/// <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>
internal void Refilter()
{
// Flag associated contacts for filtering.
ContactEdge edge = Body.ContactList;
while (edge != null)
{
Contact contact = edge.Contact;
FSFixture fixtureA = contact.FixtureA;
FSFixture fixtureB = contact.FixtureB;
if (fixtureA == this || fixtureB == this)
{
contact.FlagForFiltering();
}
edge = edge.Next;
}
var 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);
}
}
private void Decompose()
{
//Unsubsribe from the PostSolve delegate
_world.ContactManager.PostSolve -= PostSolve;
for (int i = 0; i < Parts.Count; i++)
{
FSFixture fixture = Parts[i];
Shape shape = fixture.Shape.Clone();
object userdata = fixture.UserData;
MainBody.DestroyFixture(fixture);
FSBody body = BodyFactory.CreateBody(_world);
body.BodyType = BodyType.Dynamic;
body.Position = MainBody.Position;
body.Rotation = MainBody.Rotation;
body.UserData = MainBody.UserData;
body.CreateFixture(shape, userdata);
body.AngularVelocity = _angularVelocitiesCache[i];
body.LinearVelocity = _velocitiesCache[i];
}
_world.RemoveBody(MainBody);
_world.RemoveBreakableBody(this);
}
internal void Destroy(Contact contact)
{
FSFixture fixtureA = contact.FixtureA;
FSFixture fixtureB = contact.FixtureB;
FSBody bodyA = fixtureA.Body;
FSBody bodyB = fixtureB.Body;
if (EndContact != null && contact.IsTouching())
{
EndContact(contact);
}
// Remove from the world.
ContactList.Remove(contact);
// Remove from body 1
if (contact.NodeA.Prev != null)
{
contact.NodeA.Prev.Next = contact.NodeA.Next;
}
if (contact.NodeA.Next != null)
{
contact.NodeA.Next.Prev = contact.NodeA.Prev;
}
if (contact.NodeA == bodyA.ContactList)
{
bodyA.ContactList = contact.NodeA.Next;
}
// Remove from body 2
if (contact.NodeB.Prev != null)
{
contact.NodeB.Prev.Next = contact.NodeB.Next;
}
if (contact.NodeB.Next != null)
{
contact.NodeB.Next.Prev = contact.NodeB.Prev;
}
if (contact.NodeB == bodyB.ContactList)
{
bodyB.ContactList = contact.NodeB.Next;
}
#if USE_ACTIVE_CONTACT_SET
if (ActiveContacts.Contains(contact))
{
ActiveContacts.Remove(contact);
}
#endif
contact.Destroy();
}
/// <summary>
/// Restores collisions between this fixture and the provided fixture.
/// </summary>
/// <param name="fixture">The fixture.</param>
public void RestoreCollisionWith(FSFixture fixture)
{
if (_collisionIgnores == null)
{
return;
}
if (_collisionIgnores.ContainsKey(fixture.FixtureId))
{
_collisionIgnores[fixture.FixtureId] = false;
Refilter();
}
}
public void RestoreCollisionWith(FSBody other)
{
for (int i = 0; i < FixtureList.Count; i++)
{
FSFixture f = FixtureList[i];
for (int j = 0; j < other.FixtureList.Count; j++)
{
FSFixture f2 = other.FixtureList[j];
f.RestoreCollisionWith(f2);
}
}
}
internal bool CompareTo(FSFixture fixture)
{
return(
CollidesWith == fixture.CollidesWith &&
CollisionCategories == fixture.CollisionCategories &&
CollisionGroup == fixture.CollisionGroup &&
Friction == fixture.Friction &&
IsSensor == fixture.IsSensor &&
Restitution == fixture.Restitution &&
Shape.CompareTo(fixture.Shape) &&
UserData == fixture.UserData &&
UserBits == fixture.UserBits
);
}
/// <summary>
/// Determines whether collisions are ignored between this fixture and the provided fixture.
/// </summary>
/// <param name="fixture">The fixture.</param>
/// <returns>
/// <c>true</c> if the fixture is ignored; otherwise, <c>false</c>.
/// </returns>
public bool IsFixtureIgnored(FSFixture fixture)
{
if (_collisionIgnores == null)
{
return(false);
}
if (_collisionIgnores.ContainsKey(fixture.FixtureId))
{
return(_collisionIgnores[fixture.FixtureId]);
}
return(false);
}
public FSBreakableBody(IEnumerable <Vertices> vertices, FSWorld world, float density, object userData)
{
_world = world;
_world.ContactManager.PostSolve += PostSolve;
MainBody = new FSBody(_world);
MainBody.BodyType = BodyType.Dynamic;
foreach (Vertices part in vertices)
{
PolygonShape polygonShape = new PolygonShape(part, density);
FSFixture fixture = MainBody.CreateFixture(polygonShape, userData);
Parts.Add(fixture);
}
}
private static bool ShouldCollide(FSFixture fixtureA, FSFixture fixtureB)
{
if (FSSettings.UseFPECollisionCategories)
{
if ((fixtureA.CollisionGroup == fixtureB.CollisionGroup) &&
fixtureA.CollisionGroup != 0 && fixtureB.CollisionGroup != 0)
{
return(false);
}
if (((fixtureA.CollisionCategories & fixtureB.CollidesWith) ==
Category.None) &
((fixtureB.CollisionCategories & fixtureA.CollidesWith) ==
Category.None))
{
return(false);
}
if (fixtureA.IsFixtureIgnored(fixtureB) ||
fixtureB.IsFixtureIgnored(fixtureA))
{
return(false);
}
return(true);
}
if (fixtureA.CollisionGroup == fixtureB.CollisionGroup &&
fixtureA.CollisionGroup != 0)
{
return(fixtureA.CollisionGroup > 0);
}
bool collide = (fixtureA.CollidesWith & fixtureB.CollisionCategories) != 0 &&
(fixtureA.CollisionCategories & fixtureB.CollidesWith) != 0;
if (collide)
{
if (fixtureA.IsFixtureIgnored(fixtureB) ||
fixtureB.IsFixtureIgnored(fixtureA))
{
return(false);
}
}
return(collide);
}
/// <summary>
/// Ignores collisions between this fixture and the provided fixture.
/// </summary>
/// <param name="fixture">The fixture.</param>
public void IgnoreCollisionWith(FSFixture fixture)
{
if (_collisionIgnores == null)
{
_collisionIgnores = new Dictionary <int, bool>();
}
if (_collisionIgnores.ContainsKey(fixture.FixtureId))
{
_collisionIgnores[fixture.FixtureId] = true;
}
else
{
_collisionIgnores.Add(fixture.FixtureId, true);
}
Refilter();
}
/// <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(FSFixture fixture)
{
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;
FSFixture fixtureA = c.FixtureA;
FSFixture 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 ((Flags & BodyFlags.Enabled) == BodyFlags.Enabled)
{
IBroadPhase broadPhase = World.ContactManager.BroadPhase;
fixture.DestroyProxies(broadPhase);
}
FixtureList.Remove(fixture);
fixture.Destroy();
fixture.Body = null;
ResetMassData();
}
public FSFixture Clone(FSBody body)
{
FSFixture fixture = new FSFixture();
fixture.Body = body;
if (FSSettings.ConserveMemory)
{
fixture.Shape = Shape;
}
else
{
fixture.Shape = Shape.Clone();
}
fixture.UserData = UserData;
fixture.UserBits = UserBits;
fixture.Restitution = Restitution;
fixture.Friction = Friction;
fixture.IsSensor = IsSensor;
fixture._collisionGroup = CollisionGroup;
fixture._collisionCategories = CollisionCategories;
fixture._collidesWith = CollidesWith;
if (_collisionIgnores != null)
{
fixture._collisionIgnores = new Dictionary <int, bool>();
foreach (KeyValuePair <int, bool> pair in _collisionIgnores)
{
fixture._collisionIgnores.Add(pair.Key, pair.Value);
}
}
fixture.RegisterFixture();
return(fixture);
}
internal void Collide()
{
// Update awake contacts.
#if USE_ACTIVE_CONTACT_SET
ActiveList.AddRange(ActiveContacts);
foreach (var c in ActiveList)
{
#else
for (int i = 0; i < ContactList.Count; i++)
{
Contact c = ContactList[i];
#endif
FSFixture fixtureA = c.FixtureA;
FSFixture fixtureB = c.FixtureB;
int indexA = c.ChildIndexA;
int indexB = c.ChildIndexB;
FSBody bodyA = fixtureA.Body;
FSBody bodyB = fixtureB.Body;
if (bodyA.Awake == false && bodyB.Awake == false)
{
#if USE_ACTIVE_CONTACT_SET
ActiveContacts.Remove(c);
#endif
continue;
}
// Is this contact flagged for filtering?
if ((c.Flags & ContactFlags.Filter) == ContactFlags.Filter)
{
// Should these bodies collide?
if (bodyB.ShouldCollide(bodyA) == false)
{
Contact cNuke = c;
Destroy(cNuke);
continue;
}
// Check default filtering
if (ShouldCollide(fixtureA, fixtureB) == false)
{
Contact cNuke = c;
Destroy(cNuke);
continue;
}
// Check user filtering.
if (ContactFilter != null && ContactFilter(fixtureA, fixtureB) == false)
{
Contact cNuke = c;
Destroy(cNuke);
continue;
}
// Clear the filtering flag.
c.Flags &= ~ContactFlags.Filter;
}
int proxyIdA = fixtureA.Proxies[indexA].ProxyId;
int proxyIdB = fixtureB.Proxies[indexB].ProxyId;
bool overlap = BroadPhase.TestOverlap(proxyIdA, proxyIdB);
// Here we destroy contacts that cease to overlap in the broad-phase.
if (overlap == false)
{
Contact cNuke = c;
Destroy(cNuke);
continue;
}
// The contact persists.
c.Update(this);
}
#if USE_ACTIVE_CONTACT_SET
ActiveList.Clear();
#endif
}
private bool OnCollisionEvent(FSFixture fixtureA, FSFixture fixtureB, Contact contact)
{
if(!lastContacts.Contains(contact))
lastContacts.Add(contact);
return true;
}
public FSFixture Clone(FSBody body) {
FSFixture fixture = new FSFixture();
fixture.Body = body;
if (FSSettings.ConserveMemory)
fixture.Shape = Shape;
else
fixture.Shape = Shape.Clone();
fixture.UserData = UserData;
fixture.UserBits = UserBits;
fixture.Restitution = Restitution;
fixture.Friction = Friction;
fixture.IsSensor = IsSensor;
fixture._collisionGroup = CollisionGroup;
fixture._collisionCategories = CollisionCategories;
fixture._collidesWith = CollidesWith;
if (_collisionIgnores != null) {
fixture._collisionIgnores = new Dictionary<int, bool>();
foreach (KeyValuePair<int, bool> pair in _collisionIgnores)
fixture._collisionIgnores.Add(pair.Key, pair.Value);
}
fixture.RegisterFixture();
return fixture;
}
/// <summary>
/// Determines whether collisions are ignored between this fixture and the provided fixture.
/// </summary>
/// <param name="fixture">The fixture.</param>
/// <returns>
/// <c>true</c> if the fixture is ignored; otherwise, <c>false</c>.
/// </returns>
public bool IsFixtureIgnored(FSFixture fixture) {
if (_collisionIgnores == null) return false;
if (_collisionIgnores.ContainsKey(fixture.FixtureId))
return _collisionIgnores[fixture.FixtureId];
return false;
}
/// <summary>
/// Restores collisions between this fixture and the provided fixture.
/// </summary>
/// <param name="fixture">The fixture.</param>
public void RestoreCollisionWith(FSFixture fixture) {
if (_collisionIgnores == null)
return;
if (_collisionIgnores.ContainsKey(fixture.FixtureId)) {
_collisionIgnores[fixture.FixtureId] = false;
Refilter();
}
}
//Cutting a shape into two is based on the work of Daid and his prototype BoxCutter: http://www.box2d.org/forum/viewtopic.php?f=3&t=1473
/// <summary>
/// Split a fixture into 2 vertice collections using the given entry and exit-point.
/// </summary>
/// <param name="fixture">The Fixture to split</param>
/// <param name="entryPoint">The entry point - The start point</param>
/// <param name="exitPoint">The exit point - The end point</param>
/// <param name="splitSize">The size of the split. Think of this as the laser-width</param>
/// <param name="first">The first collection of vertexes</param>
/// <param name="second">The second collection of vertexes</param>
public static void SplitShape(FSFixture fixture, FVector2 entryPoint, FVector2 exitPoint, float splitSize,
out Vertices first, out Vertices second)
{
FVector2 localEntryPoint = fixture.Body.GetLocalPoint(ref entryPoint);
FVector2 localExitPoint = fixture.Body.GetLocalPoint(ref exitPoint);
PolygonShape shape = fixture.Shape as PolygonShape;
if (shape == null)
{
first = new Vertices();
second = new Vertices();
return;
}
Vertices vertices = new Vertices(shape.Vertices);
Vertices[] newPolygon = new Vertices[2];
for (int i = 0; i < newPolygon.Length; i++)
{
newPolygon[i] = new Vertices(vertices.Count);
}
int[] cutAdded = { -1, -1 };
int last = -1;
for (int i = 0; i < vertices.Count; i++)
{
int n;
//Find out if this vertex is on the old or new shape.
if (FVector2.Dot(MathUtils.Cross(localExitPoint - localEntryPoint, 1), vertices[i] - localEntryPoint) > FSSettings.Epsilon)
n = 0;
else
n = 1;
if (last != n)
{
//If we switch from one shape to the other add the cut vertices.
if (last == 0)
{
Debug.Assert(cutAdded[0] == -1);
cutAdded[0] = newPolygon[last].Count;
newPolygon[last].Add(localExitPoint);
newPolygon[last].Add(localEntryPoint);
}
if (last == 1)
{
Debug.Assert(cutAdded[last] == -1);
cutAdded[last] = newPolygon[last].Count;
newPolygon[last].Add(localEntryPoint);
newPolygon[last].Add(localExitPoint);
}
}
newPolygon[n].Add(vertices[i]);
last = n;
}
//Add the cut in case it has not been added yet.
if (cutAdded[0] == -1)
{
cutAdded[0] = newPolygon[0].Count;
newPolygon[0].Add(localExitPoint);
newPolygon[0].Add(localEntryPoint);
}
if (cutAdded[1] == -1)
{
cutAdded[1] = newPolygon[1].Count;
newPolygon[1].Add(localEntryPoint);
newPolygon[1].Add(localExitPoint);
}
for (int n = 0; n < 2; n++)
{
FVector2 offset;
if (cutAdded[n] > 0)
{
offset = (newPolygon[n][cutAdded[n] - 1] - newPolygon[n][cutAdded[n]]);
}
else
{
offset = (newPolygon[n][newPolygon[n].Count - 1] - newPolygon[n][0]);
}
offset.Normalize();
newPolygon[n][cutAdded[n]] += splitSize * offset;
if (cutAdded[n] < newPolygon[n].Count - 2)
{
offset = (newPolygon[n][cutAdded[n] + 2] - newPolygon[n][cutAdded[n] + 1]);
}
else
{
offset = (newPolygon[n][0] - newPolygon[n][newPolygon[n].Count - 1]);
}
offset.Normalize();
newPolygon[n][cutAdded[n] + 1] += splitSize * offset;
}
first = newPolygon[0];
second = newPolygon[1];
}
/// <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(FSFixture fixture)
{
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;
FSFixture fixtureA = c.FixtureA;
FSFixture 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 ((Flags & BodyFlags.Enabled) == BodyFlags.Enabled)
{
IBroadPhase broadPhase = World.ContactManager.BroadPhase;
fixture.DestroyProxies(broadPhase);
}
FixtureList.Remove(fixture);
fixture.Destroy();
fixture.Body = null;
ResetMassData();
}
private static bool ShouldCollide(FSFixture fixtureA, FSFixture fixtureB)
{
if (FSSettings.UseFPECollisionCategories)
{
if ((fixtureA.CollisionGroup == fixtureB.CollisionGroup) &&
fixtureA.CollisionGroup != 0 && fixtureB.CollisionGroup != 0)
return false;
if (((fixtureA.CollisionCategories & fixtureB.CollidesWith) ==
Category.None) &
((fixtureB.CollisionCategories & fixtureA.CollidesWith) ==
Category.None))
return false;
if (fixtureA.IsFixtureIgnored(fixtureB) ||
fixtureB.IsFixtureIgnored(fixtureA))
return false;
return true;
}
if (fixtureA.CollisionGroup == fixtureB.CollisionGroup &&
fixtureA.CollisionGroup != 0)
{
return fixtureA.CollisionGroup > 0;
}
bool collide = (fixtureA.CollidesWith & fixtureB.CollisionCategories) != 0 &&
(fixtureA.CollisionCategories & fixtureB.CollidesWith) != 0;
if (collide)
{
if (fixtureA.IsFixtureIgnored(fixtureB) ||
fixtureB.IsFixtureIgnored(fixtureA))
{
return false;
}
}
return collide;
}
public FSFixture DeepClone()
{
FSFixture fix = Clone(Body.Clone());
return(fix);
}
internal bool CompareTo(FSFixture fixture) {
return (
CollidesWith == fixture.CollidesWith &&
CollisionCategories == fixture.CollisionCategories &&
CollisionGroup == fixture.CollisionGroup &&
Friction == fixture.Friction &&
IsSensor == fixture.IsSensor &&
Restitution == fixture.Restitution &&
Shape.CompareTo(fixture.Shape) &&
UserData == fixture.UserData &&
UserBits == fixture.UserBits
);
}
/// <summary>
/// Ignores collisions between this fixture and the provided fixture.
/// </summary>
/// <param name="fixture">The fixture.</param>
public void IgnoreCollisionWith(FSFixture fixture) {
if (_collisionIgnores == null)
_collisionIgnores = new Dictionary<int, bool>();
if (_collisionIgnores.ContainsKey(fixture.FixtureId))
_collisionIgnores[fixture.FixtureId] = true;
else
_collisionIgnores.Add(fixture.FixtureId, true);
Refilter();
}
// Broad-phase callback.
private void AddPair(ref FixtureProxy proxyA, ref FixtureProxy proxyB)
{
FSFixture fixtureA = proxyA.Fixture;
FSFixture fixtureB = proxyB.Fixture;
int indexA = proxyA.ChildIndex;
int indexB = proxyB.ChildIndex;
FSBody bodyA = fixtureA.Body;
FSBody bodyB = fixtureB.Body;
// Are the fixtures on the same body?
if (bodyA == bodyB)
{
return;
}
// Does a contact already exist?
ContactEdge edge = bodyB.ContactList;
while (edge != null)
{
if (edge.Other == bodyA)
{
FSFixture fA = edge.Contact.FixtureA;
FSFixture fB = edge.Contact.FixtureB;
int iA = edge.Contact.ChildIndexA;
int iB = edge.Contact.ChildIndexB;
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 default filter
if (ShouldCollide(fixtureA, fixtureB) == false)
{
return;
}
// Check user filtering.
if (ContactFilter != null && ContactFilter(fixtureA, fixtureB) == false)
{
return;
}
if (fixtureA.BeforeCollision != null && fixtureA.BeforeCollision(fixtureA, fixtureB) == false)
{
return;
}
if (fixtureB.BeforeCollision != null && fixtureB.BeforeCollision(fixtureB, fixtureA) == false)
{
return;
}
// Call the factory.
Contact c = Contact.Create(fixtureA, indexA, fixtureB, indexB);
// Contact creation may swap fixtures.
fixtureA = c.FixtureA;
fixtureB = c.FixtureB;
bodyA = fixtureA.Body;
bodyB = fixtureB.Body;
// Insert into the world.
ContactList.Add(c);
#if USE_ACTIVE_CONTACT_SET
ActiveContacts.Add(c);
#endif
// Connect to island graph.
// Connect to body A
c.NodeA.Contact = c;
c.NodeA.Other = bodyB;
c.NodeA.Prev = null;
c.NodeA.Next = bodyA.ContactList;
if (bodyA.ContactList != null)
{
bodyA.ContactList.Prev = c.NodeA;
}
bodyA.ContactList = c.NodeA;
// Connect to body B
c.NodeB.Contact = c;
c.NodeB.Other = bodyA;
c.NodeB.Prev = null;
c.NodeB.Next = bodyB.ContactList;
if (bodyB.ContactList != null)
{
bodyB.ContactList.Prev = c.NodeB;
}
bodyB.ContactList = c.NodeB;
}
