public MarkContext(cpBBTree tree, Node staticRoot, Func <object, object, ulong, object, ulong> func, object data)
{
this.tree = tree;
this.staticRoot = staticRoot;
this.func = func;
this.data = data;
}
/////////////////////////////////////////////////
public cpBBTree(cpBBTree staticIndex)
{
this.staticIndex = staticIndex;
if (staticIndex != null)
{
if (staticIndex.dynamicIndex != null)
{
throw new NotImplementedException("This static index is already associated with a dynamic index.");
}
staticIndex.dynamicIndex = this;
}
this.velocityFunc = null;
// This is a hash from object ID -> object for the objects stored in the BBTree.
leaves = new Dictionary <ulong, Leaf>();
// elements = new Dictionary<int, object>();
root = null;
// A linked list containing an object pool of tree nodes and pairs.
this.pooledNodes = null;
this.pooledPairs = null;
stamp = 0;
}
public void ClearPairs(cpBBTree tree)
{
Pair pair = this.pairs;
Pair next;
this.pairs = null;
while (pair != null)
{
if (pair.a.leaf == this)
{
next = pair.a.next;
Thread.Unlink(pair.b.prev, pair.b.leaf, pair.b.next);
}
else
{
next = pair.b.next;
Thread.Unlink(pair.a.prev, pair.a.leaf, pair.a.next);
}
tree.PairRecycle(pair);
pair = next;
}
}
public virtual void MarkLeafQuery(Leaf leaf, bool left, cpBBTree tree, Func <object, object, ulong, object, ulong> func)
{
if (cp.bbTreeIntersectsNode(leaf, this))
{
this.A.MarkLeafQuery(leaf, left, tree, func);
this.B.MarkLeafQuery(leaf, left, tree, func);
}
}
public Node(Node a, Node b, cpBBTree tree)
{
this.obj = null;
bb = cpBB.Merge(a.bb, b.bb);
parent = null;
this.SetA(a);
this.SetB(b);
}
// Collide the objects in an index against the objects in a staticIndex using the query callback function.
public void CollideStatic(cpBBTree staticIndex, Func <object, object, ulong, object, ulong> func, object data)
{
if (staticIndex != null && staticIndex.Count > 0)
{
Each((obj) =>
{
// dynamicToStaticContext context = new dynamicToStaticContext(dynamicIndex->bbfunc, staticIndex, func, data);
staticIndex.Query(staticIndex,
new cpBB(obj.bb.l, obj.bb.b, obj.bb.r, obj.bb.t),
func, data);
});
}
}
/// <summary>
///
/// </summary>
/// <param name="cpBBTree"></param>
/// <param name="value"></param>
public Leaf(cpBBTree tree, IObjectBox obj)
: base()
{
this.obj = obj; //THIS IS THE GENERIC REAL VALUE
tree.GetBB(obj, this);
this.parent = null;
this.STAMP = 1;
this.PAIRS = null;
cp.numLeaves++;
}
public void AddPairs(cpBBTree tree)
{
cpBBTree dynamicIndex = tree.dynamicIndex;
if (dynamicIndex != null)
{
var dynamicRoot = dynamicIndex.root;
if (dynamicRoot != null)
{
dynamicRoot.MarkLeafQuery(this, true, dynamicIndex, null);
}
}
else
{
var staticRoot = tree.staticIndex.root;
this.MarkSubtree(tree, staticRoot, null);
}
}
public bool Update(cpBBTree tree)
{
var root = tree.root;
var obj = this.obj;
if (!this.ContainsObj(obj))
{
this.bb = tree.GetBB(this.obj);
root = tree.SubtreeRemove(root, this);
tree.root = tree.SubtreeInsert(root, this); //tree.root = SubtreeInsert(root, this, tree);
this.ClearPairs(tree);
this.stamp = tree.GetStamp();
return(true);
}
return(false);
}
public override void MarkSubtree(cpBBTree tree, Node staticRoot, Func <object, object, ulong, object, ulong> func)
{
if (this.stamp == tree.GetStamp())
{
if (staticRoot != null)
{
staticRoot.MarkLeafQuery(this, false, tree, func);
}
for (Node node = this; node.parent != null; node = node.parent)
{
if (node == node.parent.A)
{
node.parent.B.MarkLeafQuery(this, true, tree, func);
}
else
{
node.parent.A.MarkLeafQuery(this, false, tree, func);
}
}
}
else
{
var pair = this.pairs;
while (pair != null)
{
if (this == pair.b.leaf)
{
if (func != null)
{
func(pair.a.leaf.obj, this.obj, pair.id, null);
}
pair = pair.b.next;
}
else
{
pair = pair.a.next;
}
}
}
}
public void ReplaceChild(Node child, Node value, cpBBTree tree)
{
cp.AssertSoft(child == this.A || child == this.B, "Node is not a child of parent.");
if (this.A == child)
{
tree.NodeRecycle(this.A); //.Recycle(tree);
this.SetA(value);
}
else
{
tree.NodeRecycle(this.B);
this.SetB(value);
}
for (var node = this; node != null; node = node.parent)
{
node.bb = node.A.bb.Merge(node.B.bb);
}
}
public override void MarkLeafQuery(Leaf leaf, bool left, cpBBTree tree, Func <object, object, ulong, object, ulong> func)
{
if (cp.bbTreeIntersectsNode(leaf, this))
{
if (left)
{
tree.PairInsert(leaf, this);
}
else
{
if (this.stamp < leaf.stamp)
{
tree.PairInsert(this, leaf);
}
if (func != null)
{
func(leaf.obj, this.obj, (ulong)leaf.stamp, null);
}
}
}
}
public virtual void Recycle(cpBBTree tree)
{
this.parent = tree.pooledNodes;
tree.pooledNodes = this;
}
public virtual void MarkSubtree(cpBBTree tree, Node staticRoot, Func<object, object, ulong, object, ulong> func)
{
this.a.MarkSubtree(tree, staticRoot, func);
this.b.MarkSubtree(tree, staticRoot, func);
}
public MarkContext(cpBBTree tree, Node staticRoot, Func<object, object, ulong, object, ulong> func, object data)
{
this.tree = tree;
this.staticRoot = staticRoot;
this.func = func;
this.data = data;
}
public virtual void MarkLeafQuery(Leaf leaf, bool left, cpBBTree tree, Func<object, object, ulong, object, ulong> func)
{
if (cp.bbTreeIntersectsNode(leaf, this))
{
this.A.MarkLeafQuery(leaf, left, tree, func);
this.B.MarkLeafQuery(leaf, left, tree, func);
}
}
public Node(Node a, Node b, cpBBTree tree)
{
this.obj = null;
bb = cpBB.Merge(a.bb, b.bb);
parent = null;
this.SetA(a);
this.SetB(b);
}
/////////////////////////////////////////////////
public cpBBTree(cpBBTree staticIndex)
{
this.staticIndex = staticIndex;
if (staticIndex != null)
{
if (staticIndex.dynamicIndex != null)
{
throw new NotImplementedException("This static index is already associated with a dynamic index.");
}
staticIndex.dynamicIndex = this;
}
this.velocityFunc = null;
// This is a hash from object ID -> object for the objects stored in the BBTree.
leaves = new Dictionary<ulong, Leaf>();
// elements = new Dictionary<int, object>();
root = null;
// A linked list containing an object pool of tree nodes and pairs.
this.pooledNodes = null;
this.pooledPairs = null;
stamp = 0;
}
public override void MarkSubtree(cpBBTree tree, Node staticRoot, Func<object, object, ulong, object, ulong> func)
{
if (this.stamp == tree.GetStamp())
{
if (staticRoot != null) staticRoot.MarkLeafQuery(this, false, tree, func);
for (Node node = this; node?.parent != null; node = node.parent)
{
if (node == node.parent.A)
{
node.parent.B.MarkLeafQuery(this, true, tree, func);
}
else
{
node.parent.A.MarkLeafQuery(this, false, tree, func);
}
}
}
else
{
var pair = this.pairs;
while (pair != null)
{
if (this == pair.b.leaf)
{
if (func != null)
func(pair.a.leaf.obj, this.obj, pair.id, null);
pair = pair.b.next;
}
else
{
pair = pair.a.next;
}
}
}
}
public void ClearPairs(cpBBTree tree)
{
Pair pair = this.pairs;
Pair next;
this.pairs = null;
while (pair != null)
{
if (pair.a.leaf == this)
{
next = pair.a.next;
Thread.Unlink(pair.b.prev, pair.b.leaf, pair.b.next);
}
else
{
next = pair.b.next;
Thread.Unlink(pair.a.prev, pair.a.leaf, pair.a.next);
}
tree.PairRecycle(pair);
pair = next;
}
}
/// <summary>
///
/// </summary>
/// <param name="cpBBTree"></param>
/// <param name="value"></param>
public Leaf(cpBBTree tree, IObjectBox obj)
: base()
{
this.obj = obj; //THIS IS THE GENERIC REAL VALUE
tree.GetBB(obj, this);
this.parent = null;
this.STAMP = 1;
this.PAIRS = null;
cp.numLeaves++;
}
public override void Recycle(cpBBTree tree)
{
}
public void ReplaceChild(Node child, Node value, cpBBTree tree)
{
cp.AssertSoft(child == this.A || child == this.B, "Node is not a child of parent.");
if (this.A == child)
{
tree.NodeRecycle(this.A);//.Recycle(tree);
this.SetA(value);
}
else
{
tree.NodeRecycle(this.B);
this.SetB(value);
}
for (var node = this; node != null; node = node.parent)
{
node.bb = node.A.bb.Merge(node.B.bb);
}
}
// Used for disposing of collision handlers.
//static void FreeWrap(void* ptr, void* unused) { cpfree(ptr); }
//MARK: Memory Management Functions
public cpSpace()
{
#if DEBUG
Debug.WriteLine("Initializing cpSpace - Chipmunk v{0} (Debug Enabled)\n", cp.cpVersionString);
Debug.WriteLine("Compile with -DNDEBUG defined to disable debug mode and runtime assertion checks\n");
#endif
/// Number of iterations to use in the impulse solver to solve contacts.
this.iterations = 10;
/// Gravity to pass to rigid bodies when integrating velocity.
this.gravity = cpVect.Zero;
/// Damping rate expressed as the fraction of velocity bodies retain each second.
/// A value of 0.9 would mean that each body's velocity will drop 10% per second.
/// The default value is 1.0, meaning no damping is applied.
/// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring.
this.damping = 1;
/// Amount of encouraged penetration between colliding shapes..
/// Used to reduce oscillating contacts and keep the collision cache warm.
/// Defaults to 0.1. If you have poor simulation quality,
/// increase this number as much as possible without allowing visible amounts of overlap.
this.collisionSlop = 0.1f;
/// Determines how fast overlapping shapes are pushed apart.
/// Expressed as a fraction of the error remaining after each second.
/// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz.
this.collisionBias = cp.cpfpow(1f - 0.1f, 60f);
/// Number of frames that contact information should persist.
/// Defaults to 3. There is probably never a reason to change this value.
this.collisionPersistence = 3;
this.locked = 0;
this.stamp = 0;
this.staticShapes = new cpBBTree(null);
this.dynamicShapes = new cpBBTree(this.staticShapes);
this.dynamicShapes.SetVelocityFunc(o => ShapeVelocityFunc(o as cpShape));
this.dynamicBodies = new List <cpBody>();
this.staticBodies = new List <cpBody>();
this.rousedBodies = new List <cpBody>();
this.sleepingComponents = new List <cpBody>();
/// Time a group of bodies must remain idle in order to fall asleep.
/// Enabling sleeping also implicitly enables the the contact graph.
/// The default value of Infinity disables the sleeping algorithm.
this.sleepTimeThreshold = cp.Infinity;
/// Speed threshold for a body to be considered idle.
/// The default value of 0 means to let the space guess a good threshold based on gravity.
this.idleSpeedThreshold = 0;
this.arbiters = new List <cpArbiter>();
this.cachedArbiters = new Dictionary <ulong, cpArbiter>();
this.constraints = new List <cpConstraint>();
this.usesWildcards = false;
this.defaultHandler = cpCollisionHandlerDoNothing;
this.collisionHandlers = new Dictionary <ulong, cpCollisionHandler>();
this.postStepCallbacks = new List <cpPostStepCallback>();
this.skipPostStep = false;
/// The designated static body for this space.
/// You can modify this body, or replace it with your own static body.
/// By default it points to a statically allocated cpBody in the cpSpace struct.
this.staticBody = cpBody.NewStatic();
}
public void Recycle(cpBBTree tree)
{
this.a.prev = tree.pooledPairs;
tree.pooledPairs = this;
}
public virtual void Recycle(cpBBTree tree)
{
this.parent = tree.pooledNodes;
tree.pooledNodes = this;
}
// Collide the objects in an index against the objects in a staticIndex using the query callback function.
public void CollideStatic(cpBBTree staticIndex, Func<object, object, ulong, object, ulong> func, object data)
{
if (staticIndex != null && staticIndex.Count > 0)
{
Each((obj) =>
{
// dynamicToStaticContext context = new dynamicToStaticContext(dynamicIndex->bbfunc, staticIndex, func, data);
staticIndex.Query(staticIndex,
new cpBB(obj.bb.l, obj.bb.b, obj.bb.r, obj.bb.t),
func, data);
});
}
}
public virtual void MarkSubtree(cpBBTree tree, Node staticRoot, Func <object, object, ulong, object, ulong> func)
{
this.a.MarkSubtree(tree, staticRoot, func);
this.b.MarkSubtree(tree, staticRoot, func);
}
public void AddPairs(cpBBTree tree)
{
cpBBTree dynamicIndex = tree.dynamicIndex;
if (dynamicIndex != null)
{
var dynamicRoot = dynamicIndex.root;
if (dynamicRoot != null)
{
dynamicRoot.MarkLeafQuery(this, true, dynamicIndex, null);
}
}
else
{
var staticRoot = tree.staticIndex.root;
this.MarkSubtree(tree, staticRoot, null);
}
}
public void Recycle(cpBBTree tree)
{
this.a.prev = tree.pooledPairs;
tree.pooledPairs = this;
}
public override void MarkLeafQuery(Leaf leaf, bool left, cpBBTree tree, Func<object, object, ulong, object, ulong> func)
{
if (cp.bbTreeIntersectsNode(leaf, this))
{
if (left)
{
tree.PairInsert(leaf, this);
}
else
{
if (this.stamp < leaf.stamp)
tree.PairInsert(this, leaf);
if (func != null)
func(leaf.obj, this.obj, (ulong)leaf.stamp, null);
}
}
}
public cpBBTree GetMasterTree()
{
cpBBTree dynamicTree = this.dynamicIndex;
return(dynamicTree != null ? dynamicTree : this);
}
public override void Recycle(cpBBTree tree)
{
}
public bool Update(cpBBTree tree)
{
var root = tree.root;
var obj = this.obj;
if (!this.ContainsObj(obj))
{
this.bb = tree.GetBB(this.obj);
root = tree.SubtreeRemove(root, this);
tree.root = tree.SubtreeInsert(root, this);//tree.root = SubtreeInsert(root, this, tree);
this.ClearPairs(tree);
this.stamp = tree.GetStamp();
return true;
}
return false;
}
public void SetBodyType(cpBodyType type)
{
cpBodyType oldType = bodyType;
if (oldType == type)
{
return;
}
// Static bodies have their idle timers set to infinity.
// Non-static bodies should have their idle timer reset.
nodeIdleTime = (type == cpBodyType.STATIC ? cp.Infinity : 0.0f);
if (type == cpBodyType.DYNAMIC)
{
this.m = this.i = 0.0f;
this.m_inv = this.i_inv = cp.Infinity;
AccumulateMassFromShapes();
}
else
{
this.m = this.i = cp.Infinity;
this.m_inv = this.i_inv = 0.0f;
this.v = cpVect.Zero;
this.w = 0.0f;
}
// If the body is added to a space already, we'll need to update some space data structures.
if (space != null)
{
cp.AssertSpaceUnlocked(space);
if (oldType == cpBodyType.STATIC)
{
// TODO This is probably not necessary
// cpBodyActivateStatic(body, NULL);
}
else
{
Activate();
}
// Move the bodies to the correct array.
List <cpBody> fromArray = space.ArrayForBodyType(oldType);
List <cpBody> toArray = space.ArrayForBodyType(type);
if (fromArray != toArray)
{
fromArray.Remove(this);
toArray.Add(this);
}
// Move the body's shapes to the correct spatial index.
cpBBTree fromIndex = (oldType == cpBodyType.STATIC ? space.staticShapes : space.dynamicShapes);
cpBBTree toIndex = (type == cpBodyType.STATIC ? space.staticShapes : space.dynamicShapes);
if (fromIndex != toIndex)
{
eachShape((s, o) =>
{
fromIndex.Remove(s.hashid);
toIndex.Insert(s.hashid, s);
}, null);
}
}
}
// Used for disposing of collision handlers.
//static void FreeWrap(void* ptr, void* unused) { cpfree(ptr); }
//MARK: Memory Management Functions
public cpSpace()
{
#if DEBUG
Debug.WriteLine("Initializing cpSpace - Chipmunk v{0} (Debug Enabled)\n", cp.cpVersionString);
Debug.WriteLine("Compile with -DNDEBUG defined to disable debug mode and runtime assertion checks\n");
#endif
/// Number of iterations to use in the impulse solver to solve contacts.
this.iterations = 10;
/// Gravity to pass to rigid bodies when integrating velocity.
this.gravity = cpVect.Zero;
/// Damping rate expressed as the fraction of velocity bodies retain each second.
/// A value of 0.9 would mean that each body's velocity will drop 10% per second.
/// The default value is 1.0, meaning no damping is applied.
/// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring.
this.damping = 1;
/// Amount of encouraged penetration between colliding shapes..
/// Used to reduce oscillating contacts and keep the collision cache warm.
/// Defaults to 0.1. If you have poor simulation quality,
/// increase this number as much as possible without allowing visible amounts of overlap.
this.collisionSlop = 0.1f;
/// Determines how fast overlapping shapes are pushed apart.
/// Expressed as a fraction of the error remaining after each second.
/// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz.
this.collisionBias = cp.cpfpow(1f - 0.1f, 60f);
/// Number of frames that contact information should persist.
/// Defaults to 3. There is probably never a reason to change this value.
this.collisionPersistence = 3;
this.locked = 0;
this.stamp = 0;
this.staticShapes = new cpBBTree(null);
this.dynamicShapes = new cpBBTree(this.staticShapes);
this.dynamicShapes.SetVelocityFunc(o => ShapeVelocityFunc(o as cpShape));
this.dynamicBodies = new List<cpBody>();
this.staticBodies = new List<cpBody>();
this.rousedBodies = new List<cpBody>();
this.sleepingComponents = new List<cpBody>();
/// Time a group of bodies must remain idle in order to fall asleep.
/// Enabling sleeping also implicitly enables the the contact graph.
/// The default value of Infinity disables the sleeping algorithm.
this.sleepTimeThreshold = cp.Infinity;
/// Speed threshold for a body to be considered idle.
/// The default value of 0 means to let the space guess a good threshold based on gravity.
this.idleSpeedThreshold = 0;
this.arbiters = new List<cpArbiter>();
this.cachedArbiters = new Dictionary<ulong, cpArbiter>();
this.constraints = new List<cpConstraint>();
this.usesWildcards = false;
this.defaultHandler = cpCollisionHandlerDoNothing;
this.collisionHandlers = new Dictionary<ulong, cpCollisionHandler>();
this.postStepCallbacks = new List<cpPostStepCallback>();
this.skipPostStep = false;
/// The designated static body for this space.
/// You can modify this body, or replace it with your own static body.
/// By default it points to a statically allocated cpBody in the cpSpace struct.
this.staticBody = cpBody.NewStatic();
}
