public override void SolveVelocityConstraints(b2SolverData data)
{
b2Vec2 vB = data.velocities[m_indexB].v;
float wB = data.velocities[m_indexB].w;
// Cdot = v + cross(w, r)
b2Vec2 Cdot = vB + b2Math.b2Cross(wB, m_rB);
b2Vec2 impulse = b2Math.b2Mul(m_mass, -(Cdot + m_C + m_gamma * m_impulse));
b2Vec2 oldImpulse = m_impulse;
m_impulse += impulse;
float maxImpulse = data.step.dt * m_maxForce;
if (m_impulse.LengthSquared() > maxImpulse * maxImpulse)
{
m_impulse *= maxImpulse / m_impulse.Length();
}
impulse = m_impulse - oldImpulse;
vB += m_invMassB * impulse;
wB += m_invIB * b2Math.b2Cross(m_rB, impulse);
data.velocities[m_indexB].v = vB;
data.velocities[m_indexB].w = wB;
}
public override void SolveVelocityConstraints(b2SolverData data)
{
b2Vec2 vA = data.velocities[m_indexA].v;
float wA = data.velocities[m_indexA].w;
b2Vec2 vB = data.velocities[m_indexB].v;
float wB = data.velocities[m_indexB].w;
float mA = m_invMassA, mB = m_invMassB;
float iA = m_invIA, iB = m_invIB;
float h = data.step.dt;
// Solve angular friction
{
float Cdot = wB - wA;
float impulse = -m_angularMass * Cdot;
float oldImpulse = m_angularImpulse;
float maxImpulse = h * m_maxTorque;
m_angularImpulse = b2Math.b2Clamp(m_angularImpulse + impulse, -maxImpulse, maxImpulse);
impulse = m_angularImpulse - oldImpulse;
wA -= iA * impulse;
wB += iB * impulse;
}
// Solve linear friction
{
b2Vec2 Cdot = vB + b2Math.b2Cross(wB, m_rB) - vA - b2Math.b2Cross(wA, m_rA);
b2Vec2 impulse = -b2Math.b2Mul(m_linearMass, Cdot);
b2Vec2 oldImpulse = m_linearImpulse;
m_linearImpulse += impulse;
float maxImpulse = h * m_maxForce;
if (m_linearImpulse.LengthSquared() > maxImpulse * maxImpulse)
{
m_linearImpulse.Normalize();
m_linearImpulse *= maxImpulse;
}
impulse = m_linearImpulse - oldImpulse;
vA -= mA * impulse;
wA -= iA * b2Math.b2Cross(m_rA, impulse);
vB += mB * impulse;
wB += iB * b2Math.b2Cross(m_rB, impulse);
}
data.velocities[m_indexA].v = vA;
data.velocities[m_indexA].w = wA;
data.velocities[m_indexB].v = vB;
data.velocities[m_indexB].w = wB;
}
public virtual void Set(b2Vec2[] vertices, int count)
{
m_vertexCount = count;
// Copy vertices.
for (int i = 0; i < m_vertexCount; ++i)
{
m_vertices[i] = vertices[i];
}
// Compute normals. Ensure the edges have non-zero length.
for (int i = 0; i < m_vertexCount; ++i)
{
int i1 = i;
int i2 = i + 1 < m_vertexCount ? i + 1 : 0;
b2Vec2 edge = m_vertices[i2] - m_vertices[i1];
Debug.Assert(edge.LengthSquared() > b2Settings.b2_epsilon * b2Settings.b2_epsilon);
m_normals[i] = b2Math.b2Cross(edge, 1.0f);
m_normals[i].Normalize();
}
#if DEBUG
// Ensure the polygon is convex and the interior
// is to the left of each edge.
for (int i = 0; i < m_vertexCount; ++i)
{
int i1 = i;
int i2 = i + 1 < m_vertexCount ? i + 1 : 0;
b2Vec2 edge = m_vertices[i2] - m_vertices[i1];
for (int j = 0; j < m_vertexCount; ++j)
{
// Don't check vertices on the current edge.
if (j == i1 || j == i2)
{
continue;
}
b2Vec2 r = m_vertices[j] - m_vertices[i1];
// If this crashes, your polygon is non-convex, has colinear edges,
// or the winding order is wrong.
float s = b2Math.b2Cross(edge, r);
if (s < 0f)
{
throw (new InvalidOperationException("ERROR: Please ensure your polygon is convex and has a CCW winding order"));
}
}
}
#endif
// Compute the polygon centroid.
m_centroid = ComputeCentroid(m_vertices, m_vertexCount);
}
public static void Distance(b2DistanceOutput output, b2SimplexCache cache, b2DistanceInput input)
{
++b2_gjkCalls;
b2DistanceProxy proxyA = input.proxyA;
b2DistanceProxy proxyB = input.proxyB;
b2Transform transformA = input.transformA;
b2Transform transformB = input.transformB;
// Initialize the simplex
b2Simplex simplex = s_simplex;
simplex.ReadCache(cache, proxyA, transformA, proxyB, transformB);
// Get simplex vertices as an vector.
b2SimplexVertex[] vertices = simplex.m_vertices;
const int k_maxIters = 20;
// These store the vertices of the last simplex so that we
// can check for duplicates and preven cycling
int[] saveA = s_saveA;
int[] saveB = s_saveB;
int saveCount = 0;
b2Vec2 closestPoint = simplex.GetClosestPoint();
float distanceSqr1 = closestPoint.LengthSquared();
float distanceSqr2 = distanceSqr1;
int i;
b2Vec2 p;
// Main iteration loop
int iter = 0;
while (iter < k_maxIters)
{
// Copy the simplex so that we can identify duplicates
saveCount = simplex.m_count;
for (i = 0; i < saveCount; i++)
{
saveA[i] = vertices[i].indexA;
saveB[i] = vertices[i].indexB;
}
/*switch(simplex.m_count)
* {
* case 1:
* break;
* case 2:
* simplex.Solve2();
* break;
* case 3:
* simplex.Solve3();
* break;
* default:
* b2Settings.b2Assert(false);
* }*/
if (simplex.m_count == 1)
{
}
else if (simplex.m_count == 2)
{
simplex.Solve2();
}
else if (simplex.m_count == 3)
{
simplex.Solve3();
}
else
{
b2Settings.b2Assert(false);
}
// If we have 3 points, then the origin is in the corresponding triangle.
if (simplex.m_count == 3)
{
break;
}
// Compute the closest point.
p = simplex.GetClosestPoint();
distanceSqr2 = p.LengthSquared();
// Ensure progress
if (distanceSqr2 > distanceSqr1)
{
//break;
}
distanceSqr1 = distanceSqr2;
// Get search direction.
b2Vec2 d = simplex.GetSearchDirection();
// Ensure the search direction is numerically fit.
if (d.LengthSquared() < 0.0f /*Number.MinValue * Number.MinValue*/)
{
// THe origin is probably contained by a line segment or triangle.
// Thus the shapes are overlapped.
// We can't return zero here even though there may be overlap.
// In case the simplex is a point, segment or triangle it is very difficult
// to determine if the origin is contained in the CSO or very close to it
break;
}
// Compute a tentative new simplex vertex using support points
b2SimplexVertex vertex = vertices[simplex.m_count];
vertex.indexA = (int)proxyA.GetSupport(b2Math.MulTMV(transformA.R, d.GetNegative()));
vertex.wA = b2Math.MulX(transformA, proxyA.GetVertex(vertex.indexA));
vertex.indexB = (int)proxyB.GetSupport(b2Math.MulTMV(transformB.R, d));
vertex.wB = b2Math.MulX(transformB, proxyB.GetVertex(vertex.indexB));
vertex.w = b2Math.SubtractVV(vertex.wB, vertex.wA);
// Iteration count is equated to the number of support point calls.
++iter;
++b2_gjkIters;
// Check for duplicate support points. This is the main termination criteria.
bool duplicate = false;
for (i = 0; i < saveCount; i++)
{
if (vertex.indexA == saveA[i] && vertex.indexB == saveB[i])
{
duplicate = true;
break;
}
}
// If we found a duplicate support point we must exist to avoid cycling
if (duplicate)
{
break;
}
// New vertex is ok and needed.
++simplex.m_count;
}
b2_gjkMaxIters = (int)b2Math.Max(b2_gjkMaxIters, iter);
// Prepare output
simplex.GetWitnessPoints(output.pointA, output.pointB);
output.distance = b2Math.SubtractVV(output.pointA, output.pointB).Length();
output.iterations = iter;
// Cache the simplex
simplex.WriteCache(cache);
// Apply radii if requested.
if (input.useRadii)
{
float rA = proxyA.m_radius;
float rB = proxyB.m_radius;
if (output.distance > rA + rB && output.distance > float.MinValue)
{
// Shapes are still not overlapped.
// Move the witness points to the outer surface.
output.distance -= rA + rB;
b2Vec2 normal = b2Math.SubtractVV(output.pointB, output.pointA);
normal.Normalize();
output.pointA.x += rA * normal.x;
output.pointA.y += rA * normal.y;
output.pointB.x -= rB * normal.x;
output.pointB.y -= rB * normal.y;
}
else
{
// Shapes are overlapped when radii are considered.
// Move the witness points to the middle.
p = new b2Vec2();
p.x = 0.5f * (output.pointA.x + output.pointB.x);
p.y = 0.5f * (output.pointA.y + output.pointB.y);
output.pointA.x = output.pointB.x = p.x;
output.pointA.y = output.pointB.y = p.y;
output.distance = 0.0f;
}
}
}
public static void b2Distance(ref b2DistanceOutput output, ref b2SimplexCache cache, ref b2DistanceInput input)
{
++b2DistanceProxy.b2_gjkCalls;
b2DistanceProxy proxyA = input.proxyA.Copy();
b2DistanceProxy proxyB = input.proxyB.Copy();
b2Transform transformA = input.transformA;
b2Transform transformB = input.transformB;
// Initialize the simplex.
b2Simplex simplex = new b2Simplex();
simplex.ReadCache(ref cache, ref proxyA, ref transformA, ref proxyB, ref transformB);
// Get simplex vertices as an array.
b2SimplexVertex[] vertices = new b2SimplexVertex[] { simplex.m_vertices[0], simplex.m_vertices[1], simplex.m_vertices[2] };
int k_maxIters = 20;
// These store the vertices of the last simplex so that we
// can check for duplicates and prevent cycling.
int[] saveA = new int[3];
int[] saveB = new int[3];
int saveCount = 0;
b2Vec2 closestPoint = simplex.GetClosestPoint();
float distanceSqr1 = closestPoint.LengthSquared();
float distanceSqr2 = distanceSqr1;
// Console.WriteLine("Closest Point={0},{1}, distance={2}", closestPoint.x, closestPoint.y, distanceSqr1);
// Main iteration loop.
#region Main Iteration Loop
int iter = 0;
while (iter < k_maxIters)
{
// Copy simplex so we can identify duplicates.
saveCount = simplex.m_count;
for (int i = 0; i < saveCount; ++i)
{
saveA[i] = vertices[i].indexA;
saveB[i] = vertices[i].indexB;
}
switch (simplex.m_count)
{
case 1:
break;
case 2:
simplex.Solve2();
break;
case 3:
simplex.Solve3();
break;
default:
Debug.Assert(false);
break;
}
// If we have 3 points, then the origin is in the corresponding triangle.
if (simplex.m_count == 3)
{
break;
}
// Compute closest point.
b2Vec2 p = simplex.GetClosestPoint();
distanceSqr2 = p.LengthSquared();
// Ensure progress
if (distanceSqr2 >= distanceSqr1)
{
//break;
}
distanceSqr1 = distanceSqr2;
// Get search direction.
b2Vec2 d = simplex.GetSearchDirection();
// Ensure the search direction is numerically fit.
if (d.LengthSquared() < b2Settings.b2_epsilon * b2Settings.b2_epsilon)
{
// The origin is probably contained by a line segment
// or triangle. Thus the shapes are overlapped.
// We can't return zero here even though there may be overlap.
// In case the simplex is a point, segment, or triangle it is difficult
// to determine if the origin is contained in the CSO or very close to it.
break;
}
// Compute a tentative new simplex vertex using support points.
b2SimplexVertex vertex = vertices[simplex.m_count];
vertex.indexA = proxyA.GetSupport(b2Math.b2MulT(transformA.q, -d));
vertex.wA = b2Math.b2Mul(transformA, proxyA.GetVertex(vertex.indexA));
// b2Vec2 wBLocal = new b2Vec2();
vertex.indexB = proxyB.GetSupport(b2Math.b2MulT(transformB.q, d));
vertex.wB = b2Math.b2Mul(transformB, proxyB.GetVertex(vertex.indexB));
vertex.w = vertex.wB - vertex.wA;
vertices[simplex.m_count] = vertex;
// Iteration count is equated to the number of support point calls.
++iter;
++b2DistanceProxy.b2_gjkIters;
// Check for duplicate support points. This is the main termination criteria.
bool duplicate = false;
for (int i = 0; i < saveCount; ++i)
{
if (vertex.indexA == saveA[i] && vertex.indexB == saveB[i])
{
duplicate = true;
break;
}
}
// If we found a duplicate support point we must exit to avoid cycling.
if (duplicate)
{
break;
}
// New vertex is ok and needed.
++simplex.m_count;
}
#endregion
b2DistanceProxy.b2_gjkMaxIters = Math.Max(b2DistanceProxy.b2_gjkMaxIters, iter);
// Prepare output.
simplex.GetWitnessPoints(ref output.pointA, ref output.pointB);
output.distance = b2Math.b2Distance(output.pointA, output.pointB);
output.iterations = iter;
// Cache the simplex.
simplex.WriteCache(ref cache);
// Apply radii if requested.
if (input.useRadii)
{
float rA = proxyA.Radius;
float rB = proxyB.Radius;
if (output.distance > rA + rB && output.distance > b2Settings.b2_epsilon)
{
// Shapes are still not overlapped.
// Move the witness points to the outer surface.
output.distance -= rA + rB;
b2Vec2 normal = output.pointB - output.pointA;
normal.Normalize();
output.pointA += rA * normal;
output.pointB -= rB * normal;
}
else
{
// Shapes are overlapped when radii are considered.
// Move the witness points to the middle.
b2Vec2 p = 0.5f * (output.pointA + output.pointB);
output.pointA = p;
output.pointB = p;
output.distance = 0.0f;
}
}
// Copy back the vertex changes because they are structs, but in C++ land they are reference values
simplex.m_vertices[0] = vertices[0];
simplex.m_vertices[1] = vertices[1];
simplex.m_vertices[2] = vertices[2];
}
/// Create a convex hull from the given array of local points.
/// The count must be in the range [3, b2_maxPolygonVertices].
/// @warning the points may be re-ordered, even if they form a convex polygon
/// @warning collinear points are handled but not removed. Collinear points
/// may lead to poor stacking behavior.
public b2PolygonShape Set(b2Vec2[] vertices)
{
Debug.Assert(3 <= vertices.Length && vertices.Length <= Settings.b2_maxPolygonVertices);
if (vertices.Length < 3)
{
SetAsBox(1.0f, 1.0f);
return(this);
}
int n = Utils.b2Min(vertices.Length, Settings.b2_maxPolygonVertices);
// Perform welding and copy vertices into local buffer.
b2Vec2[] ps = Arrays.InitializeWithDefaultInstances <b2Vec2>(Settings.b2_maxPolygonVertices);
int tempCount = 0;
for (int i = 0; i < n; ++i)
{
b2Vec2 v = vertices[i];
bool unique = true;
for (int j = 0; j < tempCount; ++j)
{
if (Utils.b2DistanceSquared(v, ps[j]) < ((0.5f * Settings.b2_linearSlop) * (0.5f * Settings.b2_linearSlop)))
{
unique = false;
break;
}
}
if (unique)
{
ps[tempCount++] = v;
}
}
n = tempCount;
if (n < 3)
{
// Polygon is degenerate.
Debug.Assert(false);
SetAsBox(1.0f, 1.0f);
return(this);
}
// Create the convex hull using the Gift wrapping algorithm
// http://en.wikipedia.org/wiki/Gift_wrapping_algorithm
// Find the right most point on the hull
int i0 = 0;
float x0 = ps[0].x;
for (int i = 1; i < n; ++i)
{
float x = ps[i].x;
if (x > x0 || (x == x0 && ps[i].y < ps[i0].y))
{
i0 = i;
x0 = x;
}
}
int[] hull = new int[Settings.b2_maxPolygonVertices];
int m = 0;
int ih = i0;
for (;;)
{
Debug.Assert(m < Settings.b2_maxPolygonVertices);
hull[m] = ih;
int ie = 0;
for (int j = 1; j < n; ++j)
{
if (ie == ih)
{
ie = j;
continue;
}
b2Vec2 r = ps[ie] - ps[hull[m]];
b2Vec2 v = ps[j] - ps[hull[m]];
float c = Utils.b2Cross(r, v);
if (c < 0.0f)
{
ie = j;
}
// Collinearity check
if (c == 0.0f && v.LengthSquared() > r.LengthSquared())
{
ie = j;
}
}
++m;
ih = ie;
if (ie == i0)
{
break;
}
}
if (m < 3)
{
// Polygon is degenerate.
Debug.Assert(false);
SetAsBox(1.0f, 1.0f);
return(this);
}
m_count = m;
// Copy vertices.
for (int i = 0; i < m; ++i)
{
m_vertices[i] = ps[hull[i]];
}
// Compute normals. Ensure the edges have non-zero length.
for (int i = 0; i < m; ++i)
{
int i1 = i;
int i2 = i + 1 < m ? i + 1 : 0;
b2Vec2 edge = m_vertices[i2] - m_vertices[i1];
Debug.Assert(edge.LengthSquared() > float.Epsilon * float.Epsilon);
m_normals[i] = Utils.b2Cross(edge, 1.0f);
m_normals[i].Normalize();
}
// Compute the polygon centroid.
m_centroid = Utils.ComputeCentroid(m_vertices, m);
return(this);
}
private void SolveC3()
{
int count3 = m_count - 2;
for (int i = 0; i < count3; ++i)
{
b2Vec2 p1 = m_ps[i];
b2Vec2 p2 = m_ps[i + 1];
b2Vec2 p3 = m_ps[i + 2];
float m1 = m_ims[i];
float m2 = m_ims[i + 1];
float m3 = m_ims[i + 2];
b2Vec2 d1 = p2 - p1;
b2Vec2 d2 = p3 - p2;
float L1sqr = d1.LengthSquared();
float L2sqr = d2.LengthSquared();
if (L1sqr * L2sqr == 0.0f)
{
continue;
}
float a = b2Math.b2Cross(d1, d2);
float b = b2Math.b2Dot(d1, d2);
float angle = b2Math.b2Atan2(a, b);
b2Vec2 Jd1 = (-1.0f / L1sqr) * d1.Skew();
b2Vec2 Jd2 = (1.0f / L2sqr) * d2.Skew();
b2Vec2 J1 = -Jd1;
b2Vec2 J2 = Jd1 - Jd2;
b2Vec2 J3 = Jd2;
float mass = m1 * b2Math.b2Dot(J1, J1) + m2 * b2Math.b2Dot(J2, J2) + m3 * b2Math.b2Dot(J3, J3);
if (mass == 0.0f)
{
continue;
}
mass = 1.0f / mass;
float C = angle - m_as[i];
while (C > b2Settings.b2_pi)
{
angle -= 2f * (float)Math.PI;
C = angle - m_as[i];
}
while (C < -(float)Math.PI)
{
angle += 2.0f * (float)Math.PI;
C = angle - m_as[i];
}
float impulse = -m_k3 * mass * C;
p1 += (m1 * impulse) * J1;
p2 += (m2 * impulse) * J2;
p3 += (m3 * impulse) * J3;
m_ps[i] = p1;
m_ps[i + 1] = p2;
m_ps[i + 2] = p3;
}
}
/**
* Copy vertices. This assumes the vertices define a convex polygon.
* It is assumed that the exterior is the the right of each edge.
*/
public void SetAsVector(List <b2Vec2> vertices, int vertexCount = 0)
{
if (vertexCount == 0)
{
vertexCount = vertices.Count;
}
b2Settings.b2Assert(2 <= vertexCount);
m_vertexCount = vertexCount;
Reserve(vertexCount);
int i;
// Copy vertices
for (i = 0; i < m_vertexCount; i++)
{
b2Vec2 v = vertices[i];
m_vertices[(m_vertexCount - 1) - i].SetV(v); //改为逆时针顺序添加
/*if(Application.platform==RuntimePlatform.FlashPlayer){
* v.y=-v.y;
* m_vertices[i].SetV(v);
* }else{
* m_vertices[(m_vertexCount-1)-i].SetV(v);//改为逆时针顺序添加
* }*/
}
// Compute normals. Ensure the edges have non-zero length.
for (i = 0; i < m_vertexCount; ++i)
{
int i1 = i;
int i2 = i + 1 < m_vertexCount ? i + 1 : 0;
b2Vec2 edge = b2Math.SubtractVV(m_vertices[i2], m_vertices[i1]);
b2Settings.b2Assert(edge.LengthSquared() > float.MinValue /* * Number.MIN_VALUE*/);
m_normals[i].SetV(b2Math.CrossVF(edge, 1.0f));
m_normals[i].Normalize();
}
//#ifdef _DEBUG
// Ensure the polygon is convex and the interior
// is to the left of each edge.
//for (int32 i = 0; i < m_vertexCount; ++i)
//{
//int32 i1 = i;
//int32 i2 = i + 1 < m_vertexCount ? i + 1 : 0;
//b2Vec2 edge = m_vertices[i2] - m_vertices[i1];
//for (int32 j = 0; j < m_vertexCount; ++j)
//{
// Don't check vertices on the current edge.
//if (j == i1 || j == i2)
//{
//continue;
//}
//
//b2Vec2 r = m_vertices[j] - m_vertices[i1];
// Your polygon is non-convex (it has an indentation) or
// has colinear edges.
//float32 s = b2Cross(edge, r);
//b2Assert(s > 0.0f);
//}
//}
//#endif
// Compute the polygon centroid
m_centroid = ComputeCentroid(m_vertices, (uint)m_vertexCount);
}
/// Ray-cast against the proxies in the tree. This relies on the callback
/// to perform a exact ray-cast in the case were the proxy contains a shape.
/// The callback also performs the any collision filtering. This has performance
/// roughly equal to k * log(n), where k is the number of collisions and n is the
/// number of proxies in the tree.
/// @param input the ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1).
/// @param callback a callback class that is called for each proxy that is hit by the ray.
public void RayCast(b2BroadphaseRayCastCallback callback, b2RayCastInput input)
{
b2Vec2 p1 = new b2Vec2(input.p1);
b2Vec2 p2 = new b2Vec2(input.p2);
b2Vec2 r = p2 - p1;
Debug.Assert(r.LengthSquared() > 0.0f);
r.Normalize();
// v is perpendicular to the segment.
b2Vec2 v = Utils.b2Cross(1.0f, r);
b2Vec2 abs_v = Utils.b2Abs(v);
// Separating axis for segment (Gino, p80).
// |dot(v, p1 - c)| > dot(|v|, h)
float maxFraction = input.maxFraction;
// Build a bounding box for the segment.
b2AABB segmentAABB = new b2AABB();
{
b2Vec2 t = p1 + maxFraction * (p2 - p1);
segmentAABB.lowerBound = Utils.b2Min(p1, t);
segmentAABB.upperBound = Utils.b2Max(p1, t);
}
Stack <int> stack = new Stack <int>(256);
stack.Push(m_root);
while (stack.Count > 0)
{
int nodeId = stack.Pop();
if (nodeId == Settings.b2_nullNode)
{
continue;
}
b2TreeNode node = m_nodes[nodeId];
if (Utils.b2TestOverlap(ref node.aabb, ref segmentAABB) == false)
{
continue;
}
// Separating axis for segment (Gino, p80).
// |dot(v, p1 - c)| > dot(|v|, h)
b2Vec2 c = node.aabb.GetCenter();
b2Vec2 h = node.aabb.GetExtents();
float separation = Utils.b2Abs(Utils.b2Dot(v, p1 - c)) - Utils.b2Dot(abs_v, h);
if (separation > 0.0f)
{
continue;
}
if (node.IsLeaf())
{
b2RayCastInput subInput = new b2RayCastInput();
subInput.p1 = input.p1;
subInput.p2 = input.p2;
subInput.maxFraction = maxFraction;
float value = callback(subInput, nodeId);
if (value == 0.0f)
{
// The client has terminated the ray cast.
return;
}
if (value > 0.0f)
{
// Update segment bounding box.
maxFraction = value;
b2Vec2 t = p1 + maxFraction * (p2 - p1);
segmentAABB.lowerBound = Utils.b2Min(p1, t);
segmentAABB.upperBound = Utils.b2Max(p1, t);
}
}
else
{
stack.Push(node.child1);
stack.Push(node.child2);
}
}
}