// For teleporting a body without considering new contacts immediately.
public void SetTransformIgnoreContacts(Vector2 position, float angle)
{
Debug.Assert(_world.IsLocked == false);
if (_world.IsLocked == true)
{
return;
}
_xf.R.Set(angle);
_xf.Position = position;
_sweep.c0 = _sweep.c = MathUtils.Multiply(ref _xf, _sweep.localCenter);
_sweep.a0 = _sweep.a = angle;
BroadPhase broadPhase = _world._contactManager._broadPhase;
for (Fixture f = _fixtureList; f != null; f = f._next)
{
f.Synchronize(broadPhase, ref _xf, ref _xf);
}
}
internal void Synchronize(BroadPhase 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);
}
}
/// Creates a fixture and attach it to this body. Use this function if you need
/// to set some fixture parameters, like friction. Otherwise you can create the
/// fixture directly from a shape.
/// If the density is non-zero, this function automatically updates the mass of the body.
/// Contacts are not created until the next time step.
/// @param def the fixture definition.
/// @warning This function is locked during callbacks.
public Fixture CreateFixture(FixtureDef def)
{
Debug.Assert(_world.IsLocked == false);
if (_world.IsLocked == true)
{
return(null);
}
Fixture fixture = new Fixture();
fixture.Create(this, def);
if ((_flags & BodyFlags.Active) == BodyFlags.Active)
{
BroadPhase broadPhase = _world._contactManager._broadPhase;
fixture.CreateProxies(broadPhase, ref _xf);
}
fixture._next = _fixtureList;
_fixtureList = fixture;
++_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.
_world._flags |= WorldFlags.NewFixture;
return(fixture);
}
/// 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.
/// @param fixture the fixture to be removed.
/// @warning This function is locked during callbacks.
public void DestroyFixture(Fixture fixture)
{
Debug.Assert(_world.IsLocked == false);
if (_world.IsLocked == true)
{
return;
}
Debug.Assert(fixture._body == this);
// Remove the fixture from this body's singly linked list.
Debug.Assert(_fixtureCount > 0);
Fixture node = _fixtureList;
bool found = false;
while (node != null)
{
if (node == fixture)
{
_fixtureList = 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.
ContactEdge edge = _contactList;
while (edge != null)
{
Contact c = edge.Contact;
edge = edge.Next;
Fixture fixtureA = c.GetFixtureA();
Fixture fixtureB = c.GetFixtureB();
if (fixture == fixtureA || fixture == fixtureB)
{
// This destroys the contact and removes it from
// this body's contact list.
_world._contactManager.Destroy(c);
}
}
if ((_flags & BodyFlags.Active) == BodyFlags.Active)
{
Debug.Assert(fixture._proxyId != BroadPhase.NullProxy);
BroadPhase broadPhase = _world._contactManager._broadPhase;
fixture.DestroyProxies(broadPhase);
}
fixture.Destroy();
fixture._body = null;
fixture._next = null;
--_fixtureCount;
ResetMassData();
}
/// Call this to draw shapes and other debug draw data.
public void DrawDebugData()
{
if (DebugDraw == null)
{
return;
}
DebugDrawFlags flags = DebugDraw.Flags;
if ((flags & DebugDrawFlags.Shape) == DebugDrawFlags.Shape)
{
for (Body b = _bodyList; b != null; b = b.GetNext())
{
Transform xf;
b.GetTransform(out xf);
for (Fixture f = b.GetFixtureList(); f != null; f = f.GetNext())
{
if (b.IsActive() == false)
{
DrawShape(f, xf, new Color(0.5f, 0.5f, 0.3f));
}
else if (b.GetType() == BodyType.Static)
{
DrawShape(f, xf, new Color(0.5f, 0.9f, 0.5f));
}
else if (b.GetType() == BodyType.Kinematic)
{
DrawShape(f, xf, new Color(0.5f, 0.5f, 0.9f));
}
else if (b.IsAwake() == false)
{
DrawShape(f, xf, new Color(0.6f, 0.6f, 0.6f));
}
else
{
DrawShape(f, xf, new Color(0.9f, 0.7f, 0.7f));
}
}
}
}
if ((flags & DebugDrawFlags.Joint) == DebugDrawFlags.Joint)
{
for (Joint j = _jointList; j != null; j = j.GetNext())
{
DrawJoint(j);
}
}
if ((flags & DebugDrawFlags.Pair) == DebugDrawFlags.Pair)
{
Color color = new Color(0.3f, 0.9f, 0.9f);
for (Contact c = _contactManager._contactList; c != null; c = c.GetNext())
{
Fixture fixtureA = c.GetFixtureA();
Fixture fixtureB = c.GetFixtureB();
AABB aabbA;
AABB aabbB;
fixtureA.GetAABB(out aabbA);
fixtureB.GetAABB(out aabbB);
Vector2 cA = aabbA.GetCenter();
Vector2 cB = aabbB.GetCenter();
DebugDraw.DrawSegment(cA, cB, color);
}
}
if ((flags & DebugDrawFlags.AABB) == DebugDrawFlags.AABB)
{
Color color = new Color(0.9f, 0.3f, 0.9f);
BroadPhase bp = _contactManager._broadPhase;
for (Body b = _bodyList; b != null; b = b.GetNext())
{
if (b.IsActive() == false)
{
continue;
}
for (Fixture f = b.GetFixtureList(); f != null; f = f.GetNext())
{
AABB aabb;
bp.GetFatAABB(f._proxyId, out aabb);
FixedArray8 <Vector2> vs = new FixedArray8 <Vector2>();
vs[0] = new Vector2(aabb.lowerBound.X, aabb.lowerBound.Y);
vs[1] = new Vector2(aabb.upperBound.X, aabb.lowerBound.Y);
vs[2] = new Vector2(aabb.upperBound.X, aabb.upperBound.Y);
vs[3] = new Vector2(aabb.lowerBound.X, aabb.upperBound.Y);
DebugDraw.DrawPolygon(ref vs, 4, color);
}
}
}
if ((flags & DebugDrawFlags.CenterOfMass) == DebugDrawFlags.CenterOfMass)
{
for (Body b = _bodyList; b != null; b = b.GetNext())
{
Transform xf;
b.GetTransform(out xf);
xf.Position = b.GetWorldCenter();
DebugDraw.DrawTransform(ref xf);
}
}
}
