureProxy proxy = m_proxies[i];
// Compute an AABB that covers the swept shape (may miss some rotation effect).
b2AABB aabb1, aabb2;
aabb1 = m_shape.ComputeAABB(transform1, proxy.childIndex);
aabb2 = m_shape.ComputeAABB(transform2, proxy.childIndex);
proxy.aabb.Combine(aabb1, aabb2);
b2Vec2 displacement = transform2.p - transform1.p;
broadPhase.MoveProxy(proxy.proxyId, proxy.aabb, displacement);
}
}
/// Set the position of the body's origin and rotation.
/// Manipulating a body's transform may cause non-physical behavior.
/// Note: contacts are updated on the next call to b2World::Step.
/// @param position the world position of the body's local origin.
/// @param angle the world rotation in radians.
public void SetTransform(b2Vec2 position, float angle)
{
Debug.Assert(m_world.IsLocked() == false);
if (m_world.IsLocked() == true)
{
return;
}
m_xf.q.Set(angle);
m_xf.p = position;
m_sweep.c = Utils.b2Mul(m_xf, m_sweep.localCenter);
m_sweep.a = angle;
m_sweep.c0 = m_sweep.c;
m_sweep.a0 = angle;
b2BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
for (b2Fixture f = m_fixtureList; f != null; f = f.m_next)
{
f.Synchronize(broadPhase, m_xf, m_xf);
}
}
public virtual void DestroyProxies(b2BroadPhase broadPhase)
{
// Destroy proxies in the broad-phase.
for (int i = 0; i < m_proxyCount; ++i)
{
broadPhase.DestroyProxy(m_proxies[i].proxyId);
m_proxies[i].proxyId = b2BroadPhase.e_nullProxy;
}
m_proxyCount = 0;
}
public virtual void DestroyFixture(b2Fixture fixture)
{
b2Assert(m_world.IsLocked() == false);
if (m_world.IsLocked() == true)
{
return;
}
b2Assert(fixture.m_body == this);
// Remove the fixture from this body's singly linked list.
b2Assert(m_fixtureCount > 0);
b2Fixture *node = &m_fixtureList;
bool found = false;
while (*node != null)
{
if (*node == fixture)
{
*node = fixture.Next;
found = true;
break;
}
node = &(*node).Next;
}
// You tried to remove a shape that is not attached to this body.
b2Assert(found);
// Destroy any contacts associated with the fixture.
b2ContactEdge *edge = m_contactList;
while (edge)
{
b2Contact *c = edge.contact;
edge = edge.next;
b2Fixture fixtureA = c.GetFixtureA();
b2Fixture fixtureB = c.GetFixtureB();
if (fixture == fixtureA || fixture == fixtureB)
{
// This destroys the contact and removes it from
// this body's contact list.
m_world.ContactManager.Destroy(c);
}
}
b2BlockAllocator *allocator = m_world.m_blockAllocator;
if (m_flags & e_activeFlag)
{
b2BroadPhase broadPhase = m_world.ContactManager.BroadPhase;
fixture.DestroyProxies(broadPhase);
}
fixture.Destroy(allocator);
fixture.m_body = null;
fixture.Next = null;
fixture.~b2Fixture();
allocator.Free(fixture, sizeof(b2Fixture));
--m_fixtureCount;
// Reset the mass data.
ResetMassData();
}
public virtual void DestroyFixture(b2Fixture fixture)
{
Debug.Assert(m_world.IsLocked == false);
if (m_world.IsLocked)
{
return;
}
Debug.Assert(fixture.Body == this);
// Remove the fixture from this body's singly linked list.
Debug.Assert(m_fixtureCount > 0);
b2Fixture node = m_fixtureList;
bool found = false;
while (node != null)
{
if (node == fixture)
{
node = fixture.Next;
found = true;
break;
}
node = node.Next;
}
// You tried to remove a shape that is not attached to this body.
Debug.Assert(found);
// Destroy any contacts associated with the fixture.
b2ContactEdge edge = m_contactList;
while (edge != null)
{
b2Contact c = edge.Contact;
edge = edge.Next;
b2Fixture fixtureA = c.FixtureA;
b2Fixture fixtureB = c.FixtureB;
if (fixture == fixtureA || fixture == fixtureB)
{
// This destroys the contact and removes it from
// this body's contact list.
m_world.ContactManager.Destroy(c);
}
}
if (m_flags.HasFlag(b2BodyFlags.e_activeFlag))
{
b2BroadPhase broadPhase = m_world.ContactManager.BroadPhase;
fixture.DestroyProxies(broadPhase);
}
fixture.Body = null;
fixture.Next = null;
--m_fixtureCount;
// Reset the mass data.
ResetMassData();
}
public virtual void Synchronize(b2BroadPhase broadPhase, ref b2Transform transform1, ref b2Transform transform2)
{
if (m_proxyCount == 0)
{
return;
}
for (int i = 0, count = m_proxyCount; i < count; ++i)
{
b2FixtureProxy proxy = m_proxies[i];
// Compute an AABB that covers the swept shape (may miss some rotation effect).
b2AABB aabb1, aabb2;
Shape.ComputeAABB(out aabb1, ref transform1, proxy.childIndex);
Shape.ComputeAABB(out aabb2, ref transform2, proxy.childIndex);
proxy.aabb.Combine(ref aabb1, ref aabb2);
b2Vec2 displacement;
displacement.x = transform2.p.x - transform1.p.x;
displacement.y = transform2.p.y - transform1.p.y;
broadPhase.MoveProxy(proxy.proxyId, ref proxy.aabb, ref displacement);
}
}
public void DrawDebugData()
{
if (m_debugDraw == null)
{
return;
}
b2DrawFlags flags = m_debugDraw.GetFlags();
if (flags & b2DrawFlags.e_shapeBit)
{
for (b2Body b = m_bodyList; b; b = b.Next)
{
b2Transform xf = b.Transform;
for (b2Fixture f = b.FixtureList; f != null; f = f.Next)
{
if (b.IsActive() == false)
{
DrawShape(f, xf, new b2Color(0.5f, 0.5f, 0.3f));
}
else if (b.GetType() == b2BodyType.b2_staticBody)
{
DrawShape(f, xf, new b2Color(0.5f, 0.9f, 0.5f));
}
else if (b.GetType() == b2BodyType.b2_kinematicBody)
{
DrawShape(f, xf, new b2Color(0.5f, 0.5f, 0.9f));
}
else if (b.IsAwake() == false)
{
DrawShape(f, xf, new b2Color(0.6f, 0.6f, 0.6f));
}
else
{
DrawShape(f, xf, new b2Color(0.9f, 0.7f, 0.7f));
}
}
}
}
if (flags.HasFlag(b2DrawFlags.e_jointBit))
{
for (b2Joint j = m_jointList; j != null; j = j.GetNext())
{
DrawJoint(j);
}
}
if (flags.HasFlag(b2DrawFlags.e_pairBit))
{
b2Color color = new b2Color(0.3f, 0.9f, 0.9f);
for (b2Contact c = m_contactManager.ContactList; c != null; c = c.Next)
{
//b2Fixture fixtureA = c.GetFixtureA();
//b2Fixture fixtureB = c.GetFixtureB();
//b2Vec2 cA = fixtureA.GetAABB().GetCenter();
//b2Vec2 cB = fixtureB.GetAABB().GetCenter();
//m_debugDraw.DrawSegment(cA, cB, color);
}
}
if (flags.HasFlag(b2DrawFlags.e_aabbBit))
{
b2Color color(0.9f, 0.3f, 0.9f);
b2BroadPhase bp = m_contactManager.BroadPhase;
for (b2Body b = m_bodyList; b != null; b = b.Next)
{
if (b.IsActive() == false)
{
continue;
}
for (b2Fixture f = b.FixtureList; f != null; f = f.Next)
{
for (int i = 0; i < f.ProxyCount; ++i)
{
b2FixtureProxy proxy = f.Proxies[i];
b2AABB aabb = bp.GetFatAABB(proxy.proxyId);
b2Vec2[] vs = new b2Vec2[4];
vs[0].Set(aabb.lowerBound.x, aabb.lowerBound.y);
vs[1].Set(aabb.upperBound.x, aabb.lowerBound.y);
vs[2].Set(aabb.upperBound.x, aabb.upperBound.y);
vs[3].Set(aabb.lowerBound.x, aabb.upperBound.y);
m_debugDraw.DrawPolygon(vs, 4, color);
}
}
}
}
if (flags.HasFlag(b2DrawFlags.e_centerOfMassBit))
{
for (b2Body b = m_bodyList; b != null; b = b.Next)
{
b2Transform xf = b.Transform;
xf.p = b.WorldCenter;
m_debugDraw.DrawTransform(xf);
}
}
}
public virtual void CreateProxies(b2BroadPhase broadPhase, b2Transform xf)
{
// Create proxies in the broad-phase.
m_proxyCount = m_shape.GetChildCount();
for (int i = 0; i < m_proxyCount; ++i)
{
b2FixtureProxy proxy = m_proxies[i];
proxy.aabb = m_shape.ComputeAABB(xf, i);
proxy.fixture = this;
proxy.childIndex = i;
proxy.proxyId = broadPhase.CreateProxy(proxy.aabb, ref proxy);
m_proxies[i] = proxy;
}
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(b2BroadPhase obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
public virtual void Synchronize(b2BroadPhase broadPhase, b2Transform transform1, b2Transform transform2)
{
if (m_proxyCount == 0)
{
return;
}
for (int i = 0; i < m_proxyCount; ++i)
{
b2FixtureProxy proxy = m_proxies[i];
// Compute an AABB that covers the swept shape (may miss some rotation effect).
b2AABB aabb1, aabb2;
aabb1 = m_shape.ComputeAABB(transform1, proxy.childIndex);
aabb2 = m_shape.ComputeAABB(transform2, proxy.childIndex);
proxy.aabb.Combine(aabb1, aabb2);
b2Vec2 displacement = transform2.p - transform1.p;
broadPhase.MoveProxy(proxy.proxyId, proxy.aabb, displacement);
}
}
public virtual void DestroyProxies(b2BroadPhase broadPhase)
{
// Destroy proxies in the broad-phase.
for (int i = 0; i < m_proxyCount; ++i)
{
b2FixtureProxy proxy = m_proxies[i];
broadPhase.DestroyProxy(proxy.proxyId);
proxy.proxyId = b2BroadPhase.e_nullProxy;
m_proxies[i] = proxy;
}
m_proxies.Clear();
m_proxyCount = 0;
}
