private void GetCursorIntersectionPoint(
ref Vec3 clippedMouseNear,
ref Vec3 clippedMouseFar,
out float closestDistanceSquared,
out Vec3 intersectionPoint,
ref PathFaceRecord currentFace,
BodyFlags excludedBodyFlags = BodyFlags.CommonFocusRayCastExcludeFlags)
{
double num = (double)(clippedMouseFar - clippedMouseNear).Normalize();
this.MissionScreen.SceneLayer.SceneView.GetScene().GetBoundingBox(out Vec3 _, out Vec3 _);
Vec3 direction = clippedMouseFar - clippedMouseNear;
float maxDistance = direction.Normalize();
this._mouseRay.Reset(clippedMouseNear, direction, maxDistance);
intersectionPoint = Vec3.Zero;
closestDistanceSquared = 1E+12f;
float collisionDistance;
if (this.MissionScreen.SceneLayer.SceneView.GetScene().RayCastForClosestEntityOrTerrain(clippedMouseNear, clippedMouseFar, out collisionDistance, 0.01f, excludedBodyFlags))
{
closestDistanceSquared = collisionDistance * collisionDistance;
intersectionPoint = clippedMouseNear + direction * collisionDistance;
}
currentFace = Campaign.Current.MapSceneWrapper.GetFaceIndex(intersectionPoint.AsVec2);
}
public Controlable(
LifeSpan lifeTime,
MassInertia massInfo,
PhysicsState physicsState,
BodyFlags flags,
ICollidableBodyPart[] collidableParts,
ShipMovementInfo movementInfo,
ShipState shipState,
ControlableSounds controlableSounds,
IWeaponsLogic weaponInfo)
: this(
lifeTime,
massInfo,
physicsState,
flags, collidableParts,
movementInfo,
shipState,
controlableSounds)
{
this.CollisionState.GenerateCollisionEvents = true;
this.CollisionState.GenerateContactEvents = true;
this.weaponInfo = weaponInfo;
this.controlableType = ControlableType.Weapon;
}
internal bool SynchronizeShapes()
{
XForm xf1 = new XForm();
xf1.R.Set(_sweep.A0);
xf1.Position = _sweep.C0 - Common.Math.Mul(xf1.R, _sweep.LocalCenter);
bool inRange = true;
for (Shape s = _shapeList; s != null; s = s._next)
{
inRange = s.Synchronize(_world._broadPhase, xf1, _xf);
if (inRange == false)
{
break;
}
}
if (inRange == false)
{
_flags |= BodyFlags.Frozen;
_linearVelocity.SetZero();
_angularVelocity = 0.0f;
for (Shape s = _shapeList; s != null; s = s._next)
{
s.DestroyProxy(_world._broadPhase);
}
// Failure
return(false);
}
// Success
return(true);
}
internal bool SynchronizeFixtures()
{
Transform xf1 = default(Transform);
xf1.rotation = Box2DX.Common.Math.AngleToRotation(_sweep.A0);
//xf1.R = new Mat22(_sweep.A0);
xf1.position = _sweep.C0 - xf1.TransformDirection(_sweep.LocalCenter);
bool inRange = true;
for (Fixture f = _fixtureList; f != null; f = f.Next)
{
inRange = f.Synchronize(_world._broadPhase, xf1, _xf);
if (inRange == false)
{
break;
}
}
if (inRange == false)
{
_flags |= BodyFlags.Frozen;
_linearVelocity = Vector2.zero;
_angularVelocity = 0.0f;
// Failure
return(false);
}
// Success
return(true);
}
public Ship(
LifeSpan lifeTime,
PhysicsState physicsState,
BodyFlags flags,
RigidBodyTemplate template,
ShipMovementInfo movementInfo,
ShipState shipState,
ControlableSounds controlableSounds,
ShipSounds shipSounds,
ActionList actions,
IShip[] subShips)
: base(
lifeTime,
physicsState,
flags,
template,
movementInfo,
shipState,
controlableSounds)
{
this.UQMFlags |= ContFlags.CanDoGravityWhip;
this.shipSounds = shipSounds;
this.subShips = subShips;
this.actions = actions;
this.controlableType = ControlableType.Ship;
}
internal Transform _xf; // the body origin transform
public Body(World world, Vector2 position = new Vector2(), float rotation = 0, BodyType bodyType = BodyType.Static, object userdata = null)
{
Debug.Assert(!float.IsNaN(position.X));
Debug.Assert(!float.IsNaN(position.Y));
Debug.Assert(!float.IsNaN(rotation));
FixtureList = new List <Fixture>(1);
BodyId = _bodyIdCounter++;
_world = world;
_flags = BodyFlags.Enabled | BodyFlags.AwakeFlag | BodyFlags.AutoSleepFlag;
UserData = userdata;
GravityScale = 1.0f;
_type = bodyType;
_xf.q.Set(rotation);
_xf.p = position;
_sweep.C0 = _xf.p;
_sweep.C = _xf.p;
_sweep.A0 = rotation;
_sweep.A = rotation;
world.AddBody(this); //Velcro note: bodies can't live without a World
}
/// <summary>
/// Describes whether this instance synchronize fixtures
/// </summary>
/// <returns>The bool</returns>
internal bool SynchronizeFixtures()
{
XForm xf1 = new XForm();
xf1.R.Set(Sweep.A0);
xf1.Position = Sweep.C0 - Math.Mul(xf1.R, Sweep.LocalCenter);
bool inRange = true;
for (Fixture f = FixtureList; f != null; f = f.Next)
{
inRange = f.Synchronize(world.BroadPhase, xf1, Xf);
if (inRange == false)
{
break;
}
}
if (inRange == false)
{
Flags |= BodyFlags.Frozen;
LinearVelocity.SetZero();
AngularVelocity = 0.0f;
// Failure
return(false);
}
// Success
return(true);
}
public Ship(
LifeSpan lifeTime,
MassInertia massInfo,
PhysicsState physicsState,
BodyFlags flags,
ICollidableBodyPart[] collidableParts,
ShipMovementInfo movementInfo,
ShipState shipState,
ControlableSounds controlableSounds,
ShipSounds shipSounds,
ActionList actions,
IShip[] subShips)
: base(
lifeTime,
massInfo,
physicsState,
flags,
collidableParts,
movementInfo,
shipState,
controlableSounds)
{
this.UQMFlags |= ContFlags.CanDoGravityWhip;
this.shipSounds = shipSounds;
this.subShips = subShips;
this.actions = actions;
this.controlableType = ControlableType.Ship;
}
public int GenerateContactsWithCapsule(
ref CapsuleData capsule,
BodyFlags exclude_flags,
Intersection[] intersectionsOutput)
{
return(EngineApplicationInterface.IScene.GenerateContactsWithCapsule(this.Pointer, ref capsule, exclude_flags, intersectionsOutput));
}
internal bool SynchronizeFixtures()
{
XForm xf1 = new XForm();
xf1.R.Set(_sweep.A0);
xf1.Position = _sweep.C0 - Common.Math.Mul(xf1.R, _sweep.LocalCenter);
bool inRange = true;
for (Fixture f = _fixtureList; f != null; f = f.Next)
{
inRange = f.Synchronize(_world._broadPhase, xf1, _xf);
if (inRange == false)
{
break;
}
}
if (inRange == false)
{
_flags |= BodyFlags.Frozen;
_linearVelocity.SetZero();
_angularVelocity = 0.0f;
// Failure
return(false);
}
// Success
return(true);
}
private Transform _xf; // the body origin transform
#endregion Fields
#region Constructors
internal Body(BodyDef bd, World world)
{
_flags = 0;
if (bd.IsBullet)
{
_flags |= BodyFlags.Bullet;
}
if (bd.FixedRotation)
{
_flags |= BodyFlags.FixedRotation;
}
if (bd.AllowSleep)
{
_flags |= BodyFlags.AllowSleep;
}
if (bd.IsSleeping)
{
_flags |= BodyFlags.Sleep;
}
_world = world;
_xf.Position = bd.Position;
_xf.R.Set(bd.Angle);
_sweep.LocalCenter.SetZero();
_sweep.T0 = 1.0f;
_sweep.A0 = _sweep.A = bd.Angle;
_sweep.C0 = _sweep.C = Math.Mul(_xf, _sweep.LocalCenter);
_jointList = null;
_contactList = null;
_prev = null;
_next = null;
_linearVelocity = bd.LinearVelocity;
_angularVelocity = bd.AngularVelocity;
_linearDamping = bd.LinearDamping;
_angularDamping = bd.AngularDamping;
_force.Set(0.0f, 0.0f);
_torque = 0.0f;
_sleepTime = 0.0f;
_mass = 0;
_invMass = 0.0f;
_I = 0.0f;
_invI = 0.0f;
_type = BodyType.Static;
_userData = bd.UserData;
_fixtureList = null;
_fixtureCount = 0;
}
internal Body(BodyDef bd, World world)
{
_flags = 0;
if (bd.IsBullet)
{
_flags |= BodyFlags.Bullet;
}
if (bd.FixedRotation)
{
_flags |= BodyFlags.FixedRotation;
}
if (bd.AllowSleep)
{
_flags |= BodyFlags.AllowSleep;
}
if (bd.IsSleeping)
{
_flags |= BodyFlags.Sleep;
}
_world = world;
_xf.Position = bd.Position;
_xf.R.Set(bd.Angle);
_sweep.LocalCenter.SetZero();
_sweep.T0 = 1.0f;
_sweep.A0 = _sweep.A = bd.Angle;
_sweep.C0 = _sweep.C = Math.Mul(_xf, _sweep.LocalCenter);
_jointList = null;
_contactList = null;
_prev = null;
_next = null;
_linearVelocity = bd.LinearVelocity;
_angularVelocity = bd.AngularVelocity;
_linearDamping = bd.LinearDamping;
_angularDamping = bd.AngularDamping;
_force.Set(0.0f, 0.0f);
_torque = 0.0f;
_sleepTime = 0.0f;
_mass = 0;
_invMass = 0.0f;
_I = 0.0f;
_invI = 0.0f;
_type = BodyType.Static;
_userData = bd.UserData;
_fixtureList = null;
_fixtureCount = 0;
}
public RemoveMissionObjectBodyFlags(
MissionObject missionObject,
BodyFlags bodyFlags,
bool applyToChildren)
{
this.MissionObject = missionObject;
this.BodyFlags = bodyFlags;
this.ApplyToChildren = applyToChildren;
}
public SelectiveImpulseRay(
LifeSpan lifeTime,
RaySegment2D raySegment,
float impulse,
BodyFlags ignoreFlags)
: base(lifeTime, raySegment, impulse)
{
this.ignoreFlags = ignoreFlags;
}
/// <summary>
/// Put this body to sleep so it will stop simulating.
/// This also sets the velocity to zero.
/// </summary>
public void PutToSleep()
{
_flags |= BodyFlags.Sleep;
_sleepTime = 0.0f;
_linearVelocity.SetZero();
_angularVelocity = 0.0f;
_force.SetZero();
_torque = 0.0f;
}
/// <summary>
/// Put this body to sleep so it will stop simulating.
/// This also sets the velocity to zero.
/// </summary>
public void PutToSleep()
{
Flags |= BodyFlags.Sleep;
SleepTime = 0.0f;
LinearVelocity.SetZero();
AngularVelocity = 0.0f;
Force.SetZero();
Torque = 0.0f;
}
/// <summary>
/// Put this body to sleep so it will stop simulating.
/// This also sets the velocity to zero.
/// </summary>
public void PutToSleep()
{
_flags |= BodyFlags.Sleep;
_sleepTime = 0.0f;
_linearVelocity = Vector2.zero;
_angularVelocity = 0.0f;
_force = Vector2.zero;
_torque = 0.0f;
}
public Transform _xf; // the body origin transform
internal Body(World world, BodyTemplate template)
{
FixtureList = new List <Fixture>(1);
if (template.AllowCCD)
{
_flags |= BodyFlags.BulletFlag;
}
if (template.AllowRotation)
{
_flags |= BodyFlags.FixedRotationFlag;
}
if (template.AllowSleep)
{
_flags |= BodyFlags.AutoSleepFlag;
}
if (template.Awake)
{
_flags |= BodyFlags.AwakeFlag;
}
if (template.Active)
{
_flags |= BodyFlags.Enabled;
}
_world = world;
_xf.p = template.Position;
_xf.q.Set(template.Angle);
_sweep.C0 = _xf.p;
_sweep.C = _xf.p;
_sweep.A0 = template.Angle;
_sweep.A = template.Angle;
_linearVelocity = template.LinearVelocity;
_angularVelocity = template.AngularVelocity;
LinearDamping = template.LinearDamping;
AngularDamping = template.AngularDamping;
GravityScale = 1.0f;
_type = template.Type;
if (_type == BodyType.Dynamic)
{
_mass = 1.0f;
_invMass = 1.0f;
}
else
{
_mass = 0.0f;
_invMass = 0.0f;
}
UserData = template.UserData;
}
/// <summary>
/// Should this body be treated like a bullet for continuous collision detection?
/// </summary>
/// <param name="flag"></param>
public void SetBullet(bool flag)
{
if (flag)
{
_flags |= BodyFlags.Bullet;
}
else
{
_flags &= ~BodyFlags.Bullet;
}
}
/// <summary>
/// You can disable sleeping on this body.
/// </summary>
/// <param name="flag"></param>
public void AllowSleeping(bool flag)
{
if (flag)
{
_flags |= BodyFlags.AllowSleep;
}
else
{
_flags &= ~BodyFlags.AllowSleep;
WakeUp();
}
}
public bool SetTransform(Vector2 position, Quaternion rotation)
#endif
{
Box2DXDebug.Assert(_world._lock == false);
if (_world._lock == true)
{
return(true);
}
if (IsFrozen())
{
return(false);
}
_xf.rotation = rotation;
//_xf.R = rotation;
_xf.position = position;
_sweep.C0 = _sweep.C = _xf.TransformPoint(_sweep.LocalCenter);
#if USE_MATRIX_FOR_ROTATION
_sweep.A0 = _sweep.A = rotation.GetAngle();
#else
_sweep.A0 = _sweep.A = rotation.eulerAngles.z * Mathf.Deg2Rad;
#endif
bool freeze = false;
for (Fixture f = _fixtureList; f != null; f = f.Next)
{
bool inRange = f.Synchronize(_world._broadPhase, _xf, _xf);
if (inRange == false)
{
freeze = true;
break;
}
}
if (freeze == true)
{
_flags |= BodyFlags.Frozen;
_linearVelocity = Vector2.zero;
_angularVelocity = 0.0f;
// Failure
return(false);
}
// Success
_world._broadPhase.Commit();
return(true);
}
/// <summary>
/// Set the position of the body's origin and rotation (radians).
/// This breaks any contacts and wakes the other bodies.
/// </summary>
/// <param name="position">The new world position of the body's origin (not necessarily
/// the center of mass).</param>
/// <param name="angle">The new world rotation angle of the body in radians.</param>
/// <returns>Return false if the movement put a shape outside the world. In this case the
/// body is automatically frozen.</returns>
public bool SetXForm(Vec2 position, float angle)
{
Box2DXDebug.Assert(_world._lock == false);
if (_world._lock == true)
{
return(true);
}
if (IsFrozen())
{
return(false);
}
_xf.R.Set(angle);
_xf.Position = position;
_sweep.C0 = _sweep.C = Common.Math.Mul(_xf, _sweep.LocalCenter);
_sweep.A0 = _sweep.A = angle;
bool freeze = false;
for (Shape s = _shapeList; s != null; s = s._next)
{
bool inRange = s.Synchronize(_world._broadPhase, _xf, _xf);
if (inRange == false)
{
freeze = true;
break;
}
}
if (freeze == true)
{
_flags |= BodyFlags.Frozen;
_linearVelocity.SetZero();
_angularVelocity = 0.0f;
for (Shape s = _shapeList; s != null; s = s._next)
{
s.DestroyProxy(_world._broadPhase);
}
// Failure
return(false);
}
// Success
_world._broadPhase.Commit();
return(true);
}
public void RemoveBodyFlagsSynched(BodyFlags flags, bool applyToChildren = true)
{
if ((this.GameEntity.BodyFlag & flags) == BodyFlags.None)
{
return;
}
if (GameNetwork.IsServerOrRecorder)
{
GameNetwork.BeginBroadcastModuleEvent();
GameNetwork.WriteMessage((GameNetworkMessage) new RemoveMissionObjectBodyFlags((MissionObject)this, flags, applyToChildren));
GameNetwork.EndBroadcastModuleEvent(GameNetwork.EventBroadcastFlags.AddToMissionRecord);
}
this.GameEntity.RemoveBodyFlags(flags, applyToChildren);
this._initialSynchFlags |= SynchedMissionObject.SynchFlags.SynchBodyFlags;
}
internal Body(BodyDef def)
{
_fixtureList = new List <Fixture>(1);
if (def.IsBullet)
{
_flags |= BodyFlags.BulletFlag;
}
if (def.FixedRotation)
{
_flags |= BodyFlags.FixedRotationFlag;
}
if (def.AllowSleep)
{
_flags |= BodyFlags.AutoSleepFlag;
}
if (def.Awake)
{
_flags |= BodyFlags.AwakeFlag;
}
if (def.Enabled)
{
_flags |= BodyFlags.Enabled;
}
_xf.p = def.Position;
_xf.q.Set(def.Angle);
_sweep.C0 = _xf.p;
_sweep.C = _xf.p;
_sweep.A0 = def.Angle;
_sweep.A = def.Angle;
_linearVelocity = def.LinearVelocity;
_angularVelocity = def.AngularVelocity;
_linearDamping = def.LinearDamping;
_angularDamping = def.AngularDamping;
_gravityScale = def.GravityScale;
_type = def.Type;
_mass = 0.0f;
_invMass = 0.0f;
_userData = def.UserData;
}
/// <summary>
/// Set the position of the body's origin and rotation (radians).
/// This breaks any contacts and wakes the other bodies.
/// </summary>
/// <param name="position">
/// The new world position of the body's origin (not necessarily
/// the center of mass).
/// </param>
/// <param name="angle">The new world rotation angle of the body in radians.</param>
/// <returns>
/// Return false if the movement put a shape outside the world. In this case the
/// body is automatically frozen.
/// </returns>
public bool SetXForm(Vec2 position, float angle)
{
Box2DxDebug.Assert(world.Lock == false);
if (world.Lock)
{
return(true);
}
if (IsFrozen())
{
return(false);
}
Xf.R.Set(angle);
Xf.Position = position;
Sweep.C0 = Sweep.C = Math.Mul(Xf, Sweep.LocalCenter);
Sweep.A0 = Sweep.A = angle;
bool freeze = false;
for (Fixture f = FixtureList; f != null; f = f.Next)
{
bool inRange = f.Synchronize(world.BroadPhase, Xf, Xf);
if (inRange == false)
{
freeze = true;
break;
}
}
if (freeze)
{
Flags |= BodyFlags.Frozen;
LinearVelocity.SetZero();
AngularVelocity = 0.0f;
// Failure
return(false);
}
// Success
world.BroadPhase.Commit();
return(true);
}
/// <summary>
/// Sets the fixed rotation using the specified fixedr
/// </summary>
/// <param name="fixedr">The fixedr</param>
public void SetFixedRotation(bool fixedr)
{
if (fixedr)
{
AngularVelocity = 0.0f;
InvI = 0.0f;
Flags |= BodyFlags.FixedRotation;
}
else
{
if (I > 0.0f)
{
// Recover _invI from _I.
InvI = 1.0f / I;
Flags &= BodyFlags.FixedRotation;
}
// TODO: Else what?
}
}
public void SetFixedRotation(bool fixedr)
{
if (fixedr)
{
_angularVelocity = 0.0f;
_invI = 0.0f;
_flags |= BodyFlags.FixedRotation;
}
else
{
if (_I > 0.0f)
{
// Recover _invI from _I.
_invI = 1.0f / _I;
_flags &= BodyFlags.FixedRotation;
}
// TODO: Else what?
}
}
public Controlable(
LifeSpan lifeTime,
PhysicsState physicsState,
BodyFlags flags,
RigidBodyTemplate template,
ShipMovementInfo movementInfo,
ShipState shipState,
ControlableSounds controlableSounds)
: base(
lifeTime,
physicsState,
flags,
template)
{
this.shipState = shipState;
this.movementInfo = movementInfo;
this.controlableSounds = controlableSounds;
this.attachedEffectCollection = new EffectCollection();
this.CollisionState.GenerateRayEvents = true;
}
// Constructor
public PhysBody( Vector2 pos, Vector2 vel, float mass )
{
Position = pos;
Velocity = vel;
Mass = mass;
MomentOfInertia = 1f;
Force = Vector2.Zero;
Angle = 0.0f;
AngularVelocity = 0.0f;
Torque = 0f;
Flags = BodyFlags.None;
Elasticity = .5f;
Friction = .5f;
TouchNormal = Vector2.Zero;
Touching = null;
Parent = null;
CollisionList = new List<PhysBody>( 4 );
}
public Controlable(
LifeSpan lifeTime,
MassInertia massInfo,
PhysicsState physicsState,
BodyFlags flags,
ICollidableBodyPart[] collidableParts,
ShipMovementInfo movementInfo,
ShipState shipState,
ControlableSounds controlableSounds)
: base(lifeTime,
massInfo,
physicsState,
flags,
collidableParts)
{
this.shipState = shipState;
this.movementInfo = movementInfo;
this.controlableSounds = controlableSounds;
this.attachedEffectCollection = new EffectCollection();
this.CollisionState.GenerateRayEvents = true;
}
public Controlable(
LifeSpan lifeTime,
PhysicsState physicsState,
BodyFlags flags,
RigidBodyTemplate template,
ShipMovementInfo movementInfo,
ShipState shipState,
ControlableSounds controlableSounds,
IWeaponsLogic weaponInfo)
: this(
lifeTime,
physicsState,
flags, template,
movementInfo,
shipState,
controlableSounds)
{
this.weaponInfo = weaponInfo;
this.CollisionState.GenerateCollisionEvents = true;
this.CollisionState.GenerateContactEvents = true;
this.controlableType = ControlableType.Weapon;
}
public SpawningSolidWeapon(
LifeSpan lifeTime,
PhysicsState physicsState,
BodyFlags flags,
RigidBodyTemplate template,
ShipMovementInfo movementInfo,
ShipState shipState,
ControlableSounds controlableSounds,
IWeaponsLogic weaponInfo,
ISolidWeapon spawn,
bool diesOnSpawn)
: base(
lifeTime,
physicsState,
flags, template,
movementInfo,
shipState,
controlableSounds,
weaponInfo)
{
this.spawn = spawn;
this.diesOnSpawn = diesOnSpawn;
}
private bool HasFlag(BodyFlags flag)
{
return (Flags & flag) == flag;
}
public bool SetTransform(Vector2 position, Quaternion rotation)
#endif
{
Box2DXDebug.Assert(_world._lock == false);
if (_world._lock == true)
{
return true;
}
if (IsFrozen())
{
return false;
}
_xf.rotation = rotation;
//_xf.R = rotation;
_xf.position = position;
_sweep.C0 = _sweep.C = _xf.TransformPoint(_sweep.LocalCenter);
#if USE_MATRIX_FOR_ROTATION
_sweep.A0 = _sweep.A = rotation.GetAngle();
#else
_sweep.A0 = _sweep.A = rotation.eulerAngles.z * Mathf.Deg2Rad;
#endif
bool freeze = false;
for (Fixture f = _fixtureList; f != null; f = f.Next)
{
bool inRange = f.Synchronize(_world._broadPhase, _xf, _xf);
if (inRange == false)
{
freeze = true;
break;
}
}
if (freeze == true)
{
_flags |= BodyFlags.Frozen;
_linearVelocity = Vector2.zero;
_angularVelocity = 0.0f;
// Failure
return false;
}
// Success
_world._broadPhase.Commit();
return true;
}
/// <summary>
/// Set the position of the body's origin and rotation (radians).
/// This breaks any contacts and wakes the other bodies.
/// </summary>
/// <param name="position">The new world position of the body's origin (not necessarily
/// the center of mass).</param>
/// <param name="angle">The new world rotation angle of the body in radians.</param>
/// <returns>Return false if the movement put a shape outside the world. In this case the
/// body is automatically frozen.</returns>
public bool SetXForm(Vec2 position, float angle)
{
Box2DXDebug.Assert(_world._lock == false);
if (_world._lock == true)
{
return true;
}
if (IsFrozen())
{
return false;
}
_xf.R.Set(angle);
_xf.Position = position;
_sweep.C0 = _sweep.C = Common.Math.Mul(_xf, _sweep.LocalCenter);
_sweep.A0 = _sweep.A = angle;
bool freeze = false;
for (Fixture f = _fixtureList; f != null; f = f.Next)
{
bool inRange = f.Synchronize(_world._broadPhase, _xf, _xf);
if (inRange == false)
{
freeze = true;
break;
}
}
if (freeze == true)
{
_flags |= BodyFlags.Frozen;
_linearVelocity.SetZero();
_angularVelocity = 0.0f;
// Failure
return false;
}
// Success
_world._broadPhase.Commit();
return true;
}
/// <summary>
/// Wake up this body so it will begin simulating.
/// </summary>
public void WakeUp()
{
_flags &= ~BodyFlags.Sleep;
_sleepTime = 0.0f;
}
/// <summary>
/// Should this body be treated like a bullet for continuous collision detection?
/// </summary>
/// <param name="flag"></param>
public void SetBullet(bool flag)
{
if (flag)
{
_flags |= BodyFlags.Bullet;
}
else
{
_flags &= ~BodyFlags.Bullet;
}
}
/// <summary>
/// Put this body to sleep so it will stop simulating.
/// This also sets the velocity to zero.
/// </summary>
public void PutToSleep()
{
_flags |= BodyFlags.Sleep;
_sleepTime = 0.0f;
_linearVelocity.SetZero();
_angularVelocity = 0.0f;
_force.SetZero();
_torque = 0.0f;
}
internal XForm _xf; // the body origin transform
#endregion Fields
#region Constructors
internal Body(BodyDef bd, World world)
{
_flags = 0;
if (bd.isBullet)
{
_flags |= BodyFlags.Bullet;
}
if (bd.fixedRotation)
{
_flags |= BodyFlags.FixedRotation;
}
if (bd.allowSleep)
{
_flags |= BodyFlags.AllowSleep;
}
if (bd.isSleeping)
{
_flags |= BodyFlags.Sleep;
}
_world = world;
_xf.Position = bd.position;
_xf.R.Set(bd.angle);
_sweep.localCenter = bd.massData.center;
_sweep.t0 = 1.0f;
_sweep.a0 = _sweep.a = bd.angle;
_sweep.c0 = _sweep.c = MathUtils.Multiply(ref _xf, _sweep.localCenter);
_jointList = null;
_contactList = null;
_prev = null;
_next = null;
_linearVelocity = bd.linearVelocity;
_angularVelocity = bd.angularVelocity;
_linearDamping = bd.linearDamping;
_angularDamping = bd.angularDamping;
_force = new Vector2(0.0f, 0.0f);
_torque = 0.0f;
_linearVelocity = Vector2.Zero;
_angularVelocity = 0.0f;
_sleepTime = 0.0f;
_invMass = 0.0f;
_I = 0.0f;
_invI = 0.0f;
_mass = bd.massData.mass;
if (_mass > 0.0f)
{
_invMass = 1.0f / _mass;
}
_I = bd.massData.i;
if (_I > 0.0f && (_flags & BodyFlags.FixedRotation) == 0)
{
_invI = 1.0f / _I;
}
if (_invMass == 0.0f && _invI == 0.0f)
{
_type = BodyType.Static;
}
else
{
_type = BodyType.Dynamic;
}
_userData = bd.userData;
_fixtureList = null;
_fixtureCount = 0;
}
/// <summary>
/// Set the active state of the body. An inactive body is not
/// simulated and cannot be collided with or woken up.
/// If you pass a flag of true, all fixtures will be added to the
/// broad-phase.
/// If you pass a flag of false, all fixtures will be removed from
/// the broad-phase and all contacts will be destroyed.
/// Fixtures and joints are otherwise unaffected. You may continue
/// to create/destroy fixtures and joints on inactive bodies.
/// Fixtures on an inactive body are implicitly inactive and will
/// not participate in collisions, ray-casts, or queries.
/// Joints connected to an inactive body are implicitly inactive.
/// An inactive body is still owned by a b2World object and remains
/// in the body list.
/// </summary>
/// <param name="flag"></param>
public void SetActive(bool flag)
{
if (flag == IsActive())
{
return;
}
if (flag)
{
_flags |= BodyFlags.Active;
// Create all proxies.
BroadPhase broadPhase = _world._contactManager._broadPhase;
for (Fixture f = _fixtureList; f != null; f = f._next)
{
f.CreateProxy(broadPhase, ref _xf);
}
// Contacts are created the next time step.
}
else
{
_flags &= ~BodyFlags.Active;
// Destroy all proxies.
BroadPhase broadPhase = _world._contactManager._broadPhase;
for (Fixture f = _fixtureList; f != null; f = f._next)
{
f.DestroyProxy(broadPhase);
}
// Destroy the attached contacts.
ContactEdge ce = _contactList;
while (ce != null)
{
ContactEdge ce0 = ce;
ce = ce.Next;
_world._contactManager.Destroy(ce0.Contact);
}
_contactList = null;
}
}
/// <summary>
/// You can disable sleeping on this body.
/// </summary>
/// <param name="flag"></param>
public void AllowSleeping(bool flag)
{
if (flag)
{
_flags |= BodyFlags.AutoSleep;
}
else
{
_flags &= ~BodyFlags.AutoSleep;
SetAwake(true);
}
}
/// <summary>
/// You can disable sleeping on this body. If you disable sleeping, the
/// body will be woken.
/// </summary>
/// <param name="flag"></param>
void SetSleepingAllowed(bool flag)
{
if (flag)
{
_flags |= BodyFlags.AutoSleep;
}
else
{
_flags &= ~BodyFlags.AutoSleep;
SetAwake(true);
}
}
internal Body(BodyDef bd, World world)
{
Debug.Assert(bd.position.IsValid());
Debug.Assert(bd.linearVelocity.IsValid());
Debug.Assert(MathUtils.IsValid(bd.angle));
Debug.Assert(MathUtils.IsValid(bd.angularVelocity));
Debug.Assert(MathUtils.IsValid(bd.inertiaScale) && bd.inertiaScale >= 0.0f);
Debug.Assert(MathUtils.IsValid(bd.angularDamping) && bd.angularDamping >= 0.0f);
Debug.Assert(MathUtils.IsValid(bd.linearDamping) && bd.linearDamping >= 0.0f);
if (bd.bullet)
{
_flags |= BodyFlags.Bullet;
}
if (bd.fixedRotation)
{
_flags |= BodyFlags.FixedRotation;
}
if (bd.allowSleep)
{
_flags |= BodyFlags.AutoSleep;
}
if (bd.awake)
{
_flags |= BodyFlags.Awake;
}
if (bd.active)
{
_flags |= BodyFlags.Active;
}
_world = world;
_xf.Position = bd.position;
_xf.R.Set(bd.angle);
_sweep.a0 = _sweep.a = bd.angle;
_sweep.c0 = _sweep.c = MathUtils.Multiply(ref _xf, _sweep.localCenter);
_linearVelocity = bd.linearVelocity;
_angularVelocity = bd.angularVelocity;
_linearDamping = bd.linearDamping;
_angularDamping = bd.angularDamping;
_type = bd.type;
if (_type == BodyType.Dynamic)
{
_mass = 1.0f;
_invMass = 1.0f;
}
_userData = bd.userData;
}
private void RemoveFlags(BodyFlags flag)
{
Flags &= ~flag;
}
/**
* Set the sleep state of the body. A sleeping body has very low CPU cost.
*
* @param flag set to true to put body to sleep, false to wake it.
* @param flag
*/
public void setAwake(bool flag)
{
if (flag)
{
if ((m_flags & BodyFlags.Awake) == 0)
{
m_flags |= BodyFlags.Awake;
m_sleepTime = 0.0f;
}
}
else
{
m_flags &= ~BodyFlags.Awake;
m_sleepTime = 0.0f;
m_linearVelocity.setZero();
m_angularVelocity = 0.0f;
m_force.setZero();
m_torque = 0.0f;
}
}
/// <summary>
/// You can disable sleeping on this body.
/// </summary>
/// <param name="flag"></param>
public void AllowSleeping(bool flag)
{
if (flag)
{
_flags |= BodyFlags.AllowSleep;
}
else
{
_flags &= ~BodyFlags.AllowSleep;
WakeUp();
}
}
/// <summary>
/// Set this body to have fixed rotation. This causes the mass
/// to be reset.
/// </summary>
/// <param name="flag"></param>
public void SetFixedRotation(bool flag)
{
if (flag)
{
_flags |= BodyFlags.FixedRotation;
}
else
{
_flags &= ~BodyFlags.FixedRotation;
}
ResetMassData();
}
internal bool SynchronizeFixtures()
{
XForm xf1 = new XForm();
xf1.R.Set(_sweep.A0);
xf1.Position = _sweep.C0 - Common.Math.Mul(xf1.R, _sweep.LocalCenter);
bool inRange = true;
for (Fixture f = _fixtureList; f != null; f = f.Next)
{
inRange = f.Synchronize(_world._broadPhase, xf1, _xf);
if (inRange == false)
{
break;
}
}
if (inRange == false)
{
_flags |= BodyFlags.Frozen;
_linearVelocity.SetZero();
_angularVelocity = 0.0f;
// Failure
return false;
}
// Success
return true;
}
/// Put this body to sleep so it will stop simulating.
/// This also sets the velocity to zero.
public void PutToSleep()
{
_flags |= BodyFlags.Sleep;
_sleepTime = 0.0f;
_linearVelocity = Vector2.Zero;
_angularVelocity = 0.0f;
_force = Vector2.Zero;
_torque = 0.0f;
}
public void SetFixedRotation(bool fixedr)
{
if (fixedr)
{
_angularVelocity = 0.0f;
_invI = 0.0f;
_flags |= BodyFlags.FixedRotation;
}
else
{
if (_I > 0.0f)
{
// Recover _invI from _I.
_invI = 1.0f / _I;
_flags &= BodyFlags.FixedRotation;
}
// TODO: Else what?
}
}
internal bool SynchronizeFixtures()
{
Transform xf1;
xf1.rotation = Box2DX.Common.Math.AngleToRotation(_sweep.A0);
//xf1.R = new Mat22(_sweep.A0);
xf1.position = _sweep.C0 - xf1.TransformDirection(_sweep.LocalCenter);
bool inRange = true;
for (Fixture f = _fixtureList; f != null; f = f.Next)
{
inRange = f.Synchronize(_world._broadPhase, xf1, _xf);
if (inRange == false)
{
break;
}
}
if (inRange == false)
{
_flags |= BodyFlags.Frozen;
_linearVelocity = Vector2.zero;
_angularVelocity = 0.0f;
// Failure
return false;
}
// Success
return true;
}
public static bool HasFlags( this BodyFlags flags, BodyFlags value )
{
return ( ( flags & value ) == value );
}
/**
* Set the active state of the body. An inactive body is not simulated and cannot be collided with
* or woken up. If you pass a flag of true, all fixtures will be added to the broad-phase. If you
* pass a flag of false, all fixtures will be removed from the broad-phase and all contacts will
* be destroyed. Fixtures and joints are otherwise unaffected. You may continue to create/destroy
* fixtures and joints on inactive bodies. Fixtures on an inactive body are implicitly inactive
* and will not participate in collisions, ray-casts, or queries. Joints connected to an inactive
* body are implicitly inactive. An inactive body is still owned by a World object and remains in
* the body list.
*
* @param flag
*/
public void setActive(bool flag)
{
Debug.Assert(m_world.isLocked() == false);
if (flag == isActive())
{
return;
}
if (flag)
{
m_flags |= BodyFlags.Active;
// Create all proxies.
BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
for (Fixture f = m_fixtureList; f != null; f = f.m_next)
{
f.createProxies(broadPhase, m_xf);
}
// Contacts are created the next time step.
}
else
{
m_flags &= ~BodyFlags.Active;
// Destroy all proxies.
BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
for (Fixture f = m_fixtureList; f != null; f = f.m_next)
{
f.destroyProxies(broadPhase);
}
// Destroy the attached contacts.
ContactEdge ce = m_contactList;
while (ce != null)
{
ContactEdge ce0 = ce;
ce = ce.next;
m_world.m_contactManager.destroy(ce0.contact);
}
m_contactList = null;
}
}
internal Body(BodyDef bd, World world)
{
Box2DXDebug.Assert(world._lock == false);
_flags = 0;
if (bd.IsBullet)
{
_flags |= BodyFlags.Bullet;
}
if (bd.FixedRotation)
{
_flags |= BodyFlags.FixedRotation;
}
if (bd.AllowSleep)
{
_flags |= BodyFlags.AllowSleep;
}
if (bd.IsSleeping)
{
_flags |= BodyFlags.Sleep;
}
_world = world;
_xf.Position = bd.Position;
_xf.R.Set(bd.Angle);
_sweep.LocalCenter = bd.MassData.Center;
_sweep.T0 = 1.0f;
_sweep.A0 = _sweep.A = bd.Angle;
_sweep.C0 = _sweep.C = Common.Math.Mul(_xf, _sweep.LocalCenter);
//_jointList = null;
//_contactList = null;
//_controllerList = null;
//_prev = null;
//_next = null;
_linearVelocity = bd.LinearVelocity;
_angularVelocity = bd.AngularVelocity;
_linearDamping = bd.LinearDamping;
_angularDamping = bd.AngularDamping;
//_force.Set(0.0f, 0.0f);
//_torque = 0.0f;
//_linearVelocity.SetZero();
//_angularVelocity = 0.0f;
//_sleepTime = 0.0f;
//_invMass = 0.0f;
//_I = 0.0f;
//_invI = 0.0f;
_mass = bd.MassData.Mass;
if (_mass > 0.0f)
{
_invMass = 1.0f / _mass;
}
_I = bd.MassData.I;
if (_I > 0.0f && (_flags & BodyFlags.FixedRotation) == 0)
{
_invI = 1.0f / _I;
}
if (_invMass == 0.0f && _invI == 0.0f)
{
_type = BodyType.Static;
}
else
{
_type = BodyType.Dynamic;
}
_userData = bd.UserData;
//_fixtureList = null;
//_fixtureCount = 0;
}
public Body(BodyDef bd, World world)
{
Debug.Assert(bd.position.isValid());
Debug.Assert(bd.linearVelocity.isValid());
Debug.Assert(bd.gravityScale >= 0.0f);
Debug.Assert(bd.angularDamping >= 0.0f);
Debug.Assert(bd.linearDamping >= 0.0f);
m_flags = 0;
if (bd.bullet)
{
m_flags |= BodyFlags.Bullet;
}
if (bd.fixedRotation)
{
m_flags |= BodyFlags.FixedRotation;
}
if (bd.allowSleep)
{
m_flags |= BodyFlags.AutoSleep;
}
if (bd.awake)
{
m_flags |= BodyFlags.Awake;
}
if (bd.active)
{
m_flags |= BodyFlags.Active;
}
m_world = world;
m_xf.p.set(bd.position);
m_xf.q.set(bd.angle);
m_sweep.localCenter.setZero();
m_sweep.c0.set(m_xf.p);
m_sweep.c.set(m_xf.p);
m_sweep.a0 = bd.angle;
m_sweep.a = bd.angle;
m_sweep.alpha0 = 0.0f;
m_jointList = null;
m_contactList = null;
m_prev = null;
m_next = null;
m_linearVelocity.set(bd.linearVelocity);
m_angularVelocity = bd.angularVelocity;
m_linearDamping = bd.linearDamping;
m_angularDamping = bd.angularDamping;
m_gravityScale = bd.gravityScale;
m_force.setZero();
m_torque = 0.0f;
m_sleepTime = 0.0f;
m_type = bd.type;
if (m_type == BodyType.DYNAMIC)
{
m_mass = 1f;
m_invMass = 1f;
}
else
{
m_mass = 0f;
m_invMass = 0f;
}
m_I = 0.0f;
m_invI = 0.0f;
m_userData = bd.userData;
m_fixtureList = null;
m_fixtureCount = 0;
}
/**
* You can disable sleeping on this body. If you disable sleeping, the body will be woken.
*
* @param flag
*/
public void setSleepingAllowed(bool flag)
{
if (flag)
{
m_flags |= BodyFlags.AutoSleep;
}
else
{
m_flags &= ~BodyFlags.AutoSleep;
setAwake(true);
}
}
internal bool SynchronizeShapes()
{
XForm xf1 = new XForm();
xf1.R.Set(_sweep.A0);
xf1.Position = _sweep.C0 - Common.Math.Mul(xf1.R, _sweep.LocalCenter);
bool inRange = true;
for (Shape s = _shapeList; s != null; s = s._next)
{
inRange = s.Synchronize(_world._broadPhase, xf1, _xf);
if (inRange == false)
{
break;
}
}
if (inRange == false)
{
_flags |= BodyFlags.Frozen;
_linearVelocity.SetZero();
_angularVelocity = 0.0f;
for (Shape s = _shapeList; s != null; s = s._next)
{
s.DestroyProxy(_world._broadPhase);
}
// Failure
return false;
}
// Success
return true;
}
/// <summary>
/// Set the sleep state of the body. A sleeping body has very
/// low CPU cost.
/// </summary>
/// <param name="flag">set to true to put body to sleep, false to wake it.</param>
public void SetAwake(bool flag)
{
if (flag)
{
if ((_flags & BodyFlags.Awake) == 0)
{
_flags |= BodyFlags.Awake;
_sleepTime = 0.0f;
}
}
else
{
_flags &= ~BodyFlags.Awake;
_sleepTime = 0.0f;
_linearVelocity = Vector2.Zero;
_angularVelocity = 0.0f;
_force = Vector2.Zero;
_torque = 0.0f;
}
}
private void AppendFlags(BodyFlags flag)
{
Flags |= flag;
}
