public World(AABB worldAABB, Vec2 gravity, bool doSleep)
{
this._destructionListener = null;
this._boundaryListener = null;
this._contactFilter = WorldCallback.DefaultFilter;
this._contactListener = null;
this._debugDraw = null;
this._bodyList = null;
this._contactList = null;
this._jointList = null;
this._bodyCount = 0;
this._contactCount = 0;
this._jointCount = 0;
this._warmStarting = true;
this._continuousPhysics = true;
this._allowSleep = doSleep;
this._gravity = gravity;
this._lock = false;
this._inv_dt0 = 0f;
this._contactManager = new ContactManager();
this._contactManager._world = this;
this._broadPhase = new BroadPhase(worldAABB, this._contactManager);
BodyDef def = new BodyDef();
this._groundBody = this.CreateBody(def);
}
public ContactManager()
{
_broadPhase = new BroadPhase();
_defaultFilter = new ContactFilter();
_defaultListener = new ContactListener();
_contactList = null;
_contactCount = 0;
_contactFilter = _defaultFilter;
_contactListener = _defaultListener;
}
internal bool Synchronize(BroadPhase broadPhase, XForm transform1, XForm transform2)
{
if (_proxyId == PairManager.NullProxy)
{
return(false);
}
// Compute an AABB that covers the swept shape (may miss some rotation effect).
AABB aabb;
ComputeSweptAABB(out aabb, transform1, transform2);
if (broadPhase.InRange(aabb))
{
broadPhase.MoveProxy(_proxyId, aabb);
return(true);
}
else
{
return(false);
}
}
internal void CreateProxy(BroadPhase broadPhase, XForm transform)
{
Box2DXDebug.Assert(_proxyId == PairManager.NullProxy);
AABB aabb;
ComputeAABB(out aabb, transform);
bool inRange = broadPhase.InRange(aabb);
// You are creating a shape outside the world box.
Box2DXDebug.Assert(inRange);
if (inRange)
{
_proxyId = broadPhase.CreateProxy(aabb, this);
}
else
{
_proxyId = PairManager.NullProxy;
}
}
internal bool Synchronize(BroadPhase broadPhase, XForm transform1, XForm transform2)
{
bool result;
if (this._proxyId == PairManager.NullProxy)
{
result = false;
}
else
{
AABB aabb;
this.ComputeSweptAABB(out aabb, transform1, transform2);
if (broadPhase.InRange(aabb))
{
broadPhase.MoveProxy((int)this._proxyId, aabb);
result = true;
}
else
{
result = false;
}
}
return(result);
}
internal void RefilterProxy(BroadPhase broadPhase, XForm transform)
{
if (_proxyId == PairManager.NullProxy)
{
return;
}
broadPhase.DestroyProxy(_proxyId);
AABB aabb;
ComputeAABB(out aabb, transform);
bool inRange = broadPhase.InRange(aabb);
if (inRange)
{
_proxyId = broadPhase.CreateProxy(aabb, this);
}
else
{
_proxyId = PairManager.NullProxy;
}
}
public void Destroy(BroadPhase broadPhase)
{
// Remove proxy from the broad-phase.
if (ProxyId != BroadPhase.NullProxy)
{
broadPhase.DestroyProxy(ProxyId);
ProxyId = BroadPhase.NullProxy;
}
// Free the child shape.
switch (Shape.Type)
{
case ShapeType.CircleShape:
{
//CircleShape s = (CircleShape)Shape;
//s->~b2CircleShape();
//allocator->Free(s, sizeof(b2CircleShape));
}
break;
case ShapeType.PolygonShape:
{
//b2PolygonShape* s = (b2PolygonShape*)m_shape;
//s->~b2PolygonShape();
//allocator->Free(s, sizeof(b2PolygonShape));
}
break;
default:
Box2DXDebug.Assert(false);
break;
}
Shape = null;
}
internal bool Synchronize(BroadPhase broadPhase, XForm transform1, XForm transform2)
{
bool result;
if (this._proxyId == PairManager.NullProxy)
{
result = false;
}
else
{
AABB aabb;
this.ComputeSweptAABB(out aabb, transform1, transform2);
if (broadPhase.InRange(aabb))
{
broadPhase.MoveProxy((int)this._proxyId, aabb);
result = true;
}
else
{
result = false;
}
}
return result;
}
internal void DestroyProxy(BroadPhase broadPhase)
{
if (this._proxyId != PairManager.NullProxy)
{
broadPhase.DestroyProxy((int)this._proxyId);
this._proxyId = PairManager.NullProxy;
}
}
public BroadPhaseTest()
{
BroadPhase.IsValidate = true;
//srand(888);
AABB worldAABB = new AABB();
worldAABB.LowerBound.Set(-5.0f * k_extent, -5.0f * k_extent);
worldAABB.UpperBound.Set(5.0f * k_extent, 5.0f * k_extent);
_overlapCount = 0;
_overlapCountExact = 0;
_callback._test = this;
_broadPhase = new BroadPhase(worldAABB, _callback);
for (int i = 0; i < k_actorCount; i++)
_overlaps[i] = new bool[k_actorCount];
for (int i = 0; i < k_actorCount; i++)
for (int j = 0; j < k_actorCount; j++)
_overlaps[i][j] = false;
for (int i = 0; i < k_actorCount; i++)
_actors[i] = new Actor();
for (int i = 0; i < k_actorCount; ++i)
{
bool s = false;
if (i == 91)
s = true;
Actor actor = _actors[i];
GetRandomAABB(ref actor.aabb);
//actor->aabb.minVertex.Set(0.0f, 0.0f);
//actor->aabb.maxVertex.Set(k_width, k_width);
actor.proxyId = _broadPhase.CreateProxy(actor.aabb, actor);
actor.overlapCount = 0;
_broadPhase.Validate();
}
_automated = true;
_stepCount = 0;
}
public void Create(BroadPhase broadPhase, Body body, 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;
_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:
Box2DXDebug.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.
Box2DXDebug.Assert(inRange);
if (inRange)
{
_proxyId = broadPhase.CreateProxy(aabb, this);
}
else
{
_proxyId = PairManager.NullProxy;
}
}
protected virtual void Dispose(bool disposing)
{
if (disposing)
{
// free managed resources
this.DestroyBody(this._groundBody);
if (this._broadPhase is IDisposable)
{
(this._broadPhase as IDisposable).Dispose();
}
this._broadPhase = null;
}
// free native resources if there are any.
}
public void Initialize(BroadPhase broadPhase, PairCallback callback)
{
_broadPhase = broadPhase;
_callback = callback;
}
internal void DestroyProxy(BroadPhase broadPhase)
{
if (_proxyId != PairManager.NullProxy)
{
broadPhase.DestroyProxy(_proxyId);
_proxyId = PairManager.NullProxy;
}
}
internal void CreateProxy(BroadPhase broadPhase, XForm transform)
{
Box2DXDebug.Assert(_proxyId == PairManager.NullProxy);
AABB aabb;
ComputeAABB(out aabb, transform);
bool inRange = broadPhase.InRange(aabb);
// You are creating a shape outside the world box.
Box2DXDebug.Assert(inRange);
if (inRange)
{
_proxyId = broadPhase.CreateProxy(aabb, this);
}
else
{
_proxyId = PairManager.NullProxy;
}
}
public void Synchronize(BroadPhase broadPhase, Transform transform1, 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(aabb1, aabb2);
Vec2 displacement = transform2.Position - transform1.Position;
broadPhase.MoveProxy(ProxyId, Aabb, displacement);
}
// 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);
}
public void Destroy(BroadPhase broadPhase)
{
// Remove proxy from the broad-phase.
if (_proxyId != PairManager.NullProxy)
{
broadPhase.DestroyProxy(_proxyId);
_proxyId = PairManager.NullProxy;
}
// Free the child shape.
_shape.Dispose();
_shape = null;
}
protected override void Dispose(bool state)
{
if (state)
{
BroadPhase.IsValidate = false;
_broadPhase = null;
}
}
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;
}
}
internal void CreateProxy(BroadPhase broadPhase, XForm transform)
{
Box2DXDebug.Assert(this._proxyId == PairManager.NullProxy);
AABB aabb;
this.ComputeAABB(out aabb, transform);
bool flag = broadPhase.InRange(aabb);
Box2DXDebug.Assert(flag);
if (flag)
{
this._proxyId = broadPhase.CreateProxy(aabb, this);
}
else
{
this._proxyId = PairManager.NullProxy;
}
}
internal bool Synchronize(BroadPhase broadPhase, XForm transform1, XForm transform2)
{
if (_proxyId == PairManager.NullProxy)
{
return false;
}
// Compute an AABB that covers the swept shape (may miss some rotation effect).
AABB aabb1, aabb2;
_shape.ComputeAABB(out aabb1, transform1);
_shape.ComputeAABB(out aabb2, transform2);
AABB aabb = new AABB();
aabb.Combine(aabb1, aabb2);
if (broadPhase.InRange(aabb))
{
broadPhase.MoveProxy(_proxyId, aabb);
return true;
}
else
{
return false;
}
}
internal void RefilterProxy(BroadPhase broadPhase, XForm transform)
{
if (this._proxyId != PairManager.NullProxy)
{
broadPhase.DestroyProxy((int)this._proxyId);
AABB aabb;
this.ComputeAABB(out aabb, transform);
bool flag = broadPhase.InRange(aabb);
if (flag)
{
this._proxyId = broadPhase.CreateProxy(aabb, this);
}
else
{
this._proxyId = PairManager.NullProxy;
}
}
}
/// <summary>
/// Destruct the world. All physics entities are destroyed.
/// </summary>
public void Dispose()
{
DestroyBody(_groundBody);
if (_broadPhase is IDisposable)
(_broadPhase as IDisposable).Dispose();
_broadPhase = null;
}
public void Initialize(BroadPhase broadPhase, PairCallback callback)
{
this._broadPhase = broadPhase;
this._callback = callback;
}
/// <summary>
/// Construct a world object.
/// </summary>
/// <param name="worldAABB">A bounding box that completely encompasses all your shapes.</param>
/// <param name="gravity">The world gravity vector.</param>
/// <param name="doSleep">Improve performance by not simulating inactive bodies.</param>
public World(AABB worldAABB, Vec2 gravity, bool doSleep)
{
_destructionListener = null;
_boundaryListener = null;
_contactFilter = WorldCallback.DefaultFilter;
_contactListener = null;
_debugDraw = null;
_bodyList = null;
_contactList = null;
_jointList = null;
_bodyCount = 0;
_contactCount = 0;
_jointCount = 0;
_warmStarting = true;
_continuousPhysics = true;
_allowSleep = doSleep;
_gravity = gravity;
_lock = false;
_inv_dt0 = 0.0f;
_contactManager = new ContactManager();
_contactManager._world = this;
_broadPhase = new BroadPhase(worldAABB, _contactManager);
BodyDef bd = new BodyDef();
_groundBody = CreateBody(bd);
}
