public ContactManager(World argPool, BroadPhase broadPhase)
{
m_contactList = null;
m_contactCount = 0;
m_contactFilter = new ContactFilter();
m_contactListener = null;
m_broadPhase = broadPhase;
pool = argPool;
}
void DoTimeStep()
{
SpaceObjectBuffer.Update();
EntityStateWriteBuffer.Update();
DeactivationManager.Update();
ForceUpdater.Update();
DuringForcesUpdateables.Update();
BoundingBoxUpdater.Update();
BroadPhase.Update();
BeforeNarrowPhaseUpdateables.Update();
NarrowPhase.Update();
BeforeSolverUpdateables.Update();
NarrowPhase.FlushGeneratedSolverUpdateables();
Solver.Update();
BeforePositionUpdateUpdateables.Update();
PositionUpdater.Update();
BufferedStates.ReadBuffers.Update();
DeferredEventDispatcher.Update();
EndOfTimeStepUpdateables.Update();
}
internal void SynchronizeFixtures()
{
Transform xf1 = new Transform();
float c = (float)Math.Cos(Sweep.A0), s = (float)Math.Sin(Sweep.A0);
xf1.R.Col1.X = c;
xf1.R.Col2.X = -s;
xf1.R.Col1.Y = s;
xf1.R.Col2.Y = c;
xf1.Position.X = Sweep.C0.X - (xf1.R.Col1.X * Sweep.LocalCenter.X + xf1.R.Col2.X * Sweep.LocalCenter.Y);
xf1.Position.Y = Sweep.C0.Y - (xf1.R.Col1.Y * Sweep.LocalCenter.X + xf1.R.Col2.Y * Sweep.LocalCenter.Y);
BroadPhase broadPhase = World.ContactManager.BroadPhase;
for (int i = 0; i < FixtureList.Count; i++)
{
FixtureList[i].Synchronize(broadPhase, ref xf1, ref Xf);
}
}
/// <summary>
/// Creates a fixture and attach it to this body.
/// @warning This function is locked during callbacks.
/// </summary>
/// <param name="def">The fixture definition.</param>
public Fixture CreateFixture(FixtureDef def)
{
if (_world._lock == true)
{
return(null);
}
BroadPhase broadPhase = _world._broadPhase;
Fixture fixture = new Fixture();
fixture.Create(broadPhase, this, _xf, def);
fixture._next = _fixtureList;
_fixtureList = fixture;
++_fixtureCount;
fixture._body = this;
return(fixture);
}
/// <summary>
/// For teleporting a body without considering new contacts immediately.
/// </summary>
/// <param name="position">The position.</param>
/// <param name="angle">The angle.</param>
public void SetTransformIgnoreContacts(ref Vector2 position, float angle)
{
Debug.Assert(World.IsLocked == false);
if (World.IsLocked)
{
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;
foreach (Fixture f in FixtureList)
{
f.Synchronize(broadPhase, ref Xf, ref Xf);
}
}
/// <summary>
/// Destroy a fixture. This removes the fixture from the broad-phase and
/// therefore destroys any contacts associated with this fixture. 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(Fixture fixture)
{
Box2DXDebug.Assert(_world._lock == false);
if (_world._lock == true)
{
return;
}
Box2DXDebug.Assert(fixture.Body == this);
// Remove the fixture from this body's singly linked list.
Box2DXDebug.Assert(_fixtureCount > 0);
Fixture node = _fixtureList;
bool found = false;
while (node != null)
{
if (node == fixture)
{
//*node = fixture->m_next;
_fixtureList = fixture.Next;
found = true;
break;
}
node = node.Next;
}
// You tried to remove a shape that is not attached to this body.
Box2DXDebug.Assert(found);
BroadPhase broadPhase = _world._broadPhase;
fixture.Destroy(broadPhase);
fixture._body = null;
fixture._next = null;
--_fixtureCount;
}
/// <summary>
/// Creates a fixture and attach it to this body.
/// @warning This function is locked during callbacks.
/// </summary>
/// <param name="def">The fixture definition.</param>
public Fixture CreateFixture(FixtureDef def)
{
Box2DxDebug.Assert(world.Lock == false);
if (world.Lock)
{
return(null);
}
BroadPhase broadPhase = world.BroadPhase;
Fixture fixture = new Fixture();
fixture.Create(broadPhase, this, Xf, def);
fixture.Next = FixtureList;
FixtureList = fixture;
++FixtureCount;
fixture.Body = this;
return(fixture);
}
// We need separation create/destroy functions from the constructor/destructor because
// the destructor cannot access the allocator or broad-phase (no destructor arguments allowed by C++).
public void Create(BroadPhase broadPhase, Body body, Transform xf, FixtureDef def)
{
UserData = def.UserData;
Friction = def.Friction;
Restitution = def.Restitution;
Body = body;
_next = null;
Filter = def.Filter;
IsSensor = def.IsSensor;
Shape = def.Shape.Clone();
Shape.ComputeMass(out _massData, def.Density);
// Create proxy in the broad-phase.
Shape.ComputeAABB(out Aabb, ref xf);
ProxyId = broadPhase.CreateProxy(Aabb, this);
}
// TODO djm: check out about this new fixture here
/// <summary>
/// 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.
/// </summary>
/// <param name="def">the fixture definition.</param>
/// <warning>This function is locked during callbacks.</warning>
public Fixture CreateFixture(FixtureDef def)
{
Debug.Assert(World.Locked == false);
if (World.Locked == true)
{
return(null);
}
// djm TODO from pool?
Fixture fixture = new Fixture();
fixture.Create(this, def);
if ((Flags & TypeFlags.Active) == TypeFlags.Active)
{
BroadPhase broadPhase = World.ContactManager.BroadPhase;
fixture.CreateProxies(broadPhase, 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 |= World.NEW_FIXTURE;
return(fixture);
}
protected Simulation(BufferPool bufferPool, SimulationAllocationSizes initialAllocationSizes)
{
BufferPool = bufferPool;
Shapes = new Shapes(bufferPool, initialAllocationSizes.ShapesPerType);
BroadPhase = new BroadPhase(bufferPool, initialAllocationSizes.Bodies, initialAllocationSizes.Bodies + initialAllocationSizes.Statics);
Activator = new IslandActivator();
Bodies = new Bodies(bufferPool, Activator, Shapes, BroadPhase,
initialAllocationSizes.Bodies,
initialAllocationSizes.Islands,
initialAllocationSizes.ConstraintCountPerBodyEstimate);
Statics = new Statics(bufferPool, Shapes, Bodies, BroadPhase, Activator, initialAllocationSizes.Statics);
Solver = new Solver(Bodies, BufferPool, 8,
initialCapacity: initialAllocationSizes.Constraints,
initialIslandCapacity: initialAllocationSizes.Islands,
minimumCapacityPerTypeBatch: initialAllocationSizes.ConstraintsPerTypeBatch);
Bodies.Initialize(Solver);
Deactivator = new Deactivator(Bodies, Solver, BufferPool);
PoseIntegrator = new PoseIntegrator(Bodies, Shapes, BroadPhase);
SolverBatchCompressor = new BatchCompressor(Solver, Bodies);
BodyLayoutOptimizer = new BodyLayoutOptimizer(Bodies, BroadPhase, Solver, bufferPool);
ConstraintLayoutOptimizer = new ConstraintLayoutOptimizer(Bodies, Solver);
}
public void SetTransform(Vec2 position, float angle)
{
Box2DXDebug.Assert(_world.IsLocked() == false);
if (_world.IsLocked() == true)
{
return;
}
_xf.R.Set(angle);
_xf.Position = position;
_sweep.C0 = _sweep.C = Math.Mul(_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, _xf, _xf);
}
_world._contactManager.FindNewContacts();
}
internal void RefilterProxy(BroadPhase broadPhase, XForm transform)
{
if (_proxyId == PairManager.NullProxy)
{
return;
}
broadPhase.DestroyProxy(_proxyId);
AABB aabb;
_shape.ComputeAABB(out aabb, transform);
bool inRange = broadPhase.InRange(aabb);
if (inRange)
{
_proxyId = broadPhase.CreateProxy(aabb, this);
}
else
{
_proxyId = PairManager.NullProxy;
}
}
// Update is called once per frame
void Update()
{
if (from == null)
{
return;
}
if (to == null)
{
return;
}
ray.pos = from.position;
ray.dir = (to.position - from.position).normalized;
rayCastResult = BroadPhase.GetInstance().RayCast(ray);
if (rayCastResult.hit)
{
Debug.DrawRay(ray.pos, ray.dir * 1000, Color.red);
rayCastResult.collider.DebugDraw(Color.red);
}
else
{
Debug.DrawRay(ray.pos, ray.dir * 1000, Color.green);
}
}
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);
}
}
/**
* Call this if you want to establish collision that was previously disabled by
* ContactFilter::ShouldCollide.
*/
public void refilter()
{
if (m_body == null)
{
return;
}
// Flag associated contacts for filtering.
ContactEdge edge = m_body.getContactList();
while (edge != null)
{
Contact contact = edge.contact;
Fixture fixtureA = contact.getFixtureA();
Fixture fixtureB = contact.getFixtureB();
if (fixtureA == this || fixtureB == this)
{
contact.flagForFiltering();
}
edge = edge.next;
}
World world = m_body.getWorld();
if (world == null)
{
return;
}
// Touch each proxy so that new pairs may be created
BroadPhase broadPhase = world.m_contactManager.m_broadPhase;
for (int i = 0; i < m_proxyCount; ++i)
{
broadPhase.touchProxy(m_proxies[i].proxyId);
}
}
/// <summary>
/// Call this if you want to establish collision that was previously disabled by
/// ContactFilter::ShouldCollide.
/// </summary>
public void Refilter()
{
if (Body == null)
{
return;
}
// Flag associated contacts for filtering.
ContactEdge edge = Body.ContactList;
while (edge != null)
{
Contact contact = edge.Contact;
Fixture fixtureA = contact.FixtureA;
Fixture fixtureB = contact.FixtureB;
if (fixtureA == this || fixtureB == this)
{
contact.SetFlagForFiltering();
}
edge = edge.Next;
}
World world = Body.World;
if (world == null)
{
return;
}
// Touch each proxy so that new pairs may be created
BroadPhase broadPhase = world.ContactManager.BroadPhase;
for (int i = 0; i < ProxyCount; ++i)
{
broadPhase.TouchProxy(Proxies[i].ProxyId);
}
}
/// <summary>
/// Creates a fixture and attach it to this body.
/// If the density is non-zero, this function automatically updates the mass of the body.
/// Contacts are not created until the next time step.
/// Warning: This function is locked during callbacks.
/// </summary>
/// <param name="shape">The shape.</param>
/// <param name="density">The density.</param>
/// <returns></returns>
public Fixture CreateFixture(Shape shape, float density)
{
Debug.Assert(World.IsLocked == false);
if (World.IsLocked)
{
return(null);
}
Fixture fixture = new Fixture(this, shape, density);
if ((Flags & BodyFlags.Active) == BodyFlags.Active)
{
BroadPhase broadPhase = World.ContactManager.BroadPhase;
fixture.CreateProxies(broadPhase, ref Xf);
}
FixtureList.Add(fixture);
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;
if (World.FixtureAdded != null)
{
World.FixtureAdded(fixture);
}
return(fixture);
}
public static void CreateBroadPhaseContacts(BroadPhase broadPhase, List <Body> bodies, out List <Contact> contacts)
{
contacts = new List <Contact>();
List <Body> queryBodies = new List <Body>();
foreach (Body body in bodies)
{
queryBodies.Clear();
broadPhase.Query(body, queryBodies);
foreach (Body queryBody in queryBodies)
{
if (queryBody == body)
{
continue;
}
Contact contact = new Contact()
{
bodyA = body, bodyB = queryBody
};
contacts.Add(contact);
}
}
}
public void Collide()
{
var node = ContactList.First;
// Update awake contacts.
while (node != default)
{
var c = node.Value;
node = node.Next;
var fixtureA = c.FixtureA;
var fixtureB = c.FixtureB;
var indexA = c.ChildIndexA;
var indexB = c.ChildIndexB;
var bodyA = fixtureA.Body;
var bodyB = fixtureB.Body;
// Is this contact flagged for filtering?
if (c.Flags.HasFlag(Contact.ContactFlag.FilterFlag))
{
// Should these bodies collide?
if (bodyB.ShouldCollide(bodyA) == false)
{
Destroy(c);
continue;
}
// Check user filtering.
if (ContactFilter?.ShouldCollide(fixtureA, fixtureB) == false)
{
Destroy(c);
continue;
}
// Clear the filtering flag.
c.Flags &= ~Contact.ContactFlag.FilterFlag;
}
var activeA = bodyA.IsAwake && bodyA.BodyType != BodyType.StaticBody;
var activeB = bodyB.IsAwake && bodyB.BodyType != BodyType.StaticBody;
// At least one body must be awake and it must be dynamic or kinematic.
if (activeA == false && activeB == false)
{
continue;
}
var proxyIdA = fixtureA.Proxies[indexA].ProxyId;
var proxyIdB = fixtureB.Proxies[indexB].ProxyId;
var overlap = BroadPhase.TestOverlap(proxyIdA, proxyIdB);
// Here we destroy contacts that cease to overlap in the broad-phase.
if (overlap == false)
{
Destroy(c);
continue;
}
// The contact persists.
c.Update(ContactListener);
}
}
public unsafe Statics(BufferPool pool, PhysicsShapes3D shapes, Bodies3D bodies3D, BroadPhase broadPhase, int initialCapacity = 4096)
{
this.pool = pool;
InternalResize(Math.Max(1, initialCapacity));
this.shapes = shapes;
this.bodies3D = bodies3D;
this.broadPhase = broadPhase;
HandlePool = new IdPool(initialCapacity, pool);
}
/// Destroy a fixture. This removes the fixture from the broad-phase and
/// therefore destroys any contacts associated with this fixture. 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(ref Fixture fixture)
{
Box2DXDebug.Assert(_world.IsLocked() == false);
if (_world.IsLocked() == true)
{
return;
}
Box2DXDebug.Assert(fixture.Body == this);
// Remove the fixture from this body's singly linked list.
Box2DXDebug.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.
Box2DXDebug.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);
}
}
bool needMassUpdate = fixture._massData.Mass > 0.0f || fixture._massData.I > 0.0f;
BroadPhase broadPhase = _world._contactManager._broadPhase;
fixture.Destroy(broadPhase);
fixture.Body = null;
fixture._next = null;
--_fixtureCount;
// Adjust mass properties if needed.
if (needMassUpdate)
{
ResetMass();
}
}
internal void Synchronize(BroadPhase broadPhase, ref XForm transform1, ref XForm transform2)
{
if (_proxyId == BroadPhase.NullProxy)
{
return;
}
// Compute an AABB that covers the swept shape (may miss some rotation effect).
AABB aabb1, aabb2;
_shape.ComputeAABB(out aabb1, ref transform1);
_shape.ComputeAABB(out aabb2, ref transform2);
AABB aabb = new AABB();
aabb.Combine(ref aabb1, ref aabb2);
broadPhase.MoveProxy(_proxyId, ref aabb);
}
/// <summary>
/// Constructs a new bodies collection. Initialize must be called for the instance to be ready for use.
/// </summary>
/// <param name="pool">Pool for the collection to pull persistent allocations from.</param>
/// <param name="activator">Island activator to use when bodies undergo transitions requiring that they exist in the active set.</param>
/// <param name="shapes">Shapes referenced by the collection's bodies.</param>
/// <param name="broadPhase">Broad phase containing the body collidables.</param>
/// <param name="initialBodyCapacity">Initial number of bodies to allocate space for in the active set.</param>
/// <param name="initialIslandCapacity">Initial number of islands to allocate space for in the Sets buffer.</param>
/// <param name="initialConstraintCapacityPerBody">Expected number of constraint references per body to allocate space for.</param>
public unsafe Bodies(BufferPool pool, IslandActivator activator, Shapes shapes, BroadPhase broadPhase,
int initialBodyCapacity, int initialIslandCapacity, int initialConstraintCapacityPerBody)
{
this.pool = pool;
//Note that the id pool only grows upon removal, so this is just a heuristic initialization.
//You could get by with something a lot less aggressive, but it does tend to avoid resizes in the case of extreme churn.
IdPool <Buffer <int> > .Create(pool.SpecializeFor <int>(), initialBodyCapacity, out HandlePool);
ResizeHandles(initialBodyCapacity);
pool.SpecializeFor <BodySet>().Take(initialIslandCapacity + 1, out Sets);
ActiveSet = new BodySet(initialBodyCapacity, pool);
this.activator = activator;
this.shapes = shapes;
this.broadPhase = broadPhase;
MinimumConstraintCapacityPerBody = initialConstraintCapacityPerBody;
}
public InactiveBodyCollector(BroadPhase broadPhase, BufferPool pool)
{
this.pool = pool.SpecializeFor <int>();
this.broadPhase = broadPhase;
QuickList <int, Buffer <int> > .Create(this.pool, 32, out InactiveBodyHandles);
}
public World(Vec2 gravity, IWorldPool pool, BroadPhase broadPhase)
{
this.pool = pool;
m_destructionListener = null;
m_debugDraw = null;
m_bodyList = null;
m_jointList = null;
m_bodyCount = 0;
m_jointCount = 0;
m_warmStarting = true;
m_continuousPhysics = true;
m_subStepping = false;
m_stepComplete = true;
m_allowSleep = true;
m_gravity.set(gravity);
m_flags = CLEAR_FORCES;
m_inv_dt0 = 0f;
m_contactManager = new ContactManager(this, broadPhase);
m_profile = new Profile();
m_particleSystem = new ParticleSystem(this);
for (int i = 0; i < contactStacks.Length; i++)
{
contactStacks[i] = new ContactRegister[Enum.GetValues(typeof (ShapeType)).Length];
}
initializeRegisters();
}
public bool QueryCallback(int proxyId)
{
Fixture fixture = (Fixture)BroadPhase.GetUserData(proxyId);
return(Callback.ReportFixture(fixture));
}
internal void DestroyProxies(BroadPhase broadPhase)
{
// Destroy proxies in the broad-phase.
for (int i = 0; i < ProxyCount; ++i)
{
broadPhase.DestroyProxy(Proxies[i].ProxyId);
Proxies[i].ProxyId = BroadPhase.NullProxy;
}
ProxyCount = 0;
}
protected void DestroyProxies(BroadPhase broadPhase){ //broadphase was pointer
throw new NotImplementedException();
//// Destroy proxies in the broad-phase.
//for (int i = 0; i < m_proxyCount; ++i)
//{
// FixtureProxy* proxy = m_proxies + i;
// broadPhase.DestroyProxy(proxy.proxyId);
// proxy.proxyId = BroadPhase::e_nullProxy;
//}
//m_proxyCount = 0;
}
// These support body activation/deactivation.
internal void CreateProxies(BroadPhase broadPhase, Transform xf){ //broadPhase was pointer
Utilities.Assert(m_proxies.Count() == 0);
// Create proxies in the broad-phase.
int m_proxyCount = m_shape.GetChildCount();
for (int i = 0; i < m_proxyCount; ++i) {
FixtureProxy proxy = new FixtureProxy();
m_shape.ComputeAABB(out proxy.aabb, xf, i);
proxy.proxyId = broadPhase.CreateProxy(proxy.aabb, proxy);
proxy.fixture = this;
proxy.childIndex = i;
m_proxies.Add(proxy);
}
}
public WorldQueryWrapper(object ignore) {
broadPhase = new BroadPhase();
callback = null;
}
public void Destroy()
{
BroadPhase.Remove(this);
}
// We need separation create/destroy functions from the ructor/destructor because
// the destructor cannot access the allocator or broad-phase (no destructor arguments allowed by C++).
internal void Create(BroadPhase broadPhase, Body body, ref XForm xf, FixtureDef def)
{
_userData = def.userData;
_friction = def.friction;
_restitution = def.restitution;
_density = def.density;
_body = body;
_next = null;
_filter = def.filter;
_isSensor = def.isSensor;
_shape = def.shape.Clone();
// Create proxy in the broad-phase.
AABB aabb;
_shape.ComputeAABB(out aabb, ref xf);
_proxyId = broadPhase.CreateProxy(ref aabb, this);
}
internal void Synchronize(BroadPhase broadPhase, Transform transform1, Transform transform2) { //broadphase was pointer
if (m_proxies.Count() == 0) {
return;
}
for (int i = 0; i < m_proxies.Count(); ++i) {
FixtureProxy proxy = m_proxies[i];
// Compute an AABB that covers the swept shape (may miss some rotation effect).
AABB aabb1, aab;
m_shape.ComputeAABB(out aabb1, transform1, proxy.childIndex);
m_shape.ComputeAABB(out aab, transform2, proxy.childIndex);
proxy.aabb.Combine(aabb1, aab);
Vec2 displacement = transform2.p - transform1.p;
broadPhase.MoveProxy(proxy.proxyId, proxy.aabb, displacement);
}
}
public void DrawDebugData()
{
if (_debugDraw == null)
{
return;
}
DebugDraw.DrawFlags flags = _debugDraw.Flags;
if ((flags & DebugDraw.DrawFlags.Shape) != 0)
{
for (Body b = _bodyList; b != null; b = b.GetNext())
{
Transform xf = b.GetTransform();
for (Fixture f = b.GetFixtureList(); f != null; f = f.GetNext())
{
if (b.IsStatic())
{
DrawShape(f, xf, new Color(0.5f, 0.9f, 0.5f));
}
else if (b.IsSleeping())
{
DrawShape(f, xf, new Color(0.5f, 0.5f, 0.9f));
}
else
{
DrawShape(f, xf, new Color(0.9f, 0.9f, 0.9f));
}
}
}
}
if ((flags & DebugDraw.DrawFlags.Joint) != 0)
{
for (Joint j = _jointList; j != null; j = j.GetNext())
{
if (j.GetType() != JointType.MouseJoint)
{
DrawJoint(j);
}
}
}
if ((flags & DebugDraw.DrawFlags.Pair) != 0)
{
// TODO_ERIN
}
if ((flags & DebugDraw.DrawFlags.Aabb) != 0)
{
Color color = new Color(0.9f, 0.3f, 0.9f);
BroadPhase bp = _contactManager._broadPhase;
for (Body b = _bodyList; b != null; b = b.GetNext())
{
for (Fixture f = b.GetFixtureList(); f != null; f = f.GetNext())
{
AABB aabb = bp.GetFatAABB(f.ProxyId);
Vec2[] vs = new Vec2[4];
vs[0].Set(aabb.LowerBound.X, aabb.LowerBound.Y);
vs[1].Set(aabb.UpperBound.X, aabb.LowerBound.Y);
vs[2].Set(aabb.UpperBound.X, aabb.UpperBound.Y);
vs[3].Set(aabb.LowerBound.X, aabb.UpperBound.Y);
_debugDraw.DrawPolygon(vs, 4, color);
}
}
}
if ((flags & DebugDraw.DrawFlags.CenterOfMass) != 0)
{
for (Body b = _bodyList; b != null; b = b.GetNext())
{
Transform xf = b.GetTransform();
xf.Position = b.GetWorldCenter();
_debugDraw.DrawXForm(xf);
}
}
}
// These support body activation/deactivation.
internal void CreateProxies(BroadPhase broadPhase, ref Transform xf)
{
Debug.Assert(ProxyCount == 0);
// Create proxies in the broad-phase.
ProxyCount = Shape.ChildCount;
for (int i = 0; i < ProxyCount; ++i)
{
FixtureProxy proxy = Proxies[i];
Shape.ComputeAABB(out proxy.AABB, ref xf, i);
proxy.Fixture = this;
proxy.ChildIndex = i;
proxy.ProxyId = broadPhase.CreateProxy(ref proxy.AABB, ref proxy);
Proxies[i] = proxy;
}
}
internal void Synchronize(BroadPhase broadPhase, ref Transform transform1, ref Transform transform2)
{
if (_proxyId == BroadPhase.NullProxy)
{
return;
}
// Compute an AABB that covers the swept shape (may miss some rotation effect).
AABB aabb1, aabb2;
_shape.ComputeAABB(out aabb1, ref transform1);
_shape.ComputeAABB(out aabb2, ref transform2);
_aabb.Combine(ref aabb1, ref aabb2);
Vector2 displacement = transform2.Position - transform1.Position;
broadPhase.MoveProxy(_proxyId, ref _aabb, displacement);
}
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);
}
}
/// <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.
/// </summary>
/// <param name="fixture">the fixture to be removed.</param>
/// <warning>This function is locked during callbacks.</warning>
public void DestroyFixture(Fixture fixture)
{
Debug.Assert(World.Locked == false);
if (World.Locked == true)
{
return;
}
Debug.Assert(fixture.Body == this);
// Remove the fixture from this body's singly linked list.
Debug.Assert(FixtureCount > 0);
Fixture node = FixtureList;
Fixture last = null; // java change
bool found = false;
while (node != null)
{
if (node == fixture)
{
node = fixture.Next;
found = true;
break;
}
last = node;
node = node.Next;
}
// You tried to remove a shape that is not attached to this body.
Debug.Assert(found);
// java change, remove it from the list
if (last == null)
{
FixtureList = fixture.Next;
}
else
{
last.Next = fixture.Next;
}
// Destroy any contacts associated with the fixture.
ContactEdge edge = ContactList;
while (edge != null)
{
Contact c = edge.Contact;
edge = edge.Next;
Fixture fixtureA = c.FixtureA;
Fixture 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 & TypeFlags.Active) == TypeFlags.Active)
{
BroadPhase broadPhase = World.ContactManager.BroadPhase;
fixture.DestroyProxies(broadPhase);
}
fixture.Destroy();
fixture.Body = null;
fixture.Next = null;
--FixtureCount;
// Reset the mass data.
ResetMassData();
}
/**
* 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)
{
if (m_world.isLocked())
{
return;
}
// Remove the fixture from this body's singly linked list.
Fixture node = m_fixtureList;
Fixture last = null; // java change
bool found = false;
while (node != null)
{
if (node == fixture)
{
node = fixture.m_next;
found = true;
break;
}
last = node;
node = node.m_next;
}
// You tried to remove a shape that is not attached to this body.
// java change, remove it from the list
if (last == null)
{
m_fixtureList = fixture.m_next;
}
else
{
last.m_next = fixture.m_next;
}
// Destroy any contacts associated with the fixture.
ContactEdge edge = m_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.
m_world.m_contactManager.destroy(c);
}
}
if ((m_flags & e_activeFlag) == e_activeFlag)
{
BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
fixture.destroyProxies(broadPhase);
}
fixture.destroy();
fixture.m_body = null;
fixture.m_next = null;
fixture = null;
--m_fixtureCount;
// Reset the mass data.
resetMassData();
}
internal void DestroyProxy(BroadPhase broadPhase)
{
if (_proxyId == BroadPhase.NullProxy)
{
return;
}
// Destroy proxy in the broad-phase.
broadPhase.DestroyProxy(_proxyId);
_proxyId = BroadPhase.NullProxy;
}
internal void Destroy(BroadPhase broadPhase)
{
// Remove proxy from the broad-phase.
if (_proxyId != BroadPhase.NullProxy)
{
broadPhase.DestroyProxy(_proxyId);
_proxyId = BroadPhase.NullProxy;
}
_shape = null;
}
/**
* Internal method
*
* @param broadPhase
*/
public void destroyProxies(BroadPhase broadPhase)
{
// Destroy proxies in the broad-phase.
for (int i = 0; i < m_proxyCount; ++i)
{
FixtureProxy proxy = m_proxies[i];
broadPhase.destroyProxy(proxy.proxyId);
proxy.proxyId = (int) BroadPhaseProxy.Null;
}
m_proxyCount = 0;
}
public void Create(BroadPhase broadPhase, Body body, Transform xf, FixtureDef def)
{
UserData = def.UserData;
Friction = def.Friction;
Restitution = def.Restitution;
Density = def.Density;
_body = body;
_next = null;
Filter = def.Filter;
_isSensor = def.IsSensor;
_type = def.Type;
// Allocate and initialize the child shape.
switch (_type)
{
case ShapeType.CircleShape:
{
CircleShape circle = new CircleShape();
CircleDef circleDef = (CircleDef)def;
circle._position = circleDef.LocalPosition;
circle._radius = circleDef.Radius;
_shape = circle;
}
break;
case ShapeType.PolygonShape:
{
PolygonShape polygon = new PolygonShape();
PolygonDef polygonDef = (PolygonDef)def;
polygon.Set(polygonDef.Vertices, polygonDef.VertexCount);
_shape = polygon;
}
break;
case ShapeType.EdgeShape:
{
EdgeShape edge = new EdgeShape();
EdgeDef edgeDef = (EdgeDef)def;
edge.Set(edgeDef.Vertex1, edgeDef.Vertex2);
_shape = edge;
}
break;
default:
Box2DNetDebug.Assert(false);
break;
}
// Create proxy in the broad-phase.
AABB aabb;
_shape.ComputeAABB(out aabb, xf);
bool inRange = broadPhase.InRange(aabb);
// You are creating a shape outside the world box.
Box2DNetDebug.Assert(inRange);
if (inRange)
{
_proxyId = broadPhase.CreateProxy(aabb, this);
}
else
{
_proxyId = PairManager.NullProxy;
}
}
/**
* Internal method
*
* @param broadPhase
* @param xf1
* @param xf2
*/
internal void synchronize(BroadPhase broadPhase, Transform transform1,
Transform transform2)
{
if (m_proxyCount == 0)
{
return;
}
for (int i = 0; i < m_proxyCount; ++i)
{
FixtureProxy proxy = m_proxies[i];
// Compute an AABB that covers the swept shape (may miss some rotation effect).
AABB aabb1 = pool1;
AABB aab = pool2;
m_shape.computeAABB(aabb1, transform1, proxy.childIndex);
m_shape.computeAABB(aab, transform2, proxy.childIndex);
proxy.aabb.lowerBound.x =
aabb1.lowerBound.x < aab.lowerBound.x ? aabb1.lowerBound.x : aab.lowerBound.x;
proxy.aabb.lowerBound.y =
aabb1.lowerBound.y < aab.lowerBound.y ? aabb1.lowerBound.y : aab.lowerBound.y;
proxy.aabb.upperBound.x =
aabb1.upperBound.x > aab.upperBound.x ? aabb1.upperBound.x : aab.upperBound.x;
proxy.aabb.upperBound.y =
aabb1.upperBound.y > aab.upperBound.y ? aabb1.upperBound.y : aab.upperBound.y;
displacement.x = transform2.p.x - transform1.p.x;
displacement.y = transform2.p.y - transform1.p.y;
broadPhase.moveProxy(proxy.proxyId, proxy.aabb, displacement);
}
}
public InactiveBodyCollector(BroadPhase broadPhase, BufferPool pool)
{
this.pool = pool;
this.broadPhase = broadPhase;
InactiveBodyHandles = new QuickList <int>(32, pool);
}
// These support body activation/deactivation.
internal void CreateProxies(BroadPhase broadPhase, ref Transform xf)
{
Debug.Assert(_proxyCount == 0);
// Create proxies in the broad-phase.
_proxyCount = _shape.GetChildCount();
for (int i = 0; i < _proxyCount; ++i)
{
FixtureProxy proxy = _proxies[i];
_shape.ComputeAABB(out proxy.aabb, ref xf, i);
proxy.fixture = this;
proxy.childIndex = i;
proxy.proxyId = broadPhase.CreateProxy(ref proxy.aabb, proxy);
_proxies[i] = proxy;
}
}
///<summary>
/// Removes a space object from the simulation.
///</summary>
///<param name="spaceObject">Space object to remove.</param>
public void Remove(ISpaceObject spaceObject)
{
if (spaceObject.Space != this)
{
throw new ArgumentException("The object does not belong to this space; cannot remove it.");
}
SimulationIslandMember simulationIslandMember = spaceObject as SimulationIslandMember;
if (simulationIslandMember != null)
{
DeactivationManager.Remove(simulationIslandMember);
}
ISimulationIslandMemberOwner simulationIslandMemberOwner = spaceObject as ISimulationIslandMemberOwner;
if (simulationIslandMemberOwner != null)
{
DeactivationManager.Remove(simulationIslandMemberOwner.ActivityInformation);
}
//Go through each stage, removing the space object from it if necessary.
IForceUpdateable velocityUpdateable = spaceObject as IForceUpdateable;
if (velocityUpdateable != null)
{
ForceUpdater.Remove(velocityUpdateable);
}
MobileCollidable boundingBoxUpdateable = spaceObject as MobileCollidable;
if (boundingBoxUpdateable != null)
{
BoundingBoxUpdater.Remove(boundingBoxUpdateable);
}
BroadPhaseEntry broadPhaseEntry = spaceObject as BroadPhaseEntry;
if (broadPhaseEntry != null)
{
BroadPhase.Remove(broadPhaseEntry);
}
//Entites own collision proxies, but are not entries themselves.
IBroadPhaseEntryOwner broadPhaseEntryOwner = spaceObject as IBroadPhaseEntryOwner;
if (broadPhaseEntryOwner != null)
{
BroadPhase.Remove(broadPhaseEntryOwner.Entry);
boundingBoxUpdateable = broadPhaseEntryOwner.Entry as MobileCollidable;
if (boundingBoxUpdateable != null)
{
BoundingBoxUpdater.Remove(boundingBoxUpdateable);
}
}
SolverUpdateable solverUpdateable = spaceObject as SolverUpdateable;
if (solverUpdateable != null)
{
Solver.Remove(solverUpdateable);
}
IPositionUpdateable integrable = spaceObject as IPositionUpdateable;
if (integrable != null)
{
PositionUpdater.Remove(integrable);
}
Entity entity = spaceObject as Entity;
if (entity != null)
{
BufferedStates.Remove(entity);
}
IDeferredEventCreator deferredEventCreator = spaceObject as IDeferredEventCreator;
if (deferredEventCreator != null)
{
DeferredEventDispatcher.RemoveEventCreator(deferredEventCreator);
}
IDeferredEventCreatorOwner deferredEventCreatorOwner = spaceObject as IDeferredEventCreatorOwner;
if (deferredEventCreatorOwner != null)
{
DeferredEventDispatcher.RemoveEventCreator(deferredEventCreatorOwner.EventCreator);
}
//Updateable stages.
IDuringForcesUpdateable duringForcesUpdateable = spaceObject as IDuringForcesUpdateable;
if (duringForcesUpdateable != null)
{
DuringForcesUpdateables.Remove(duringForcesUpdateable);
}
IBeforeNarrowPhaseUpdateable beforeNarrowPhaseUpdateable = spaceObject as IBeforeNarrowPhaseUpdateable;
if (beforeNarrowPhaseUpdateable != null)
{
BeforeNarrowPhaseUpdateables.Remove(beforeNarrowPhaseUpdateable);
}
IBeforeSolverUpdateable beforeSolverUpdateable = spaceObject as IBeforeSolverUpdateable;
if (beforeSolverUpdateable != null)
{
BeforeSolverUpdateables.Remove(beforeSolverUpdateable);
}
IBeforePositionUpdateUpdateable beforePositionUpdateUpdateable = spaceObject as IBeforePositionUpdateUpdateable;
if (beforePositionUpdateUpdateable != null)
{
BeforePositionUpdateUpdateables.Remove(beforePositionUpdateUpdateable);
}
IEndOfTimeStepUpdateable endOfStepUpdateable = spaceObject as IEndOfTimeStepUpdateable;
if (endOfStepUpdateable != null)
{
EndOfTimeStepUpdateables.Remove(endOfStepUpdateable);
}
IEndOfFrameUpdateable endOfFrameUpdateable = spaceObject as IEndOfFrameUpdateable;
if (endOfFrameUpdateable != null)
{
EndOfFrameUpdateables.Remove(endOfFrameUpdateable);
}
spaceObject.Space = null;
spaceObject.OnRemovalFromSpace(this);
}
// These support body activation/deactivation.
internal void CreateProxy(BroadPhase broadPhase, ref Transform xf)
{
Debug.Assert(_proxyId == BroadPhase.NullProxy);
// Create proxy in the broad-phase.
_shape.ComputeAABB(out _aabb, ref xf);
_proxyId = broadPhase.CreateProxy(ref _aabb, this);
}
// These support body activation/deactivation.
public void createProxies(BroadPhase broadPhase, Transform xf)
{
Debug.Assert(m_proxyCount == 0);
// Create proxies in the broad-phase.
m_proxyCount = m_shape.getChildCount();
for (int i = 0; i < m_proxyCount; ++i)
{
FixtureProxy proxy = m_proxies[i];
m_shape.computeAABB(proxy.aabb, xf, i);
proxy.proxyId = broadPhase.createProxy(proxy.aabb, proxy);
proxy.fixture = this;
proxy.childIndex = i;
}
}
public ContactManager() {
m_contactList = new List<Contact>();
m_contactFilter = _defaultFilter;
m_contactListener = _defaultListener;
m_broadPhase = new BroadPhase();
}
