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;
}
/// Create a rigid body given a definition. No reference to the definition
/// is retained.
/// @warning This function is locked during callbacks.
public Body CreateBody(BodyDef def)
{
Debug.Assert(!IsLocked);
if (IsLocked)
{
return null;
}
var b = new Body(def, this);
// Add to world doubly linked list.
b._prev = null;
b._next = _bodyList;
if (_bodyList != null)
{
_bodyList._prev = b;
}
_bodyList = b;
++_bodyCount;
return b;
}