public override float ReportFixture(b2Fixture fixture, b2Vec2 point, b2Vec2 normal, float fraction)
{
if ((fixture.GetFilterData().categoryBits & _CollisionMask) == 0)
{
return(-1f);
}
ICollider collider = _Physics2DControl.GetPhysicsObject(fixture.GetBody().GetUserData().data).GetCollider(fixture.GetUserData().data);
return(_Callback.Invoke(collider, point.ToVector2(), normal.ToVector2(), fraction));
}
public override bool ReportFixture(b2Fixture fixture)
{
if ((fixture.GetFilterData().categoryBits & _CollisionMask) == 0)
{
return(true);
}
ICollider collider = _Physics2DControl.GetPhysicsObject(fixture.GetBody().GetUserData().data).GetCollider(fixture.GetUserData().data);
return(_Callback.Invoke(collider));
}
/** @private */
virtual public void Reset(b2Fixture fixtureA = null, b2Fixture fixtureB = null)
{
m_flags = e_enabledFlag;
if (fixtureA == null || fixtureB == null)
{
m_fixtureA = null;
m_fixtureB = null;
return;
}
if (fixtureA.IsSensor() || fixtureB.IsSensor())
{
m_flags |= e_sensorFlag;
}
b2Body bodyA = fixtureA.GetBody();
b2Body bodyB = fixtureB.GetBody();
if (bodyA.GetType() != b2Body.b2_dynamicBody || bodyA.IsBullet() || bodyB.GetType() != b2Body.b2_dynamicBody || bodyB.IsBullet())
{
m_flags |= e_continuousFlag;
}
m_fixtureA = fixtureA;
m_fixtureB = fixtureB;
m_manifold.m_pointCount = 0;
m_prev = null;
m_next = null;
m_nodeA.contact = null;
m_nodeA.prev = null;
m_nodeA.next = null;
m_nodeA.other = null;
m_nodeB.contact = null;
m_nodeB.prev = null;
m_nodeB.next = null;
m_nodeB.other = null;
}
internal static void Destroy(ref b2Contact contact)
{
Debug.Assert(s_initialized == true);
b2Fixture fixtureA = contact.m_fixtureA;
b2Fixture fixtureB = contact.m_fixtureB;
if (contact.m_manifold.pointCount > 0 && fixtureA.IsSensor() == false && fixtureB.IsSensor() == false)
{
fixtureA.GetBody().SetAwake(true);
fixtureB.GetBody().SetAwake(true);
}
b2Shape.Type typeA = fixtureA.GetType();
b2Shape.Type typeB = fixtureB.GetType();
Debug.Assert(0 <= ((int)typeA) && typeB < b2Shape.Type.e_typeCount);
Debug.Assert(0 <= ((int)typeA) && typeB < b2Shape.Type.e_typeCount);
b2ContactDestroyFcn destroyFcn = s_registers[(int)typeA, (int)typeB].destroyFcn;
destroyFcn(ref contact);
}
public override byte[] Render(bool toRgbArray = false)
{
if (Viewer == null)
{
Viewer = new Rendering.Viewer(VIEWPORT_W, VIEWPORT_H);
}
Viewer.SetBounds(scroll, VIEWPORT_W / SCALE + scroll, 0, VIEWPORT_H / SCALE);
Viewer.DrawPolygon(new List <float[]> {
new float[] { scroll, 0 },
new float[] { scroll + VIEWPORT_W / SCALE, 0 },
new float[] { scroll + VIEWPORT_W / SCALE, VIEWPORT_H / SCALE },
new float[] { scroll, VIEWPORT_H / SCALE }
}).SetColor(0.9f, 0.9f, 1.0f);
foreach (var cloud_data in cloud_poly)
{
var poly = cloud_data.Item1;
var pos_data = cloud_data.Item2;
if (pos_data.y < scroll / 2)
{
continue;
}
if (pos_data.x > scroll / 2 + VIEWPORT_W / SCALE)
{
continue;
}
Viewer.DrawPolygon(poly.Select(p => new[] { p[0] + scroll / 2, p[1] }).ToList()).SetColor(1, 1, 1);
}
foreach (var terrain_data in terrain_poly)
{
var poly = terrain_data.Item1;
var color = terrain_data.Item2;
if (poly[1][0] < scroll)
{
continue;
}
if (poly[0][0] > scroll + VIEWPORT_W / SCALE)
{
continue;
}
Viewer.DrawPolygon(poly).SetColor(color.x, color.y, color.z);
}
lidar_render = (lidar_render + 1) % 100;
int i = lidar_render;
if (i < 2 * lidar.Length)
{
var l = i < lidar.Length ? lidar[i] : lidar[2 * lidar.Length - i - 1];
Viewer.DrawPolyline(new List <float[]> {
new float[] { l.P1.x, l.P1.y }, new float[] { l.P2.x, l.P2.y }
}).SetColor(1, 0, 0).SetLineWidth(1);
}
foreach (var obj in drawlist)
{
for (b2Fixture f = obj.GetFixtureList(); f != null; f = f.GetNext())
{
var xform = f.GetBody().GetTransform();
if (f.GetShape() is b2CircleShape)
{
var shape = (f.GetShape() as b2CircleShape);
var customData = (obj.GetUserData() as CustomBodyData);
var trans = Utils.b2Mul(xform, shape.m_p);
var t = new Rendering.Transform(new float[] { trans[0], trans[1] });
Viewer.DrawCircle(shape.m_radius, 30).SetColor(customData.Color1.x, customData.Color1.y, customData.Color1.z).AddAttr(t);
Viewer.DrawCircle(shape.m_radius, 30, false).SetColor(customData.Color2.x, customData.Color2.y, customData.Color2.z).SetLineWidth(2).AddAttr(t);
}
else
{
var shape = f.GetShape();
var customData = (obj.GetUserData() as CustomBodyData);
var path = shape.GetVertices().Select(v => { var trans = Utils.b2Mul(xform, v); return(new float[] { trans[0], trans[1] }); }).ToList();
Viewer.DrawPolygon(path).SetColor(customData.Color1.x, customData.Color1.y, customData.Color1.z);
path.Add(path[0]);
Viewer.DrawPolyline(path).SetColor(customData.Color2.x, customData.Color2.y, customData.Color2.z).SetLineWidth(2);
}
}
}
var flagy1 = TERRAIN_HEIGHT;
var flagy2 = flagy1 + 50 / SCALE;
var x = TERRAIN_STEP * 3;
Viewer.DrawPolyline(new List <float[]> {
new float[] { x, flagy1 }, new float[] { x, flagy2 }
}).SetColor(0, 0, 0).SetLineWidth(2);
var flagVert = new List <float[]> {
new float[] { x, flagy2 }, new float[] { x, flagy2 - 10 / SCALE }, new float[] { x + 25 / SCALE, flagy2 - 5 / SCALE }
};
Viewer.DrawPolygon(flagVert).SetColor(0.9f, 0.2f, 0);
flagVert.Add(flagVert[0]);
Viewer.DrawPolyline(flagVert).SetColor(0, 0, 0).SetLineWidth(2);
Viewer.Render();
return(null);
}
public override byte[] Render(bool toRgbArray = false)
{
if (Viewer == null)
{
Viewer = new Rendering.Viewer(VIEWPORT_W, VIEWPORT_H);
Viewer.SetBounds(0, VIEWPORT_W / SCALE, 0, VIEWPORT_H / SCALE);
}
foreach (var obj in particles)
{
var data = obj.GetUserData() as CustomBodyData;
data.TimeToLive -= 0.15f;
data.Color1 = new b2Vec3((float)Math.Max(0.2, 0.2 + data.TimeToLive), (float)Math.Max(0.2, 0.5 * data.TimeToLive), (float)Math.Max(0.2, 0.5 * data.TimeToLive));
data.Color2 = new b2Vec3((float)Math.Max(0.2, 0.2 + data.TimeToLive), (float)Math.Max(0.2, 0.5 * data.TimeToLive), (float)Math.Max(0.2, 0.5 * data.TimeToLive));
}
CleanParticles(false);
foreach (var p in sky_polys)
{
Viewer.DrawPolygon(p).SetColor(0, 0, 0);
}
foreach (var obj in particles.Concat(drawlist))
{
for (b2Fixture f = obj.GetFixtureList(); f != null; f = f.GetNext())
{
var xform = f.GetBody().GetTransform();
if (f.GetShape() is b2CircleShape)
{
var shape = (f.GetShape() as b2CircleShape);
var customData = (obj.GetUserData() as CustomBodyData);
var trans = Utils.b2Mul(xform, shape.m_p);
var t = new Rendering.Transform(new float[] { trans[0], trans[1] });
Viewer.DrawCircle(shape.m_radius, 20).SetColor(customData.Color1.x, customData.Color1.y, customData.Color1.z).AddAttr(t);
Viewer.DrawCircle(shape.m_radius, 20, false).SetColor(customData.Color2.x, customData.Color2.y, customData.Color2.z).SetLineWidth(2).AddAttr(t);
}
else
{
var shape = f.GetShape();
var customData = (obj.GetUserData() as CustomBodyData);
var path = shape.GetVertices().Select(v => { var trans = Utils.b2Mul(xform, v); return(new float[] { trans[0], trans[1] }); }).ToList();
Viewer.DrawPolygon(path).SetColor(customData.Color1.x, customData.Color1.y, customData.Color1.z);
path.Add(path[0]);
Viewer.DrawPolyline(path).SetColor(customData.Color2.x, customData.Color2.y, customData.Color2.z).SetLineWidth(2);
}
}
}
foreach (var x in new[] { helipad_x1, helipad_x2 })
{
var flagy1 = helipad_y;
var flagy2 = flagy1 + 50 / SCALE;
Viewer.DrawPolyline(new List <float[]> {
new float[] { x, flagy1 }, new float[] { x, flagy2 }
}).SetColor(1, 1, 1);
Viewer.DrawPolygon(new List <float[]> {
new float[] { x, flagy2 }, new float[] { x, flagy2 - 10 / SCALE }, new float[] { x + 25 / SCALE, flagy2 - 5 / SCALE }
}).SetColor(0.8f, 0.8f, 0);
}
Viewer.Render();
return(null);
}
public b2ContactSolver(b2ContactSolverDef def)
{
m_step = def.step;
m_count = def.count;
m_positionConstraints = Arrays.InitializeWithDefaultInstances <b2ContactPositionConstraint>(m_count);
m_velocityConstraints = Arrays.InitializeWithDefaultInstances <b2ContactVelocityConstraint>(m_count);
m_positions = def.positions;
m_velocities = def.velocities;
m_contacts = def.contacts;
// Initialize position independent portions of the constraints.
for (int i = 0; i < m_count; ++i)
{
b2Contact contact = m_contacts[i];
b2Fixture fixtureA = contact.m_fixtureA;
b2Fixture fixtureB = contact.m_fixtureB;
b2Shape shapeA = fixtureA.GetShape();
b2Shape shapeB = fixtureB.GetShape();
float radiusA = shapeA.m_radius;
float radiusB = shapeB.m_radius;
b2Body bodyA = fixtureA.GetBody();
b2Body bodyB = fixtureB.GetBody();
b2Manifold manifold = contact.GetManifold();
int pointCount = manifold.pointCount;
Debug.Assert(pointCount > 0);
b2ContactVelocityConstraint vc = m_velocityConstraints[i];
vc.friction = contact.m_friction;
vc.restitution = contact.m_restitution;
vc.tangentSpeed = contact.m_tangentSpeed;
vc.indexA = bodyA.m_islandIndex;
vc.indexB = bodyB.m_islandIndex;
vc.invMassA = bodyA.m_invMass;
vc.invMassB = bodyB.m_invMass;
vc.invIA = bodyA.m_invI;
vc.invIB = bodyB.m_invI;
vc.contactIndex = i;
vc.pointCount = pointCount;
vc.K.SetZero();
vc.normalMass.SetZero();
b2ContactPositionConstraint pc = m_positionConstraints[i];
pc.indexA = bodyA.m_islandIndex;
pc.indexB = bodyB.m_islandIndex;
pc.invMassA = bodyA.m_invMass;
pc.invMassB = bodyB.m_invMass;
pc.localCenterA = bodyA.m_sweep.localCenter;
pc.localCenterB = bodyB.m_sweep.localCenter;
pc.invIA = bodyA.m_invI;
pc.invIB = bodyB.m_invI;
pc.localNormal = manifold.localNormal;
pc.localPoint = manifold.localPoint;
pc.pointCount = pointCount;
pc.radiusA = radiusA;
pc.radiusB = radiusB;
pc.type = manifold.type;
for (int j = 0; j < pointCount; ++j)
{
b2ManifoldPoint cp = manifold.points[j];
b2VelocityConstraintPoint vcp = vc.points[j];
if (m_step.warmStarting)
{
vcp.normalImpulse = m_step.dtRatio * cp.normalImpulse;
vcp.tangentImpulse = m_step.dtRatio * cp.tangentImpulse;
}
else
{
vcp.normalImpulse = 0.0f;
vcp.tangentImpulse = 0.0f;
}
vcp.rA.SetZero();
vcp.rB.SetZero();
vcp.normalMass = 0.0f;
vcp.tangentMass = 0.0f;
vcp.velocityBias = 0.0f;
pc.localPoints[j] = cp.localPoint;
}
}
}
// Broad-phase callback.
public void AddPair(object proxyUserDataA, object proxyUserDataB)
{
b2FixtureProxy proxyA = (b2FixtureProxy)proxyUserDataA;
b2FixtureProxy proxyB = (b2FixtureProxy)proxyUserDataB;
b2Fixture fixtureA = proxyA.fixture;
b2Fixture fixtureB = proxyB.fixture;
int indexA = proxyA.childIndex;
int indexB = proxyB.childIndex;
b2Body bodyA = fixtureA.GetBody();
b2Body bodyB = fixtureB.GetBody();
// Are the fixtures on the same body?
if (bodyA == bodyB)
{
return;
}
// TODO_ERIN use a hash table to remove a potential bottleneck when both
// bodies have a lot of contacts.
// Does a contact already exist?
b2ContactEdge edge = bodyB.GetContactList();
while (edge != null)
{
if (edge.other == bodyA)
{
b2Fixture fA = edge.contact.GetFixtureA();
b2Fixture fB = edge.contact.GetFixtureB();
int iA = edge.contact.GetChildIndexA();
int iB = edge.contact.GetChildIndexB();
if (fA == fixtureA && fB == fixtureB && iA == indexA && iB == indexB)
{
// A contact already exists.
return;
}
if (fA == fixtureB && fB == fixtureA && iA == indexB && iB == indexA)
{
// A contact already exists.
return;
}
}
edge = edge.next;
}
// Does a joint override collision? Is at least one body dynamic?
if (bodyB.ShouldCollide(bodyA) == false)
{
return;
}
// Check user filtering.
if (m_contactFilter != null && m_contactFilter.ShouldCollide(fixtureA, fixtureB) == false)
{
return;
}
// Call the factory.
b2Contact c = b2Contact.Create(fixtureA, indexA, fixtureB, indexB);
if (c == null)
{
return;
}
// Contact creation may swap fixtures.
fixtureA = c.GetFixtureA();
fixtureB = c.GetFixtureB();
indexA = c.GetChildIndexA();
indexB = c.GetChildIndexB();
bodyA = fixtureA.GetBody();
bodyB = fixtureB.GetBody();
// Insert into the world.
c.m_prev = null;
c.m_next = m_contactList;
if (m_contactList != null)
{
m_contactList.m_prev = c;
}
m_contactList = c;
// Connect to island graph.
// Connect to body A
c.m_nodeA.contact = c;
c.m_nodeA.other = bodyB;
c.m_nodeA.prev = null;
c.m_nodeA.next = bodyA.m_contactList;
if (bodyA.m_contactList != null)
{
bodyA.m_contactList.prev = c.m_nodeA;
}
bodyA.m_contactList = c.m_nodeA;
// Connect to body B
c.m_nodeB.contact = c;
c.m_nodeB.other = bodyA;
c.m_nodeB.prev = null;
c.m_nodeB.next = bodyB.m_contactList;
if (bodyB.m_contactList != null)
{
bodyB.m_contactList.prev = c.m_nodeB;
}
bodyB.m_contactList = c.m_nodeB;
// Wake up the bodies
if (fixtureA.IsSensor() == false && fixtureB.IsSensor() == false)
{
bodyA.SetAwake(true);
bodyB.SetAwake(true);
}
++m_contactCount;
}
// This is the top level collision call for the time step. Here
// all the narrow phase collision is processed for the world
// contact list.
public void Collide()
{
// Update awake contacts.
b2Contact c = m_contactList;
while (c != null)
{
b2Fixture fixtureA = c.GetFixtureA();
b2Fixture fixtureB = c.GetFixtureB();
int indexA = c.GetChildIndexA();
int indexB = c.GetChildIndexB();
b2Body bodyA = fixtureA.GetBody();
b2Body bodyB = fixtureB.GetBody();
// Is this contact flagged for filtering?
if ((c.m_flags & b2Contact.ContactFlags.e_filterFlag) != 0)
{
// Should these bodies collide?
if (bodyB.ShouldCollide(bodyA) == false)
{
b2Contact cNuke = c;
c = cNuke.GetNext();
Destroy(cNuke);
continue;
}
// Check user filtering.
if (m_contactFilter != null && m_contactFilter.ShouldCollide(fixtureA, fixtureB) == false)
{
b2Contact cNuke = c;
c = cNuke.GetNext();
Destroy(cNuke);
continue;
}
// Clear the filtering flag.
c.m_flags &= ~b2Contact.ContactFlags.e_filterFlag;
}
bool activeA = bodyA.IsAwake() && bodyA.m_type != BodyType.b2_staticBody;
bool activeB = bodyB.IsAwake() && bodyB.m_type != BodyType.b2_staticBody;
// At least one body must be awake and it must be dynamic or kinematic.
if (activeA == false && activeB == false)
{
c = c.GetNext();
continue;
}
int proxyIdA = fixtureA.m_proxies[indexA].proxyId;
int proxyIdB = fixtureB.m_proxies[indexB].proxyId;
bool overlap = m_broadPhase.TestOverlap(proxyIdA, proxyIdB);
// Here we destroy contacts that cease to overlap in the broad-phase.
if (overlap == false)
{
b2Contact cNuke = c;
c = cNuke.GetNext();
Destroy(cNuke);
continue;
}
// The contact persists.
c.Update(m_contactListener);
c = c.GetNext();
}
}
public void Destroy(b2Contact c)
{
b2Fixture fixtureA = c.GetFixtureA();
b2Fixture fixtureB = c.GetFixtureB();
b2Body bodyA = fixtureA.GetBody();
b2Body bodyB = fixtureB.GetBody();
if (m_contactListener != null && c.IsTouching())
{
m_contactListener.EndContact(c);
}
// Remove from the world.
if (c.m_prev != null)
{
c.m_prev.m_next = c.m_next;
}
if (c.m_next != null)
{
c.m_next.m_prev = c.m_prev;
}
if (c == m_contactList)
{
m_contactList = c.m_next;
}
// Remove from body 1
if (c.m_nodeA.prev != null)
{
c.m_nodeA.prev.next = c.m_nodeA.next;
}
if (c.m_nodeA.next != null)
{
c.m_nodeA.next.prev = c.m_nodeA.prev;
}
if (c.m_nodeA == bodyA.m_contactList)
{
bodyA.m_contactList = c.m_nodeA.next;
}
// Remove from body 2
if (c.m_nodeB.prev != null)
{
c.m_nodeB.prev.next = c.m_nodeB.next;
}
if (c.m_nodeB.next != null)
{
c.m_nodeB.next.prev = c.m_nodeB.prev;
}
if (c.m_nodeB == bodyB.m_contactList)
{
bodyB.m_contactList = c.m_nodeB.next;
}
// Call the factory.
b2Contact.Destroy(ref c);
--m_contactCount;
}
