/// <summary>
/// For teleporting a body without considering new contacts immediately.
/// Warning: This method is locked during callbacks.
/// </summary>
/// <param name="position">The position.</param>
/// <param name="angle">The angle.</param>
/// <exception cref="System.InvalidOperationException">Thrown when the world is Locked/Stepping.</exception>
public void SetTransformIgnoreContacts(ref Vector2 position, float angle)
{
Debug.Assert(World != null);
if (World == null)
{
throw new InvalidOperationException("Could not set the transform of a body (World was null - has the body been removed?)");
}
if (World.IsLocked)
{
throw new WorldLockedException("Cannot modify the transform of a body when the World is locked.");
}
_xf.q.Phase = angle;
_xf.p = position;
_sweep.C = Transform.Multiply(ref _sweep.LocalCenter, ref _xf);
_sweep.A = angle;
_sweep.C0 = _sweep.C;
_sweep.A0 = angle;
IBroadPhase broadPhase = World.ContactManager.BroadPhase;
for (int i = 0; i < FixtureList.Count; i++)
{
FixtureList[i].Synchronize(broadPhase, ref _xf, ref _xf);
}
}
private void RegisterFixture()
{
// Reserve proxy space
this.Proxies = new FixtureProxy[this.Shape.ChildCount];
this.ProxyCount = 0;
this.FixtureId = _fixtureIdCounter++;
if ((this.Body.Flags & BodyFlags.Enabled) == BodyFlags.Enabled)
{
IBroadPhase broadPhase = this.Body.World.ContactManager.BroadPhase;
CreateProxies(broadPhase, ref this.Body.Xf);
}
this.Body.FixtureList.Add(this);
// Adjust mass properties if needed.
if (this.Shape._density > 0.0f)
{
this.Body.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.
this.Body.World.Flags |= WorldFlags.NewFixture;
if (this.Body.World.FixtureAdded != null)
{
this.Body.World.FixtureAdded(this);
}
}
public VoltWorld(
int historyLength = 0,
FP?damping = null)
{
this.HistoryLength = historyLength;
this.Damping = damping ?? VoltConfig.DEFAULT_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>();
}
/// <summary>
/// Touch each proxy so that new pairs may be created
/// </summary>
/// <param name="broadPhase"></param>
internal void TouchProxies(IBroadPhase broadPhase)
{
for (int i = 0; i < ProxyCount; ++i)
{
broadPhase.TouchProxy(Proxies[i].ProxyId);
}
}
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>();
}
private void RegisterFixture()
{
// Reserve proxy space
Proxies = new FixtureProxy[Shape.ChildCount];
ProxyCount = 0;
if (Body.Enabled)
{
IBroadPhase broadPhase = Body._world.ContactManager.BroadPhase;
CreateProxies(broadPhase, ref Body._xf);
}
Body.FixtureList.Add(this);
// Adjust mass properties if needed.
if (Shape._density > 0.0f)
{
Body.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.
Body._world._worldHasNewFixture = true;
if (Body._world.FixtureAdded != null)
{
Body._world.FixtureAdded(this);
}
}
private void RegisterFixture()
{
this.Proxies = new FixtureProxy[this.Shape.ChildCount];
this.ProxyCount = 0;
bool enabled = this.Body.Enabled;
if (enabled)
{
IBroadPhase broadPhase = this.Body._world.ContactManager.BroadPhase;
this.CreateProxies(broadPhase, ref this.Body._xf);
}
this.Body.FixtureList.Add(this);
bool flag = this.Shape._density > 0f;
if (flag)
{
this.Body.ResetMassData();
}
this.Body._world._worldHasNewFixture = true;
bool flag2 = this.Body._world.FixtureAdded != null;
if (flag2)
{
this.Body._world.FixtureAdded(this);
}
}
private void Refilter()
{
for (ContactEdge contactEdge = this.Body.ContactList; contactEdge != null; contactEdge = contactEdge.Next)
{
Contact contact = contactEdge.Contact;
Fixture fixtureA = contact.FixtureA;
Fixture fixtureB = contact.FixtureB;
bool flag = fixtureA == this || fixtureB == this;
if (flag)
{
contact.FilterFlag = true;
}
}
World world = this.Body._world;
bool flag2 = world == null;
if (!flag2)
{
IBroadPhase broadPhase = world.ContactManager.BroadPhase;
for (int i = 0; i < this.ProxyCount; i++)
{
broadPhase.TouchProxy(this.Proxies[i].ProxyId);
}
}
}
void registerFixture()
{
// Reserve proxy space
proxies = new FixtureProxy[shape.childCount];
proxyCount = 0;
if (body.enabled)
{
IBroadPhase broadPhase = body._world.contactManager.broadPhase;
createProxies(broadPhase, ref body._xf);
}
body.fixtureList.Add(this);
// Adjust mass properties if needed.
if (shape._density > 0.0f)
{
body.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.
body._world._worldHasNewFixture = true;
//FPE: Added event
if (body._world.onFixtureAdded != null)
{
body._world.onFixtureAdded(this);
}
}
public void DestroyFixture(Fixture fixture)
{
Debug.Assert(fixture.Body == this);
Debug.Assert(this.FixtureList.Count > 0);
Debug.Assert(this.FixtureList.Contains(fixture));
ContactEdge contactEdge = this.ContactList;
while (contactEdge != null)
{
Contact contact = contactEdge.Contact;
contactEdge = contactEdge.Next;
Fixture fixtureA = contact.FixtureA;
Fixture fixtureB = contact.FixtureB;
bool flag = fixture == fixtureA || fixture == fixtureB;
if (flag)
{
this._world.ContactManager.Destroy(contact);
}
}
bool enabled = this._enabled;
if (enabled)
{
IBroadPhase broadPhase = this._world.ContactManager.BroadPhase;
fixture.DestroyProxies(broadPhase);
}
this.FixtureList.Remove(fixture);
fixture.Destroy();
fixture.Body = null;
this.ResetMassData();
}
/// <summary>
/// Contacts are persistant and will keep being persistant unless they are
/// flagged for filtering.
/// This methods flags all contacts associated with the body for filtering.
/// </summary>
private void Refilter()
{
// Flag associated contacts for filtering.
ContactEdge edge = Body.ContactList;
while (edge != null)
{
Contact contact = edge.Contact;
Fixture fixtureA = contact.FixtureA;
Fixture fixtureB = contact.FixtureB;
if (fixtureA == this || fixtureB == this)
{
contact.FilterFlag = true;
}
edge = edge.Next;
}
World world = Body._world;
if (world == null)
{
return;
}
// Touch each proxy so that new pairs may be created
IBroadPhase broadPhase = world.ContactManager.BroadPhase;
for (int i = 0; i < ProxyCount; ++i)
{
broadPhase.TouchProxy(Proxies[i].ProxyId);
}
}
/**
* This supports body activation/deactivation.
*/
public void CreateProxy(IBroadPhase broadPhase, b2Transform xf)
{
//b2Assert(m_proxyId == b2BroadPhase::e_nullProxy);
// Create proxy in the broad-phase.
m_shape.ComputeAABB(m_aabb, xf);
m_proxy = broadPhase.CreateProxy(m_aabb, this);
}
internal ContactManager(IBroadPhase broadPhase)
{
ContactList = new ContactListHead();
ContactCount = 0;
BroadPhase = broadPhase;
OnBroadphaseCollision = AddPair;
}
/// <summary>
/// Destroy a fixture. This removes the fixture from the broad-phase and
/// destroys all contacts associated with this fixture. This will
/// automatically adjust the mass of the body if the body is dynamic and the
/// fixture has positive density.
/// All fixtures attached to a body are implicitly destroyed when the body is destroyed.
/// Warning: This method is locked during callbacks.
/// </summary>
/// <param name="fixture">The fixture to be removed.</param>
/// <exception cref="System.InvalidOperationException">Thrown when the world is Locked/Stepping.</exception>
public virtual void Remove(Fixture fixture)
{
if (World != null && World.IsLocked)
{
throw new InvalidOperationException("The World is locked.");
}
if (fixture == null)
{
throw new ArgumentNullException("fixture");
}
if (fixture.Body != this)
{
throw new ArgumentException("You are removing a fixture that does not belong to this Body.", "fixture");
}
// Destroy any contacts associated with the fixture.
ContactEdge edge = ContactList;
while (edge != null)
{
Contact c = edge.Contact;
edge = edge.Next;
Fixture fixtureA = c.FixtureA;
Fixture fixtureB = c.FixtureB;
if (fixture == fixtureA || fixture == fixtureB)
{
// This destroys the contact and removes it from
// this body's contact list.
World.ContactManager.Destroy(c);
}
}
if (Enabled)
{
IBroadPhase broadPhase = World.ContactManager.BroadPhase;
fixture.DestroyProxies(broadPhase);
}
fixture.Body = null;
FixtureList._list.Remove(fixture);
FixtureList._generationStamp++;
#if DEBUG
if (fixture.Shape.ShapeType == ShapeType.Polygon)
{
((PolygonShape)fixture.Shape).Vertices.AttachedToBody = false;
}
#endif
var fixtureRemovedHandler = World.FixtureRemoved;
if (fixtureRemovedHandler != null)
{
fixtureRemovedHandler(World, this, fixture);
}
ResetMassData();
}
///<summary>
/// Warning: This method is locked during callbacks.
/// </summary>>
/// <exception cref="System.InvalidOperationException">Thrown when the world is Locked/Stepping.</exception>
public void Add(Fixture fixture)
{
if (World != null && World.IsLocked)
{
throw new InvalidOperationException("The World is locked.");
}
if (fixture == null)
{
throw new ArgumentNullException("fixture");
}
if (fixture.Body != null)
{
if (fixture.Body == this)
{
throw new ArgumentException("You are adding the same fixture more than once.", "fixture");
}
else
{
throw new ArgumentException("fixture belongs to another body.", "fixture");
}
}
fixture.Body = this;
FixtureList._list.Add(fixture);
FixtureList._generationStamp++;
#if DEBUG
if (fixture.Shape.ShapeType == ShapeType.Polygon)
{
((PolygonShape)fixture.Shape).Vertices.AttachedToBody = true;
}
#endif
// Adjust mass properties if needed.
if (fixture.Shape._density > 0.0f)
{
ResetMassData();
}
if (World != null)
{
if (Enabled)
{
IBroadPhase broadPhase = World.ContactManager.BroadPhase;
fixture.CreateProxies(broadPhase, ref _xf);
}
// 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._worldHasNewFixture = true;
var fixtureAddedHandler = World.FixtureAdded;
if (fixtureAddedHandler != null)
{
fixtureAddedHandler(World, this, fixture);
}
}
}
internal void DestroyProxies(IBroadPhase broadPhase)
{
for (int i = 0; i < this.ProxyCount; i++)
{
broadPhase.RemoveProxy(this.Proxies[i].ProxyId);
this.Proxies[i].ProxyId = -1;
}
this.ProxyCount = 0;
}
/// <summary>
/// Create all proxies.
/// </summary>
internal void CreateProxies()
{
IBroadPhase broadPhase = World.ContactManager.BroadPhase;
for (int i = 0; i < FixtureList.Count; i++)
{
FixtureList[i].CreateProxies(broadPhase, ref _xf);
}
}
/// Destroy proxies in the broad-phase.
internal void DestroyProxies(IBroadPhase broadPhase)
{
for (int i = 0; i < ProxyCount; ++i)
{
broadPhase.RemoveProxy(Proxies[i].ProxyId);
Proxies[i].ProxyId = -1;
}
ProxyCount = 0;
}
/// <summary>
/// Destroy all proxies.
/// </summary>
internal void DestroyProxies()
{
IBroadPhase broadPhase = World.ContactManager.BroadPhase;
for (int i = 0; i < FixtureList.Count; i++)
{
FixtureList[i].DestroyProxies(broadPhase);
}
}
internal ContactManager(IBroadPhase <BodyProxy> broadPhase)
{
ContactList = new ContactListHead();
ContactCount = 0;
_contactPoolList = new ContactListHead();
BroadPhase = broadPhase;
OnBroadphaseCollision = AddPairBroadPhase;
OnFixturePhaseCollision = AddPairFixturePhase;
}
internal void DestroyProxies(IBroadPhase broadPhase)
{
// Destroy proxies in the broad-phase.
for (int i = 0; i < this.ProxyCount; ++i)
{
broadPhase.RemoveProxy(this.Proxies[i].ProxyId);
this.Proxies[i].ProxyId = -1;
}
this.ProxyCount = 0;
}
internal void destroyProxies(IBroadPhase broadPhase)
{
// Destroy proxies in the broad-phase.
for (int i = 0; i < proxyCount; ++i)
{
broadPhase.removeProxy(proxies[i].proxyId);
proxies[i].proxyId = -1;
}
proxyCount = 0;
}
public ConservativeAdvancement()
{
var parameters = new CollisionEngineParameters();
var physicsEngineParams = new PhysicsEngineParameters();
parameters.SetManifoldPoints(0);
collisionDetectionEngine = new NarrowPhase(parameters);
broadPhaseEngine = new AABBBroadPhase(parameters);
integratePosition = new IntegratePosition(physicsEngineParams);
}
/**
* This supports body activation/deactivation.
*/
public void DestroyProxy(IBroadPhase broadPhase)
{
if (m_proxy == null)
{
return;
}
// Destroy proxy in the broad-phase.
broadPhase.DestroyProxy(m_proxy);
m_proxy = null;
}
internal void SynchronizeFixtures()
{
Transform xf1 = new Transform(Vector2.Zero, _sweep.A0);
xf1.p = _sweep.C0 - Complex.Multiply(ref _sweep.LocalCenter, ref xf1.q);
IBroadPhase broadPhase = World.ContactManager.BroadPhase;
for (int i = 0; i < FixtureList.Count; i++)
{
FixtureList[i].Synchronize(broadPhase, ref xf1, ref _xf);
}
}
internal void SynchronizeFixtures()
{
Transform transform = default(Transform);
transform.q.Set(this._sweep.A0);
transform.p = this._sweep.C0 - MathUtils.Mul(transform.q, this._sweep.LocalCenter);
IBroadPhase broadPhase = this._world.ContactManager.BroadPhase;
for (int i = 0; i < this.FixtureList.Count; i++)
{
this.FixtureList[i].Synchronize(broadPhase, ref transform, ref this._xf);
}
}
internal void CreateProxies(IBroadPhase broadPhase, ref Transform xf)
{
Debug.Assert(this.ProxyCount == 0);
this.ProxyCount = this.Shape.ChildCount;
for (int i = 0; i < this.ProxyCount; i++)
{
FixtureProxy fixtureProxy = default(FixtureProxy);
this.Shape.ComputeAABB(out fixtureProxy.AABB, ref xf, i);
fixtureProxy.Fixture = this;
fixtureProxy.ChildIndex = i;
fixtureProxy.ProxyId = broadPhase.AddProxy(ref fixtureProxy);
this.Proxies[i] = fixtureProxy;
}
}
internal void SynchronizeFixtures()
{
Transform xf1 = new Transform();
xf1.q.Set(_sweep.A0);
xf1.p = _sweep.C0 - MathUtils.Mul(xf1.q, _sweep.LocalCenter);
IBroadPhase broadPhase = _world.ContactManager.BroadPhase;
for (int i = 0; i < FixtureList.Count; i++)
{
FixtureList[i].Synchronize(broadPhase, ref xf1, ref _xf);
}
}
public void SetTransformIgnoreContacts(ref TSVector2 position, FP angle)
{
this._xf.q.Set(angle);
this._xf.p = position;
this._sweep.C = MathUtils.Mul(ref this._xf, this._sweep.LocalCenter);
this._sweep.A = angle;
this._sweep.C0 = this._sweep.C;
this._sweep.A0 = angle;
IBroadPhase broadPhase = this._world.ContactManager.BroadPhase;
for (int i = 0; i < this.FixtureList.Count; i++)
{
this.FixtureList[i].Synchronize(broadPhase, ref this._xf, ref this._xf);
}
}
internal ContactManager(IBroadPhase broadPhase)
{
if (World.Multithreaded)
{
ThreadsToUse = Environment.ProcessorCount * 2;
ThreadPool.SetMaxThreads(ThreadsToUse, ThreadsToUse);
}
ContactList = new ContactListHead();
ContactCount = 0;
_contactPoolList = new ContactListHead();
BroadPhase = broadPhase;
OnBroadphaseCollision += AddPair;
}
/// <summary>
/// Destroy a fixture. This removes the fixture from the broad-phase and
/// destroys all contacts associated with this fixture. This will
/// automatically adjust the mass of the body if the body is dynamic and the
/// fixture has positive density.
/// All fixtures attached to a body are implicitly destroyed when the body is destroyed.
/// Warning: This function is locked during callbacks.
/// </summary>
/// <param name="fixture">The fixture to be removed.</param>
public void DestroyFixture(Fixture fixture)
{
if (fixture == null)
{
return;
}
Debug.Assert(fixture.Body == this);
// Remove the fixture from this body's singly linked list.
Debug.Assert(FixtureList.Count > 0);
// You tried to remove a fixture that not present in the fixturelist.
Debug.Assert(FixtureList.Contains(fixture));
// Destroy any contacts associated with the fixture.
ContactEdge edge = ContactList;
while (edge != null)
{
Contact c = edge.Contact;
edge = edge.Next;
Fixture fixtureA = c.FixtureA;
Fixture fixtureB = c.FixtureB;
if (fixture == fixtureA || fixture == fixtureB)
{
// This destroys the contact and removes it from
// this body's contact list.
_world.ContactManager.Destroy(c);
}
}
if (Enabled)
{
IBroadPhase broadPhase = _world.ContactManager.BroadPhase;
fixture.DestroyProxies(broadPhase);
}
FixtureList.Remove(fixture);
fixture.Destroy();
fixture.Body = null;
ResetMassData();
}
// These support body activation/deactivation.
internal void CreateProxies(IBroadPhase broadPhase, ref Transform xf)
{
Debug.Assert(ProxyCount == 0);
// Create proxies in the broad-phase.
ProxyCount = Shape.ChildCount;
for (int i = 0; i < ProxyCount; ++i)
{
FixtureProxy proxy = new FixtureProxy();
Shape.ComputeAABB(out proxy.AABB, ref xf, i);
proxy.Fixture = this;
proxy.ChildIndex = i;
//FPE note: This line needs to be after the previous two because FixtureProxy is a struct
proxy.ProxyId = broadPhase.AddProxy(ref proxy);
Proxies[i] = proxy;
}
}
// These support body activation/deactivation.
internal void CreateProxies(IBroadPhase broadPhase, ref Transform xf)
{
Debug.Assert(ProxyCount == 0);
// Create proxies in the broad-phase.
ProxyCount = Shape.ChildCount;
for (int i = 0; i < ProxyCount; ++i)
{
FixtureProxy proxy = new FixtureProxy();
Shape.ComputeAABB(out proxy.AABB, ref xf, i);
proxy.Fixture = this;
proxy.ChildIndex = i;
proxy.ProxyId = broadPhase.AddProxy(ref proxy);
Proxies[i] = proxy;
}
}
internal void Synchronize(IBroadPhase broadPhase, ref Transform transform1, ref Transform transform2)
{
if (ProxyCount == 0)
{
return;
}
for (int i = 0; i < ProxyCount; ++i)
{
FixtureProxy proxy = Proxies[i];
// Compute an AABB that covers the swept Shape (may miss some rotation effect).
AABB 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);
Vector2 displacement = transform2.Position - transform1.Position;
broadPhase.MoveProxy(proxy.ProxyId, ref proxy.AABB, displacement);
}
}
internal void DestroyProxies(IBroadPhase broadPhase)
{
// Destroy proxies in the broad-phase.
for (int i = 0; i < ProxyCount; ++i)
{
broadPhase.RemoveProxy(Proxies[i].ProxyId);
Proxies[i].ProxyId = -1;
}
ProxyCount = 0;
}
internal ContactManager(IBroadPhase broadPhase)
{
BroadPhase = broadPhase;
OnBroadphaseCollision = AddPair;
}
internal ContactManager( IBroadPhase broadPhase )
{
this.broadPhase = broadPhase;
onBroadphaseCollision = addPair;
}
