/// <summary>
/// Full reset. Clears out all data for pooling. Call FreeShapes() first.
/// </summary>
private void Reset()
{
VoltDebug.Assert(this.shapeCount == 0);
#if DEBUG
this.IsInitialized = false;
#endif
this.UserData = null;
this.World = null;
this.BodyType = VoltBodyType.Invalid;
this.CollisionFilter = null;
this.Angle = 0.0f;
this.LinearVelocity = TSVector2.zero;
this.AngularVelocity = 0.0f;
this.Force = TSVector2.zero;
this.Torque = 0.0f;
this.Mass = 0.0f;
this.Inertia = 0.0f;
this.InvMass = 0.0f;
this.InvInertia = 0.0f;
this.BiasVelocity = TSVector2.zero;
this.BiasRotation = 0.0f;
this.history = null;
this.currentState = default(HistoryRecord);
}
/// <summary>
/// Checks if a point is contained in this body.
/// Begins with AABB checks unless bypassed.
/// </summary>
internal bool QueryPoint(
Vector2 point,
int ticksBehind,
bool bypassAABB = false)
{
HistoryRecord record = this.GetState(ticksBehind);
// AABB check done in world space (because it keeps changing)
if (bypassAABB == false)
{
if (record.aabb.QueryPoint(point) == false)
{
return(false);
}
}
// Actual query on shapes done in body space
Vector2 bodySpacePoint = record.WorldToBodyPoint(point);
for (int i = 0; i < this.shapeCount; i++)
{
if (this.shapes[i].QueryPoint(bodySpacePoint))
{
return(true);
}
}
return(false);
}
/// <summary>
/// Checks if a circle overlaps with this body.
/// Begins with AABB checks.
/// </summary>
internal bool QueryCircle(
TSVector2 origin,
FP radius,
int ticksBehind,
bool bypassAABB = false)
{
HistoryRecord record = this.GetState(ticksBehind);
// AABB check done in world space (because it keeps changing)
if (bypassAABB == false)
{
if (record.aabb.QueryCircleApprox(origin, radius) == false)
{
return(false);
}
}
// Actual query on shapes done in body space
TSVector2 bodySpaceOrigin = record.WorldToBodyPoint(origin);
for (int i = 0; i < this.shapeCount; i++)
{
if (this.shapes[i].QueryCircle(bodySpaceOrigin, radius))
{
return(true);
}
}
return(false);
}
/// <summary>
/// Tries to get a value with a given number of frames behind the last
/// value stored. If the value can't be found, this function will find
/// the closest and return false, indicating a clamp.
/// </summary>
public bool TryGet(int numBehind, out HistoryRecord value)
{
if (numBehind < 0)
{
throw new ArgumentOutOfRangeException("numBehind");
}
if (this.count < this.capacity)
{
if (numBehind >= this.count)
{
value = this.data[0];
return(false);
}
value = this.data[this.count - numBehind - 1];
return(true);
}
else
{
bool found = true;
if (numBehind >= this.capacity)
{
numBehind = this.capacity - 1;
found = false;
}
int index =
((this.start - numBehind - 1) + this.capacity)
% this.capacity;
value = this.data[index];
return(found);
}
}
/// <summary>
/// Checks if an AABB overlaps with our AABB.
/// </summary>
internal bool QueryAABBOnly(
VoltAABB worldBounds,
int ticksBehind)
{
HistoryRecord record = this.GetState(ticksBehind);
// AABB check done in world space (because it keeps changing)
return(record.aabb.Intersect(worldBounds));
}
/// <summary>
/// Stores a value as latest.
/// </summary>
public void Store(HistoryRecord value)
{
if (this.count < this.capacity)
{
this.data[this.count++] = value;
this.IncrementStart();
}
else
{
this.data[this.start] = value;
this.IncrementStart();
}
}
/// <summary>
/// Used for saving the body as part of another structure. The body
/// will retain all geometry data and associated metrics, but its
/// position, velocity, forces, and all related history will be cleared.
/// </summary>
internal void PartialReset()
{
this.history = null;
this.currentState = default(HistoryRecord);
this.LinearVelocity = TSVector2.zero;
this.AngularVelocity = 0.0f;
this.Force = TSVector2.zero;
this.Torque = 0.0f;
this.BiasVelocity = TSVector2.zero;
this.BiasRotation = 0.0f;
}
/// <summary>
/// Performs a circle cast check on this body.
/// Begins with AABB checks.
/// </summary>
internal bool CircleCast(
ref VoltRayCast ray,
FP radius,
ref VoltRayResult result,
int ticksBehind,
bool bypassAABB = false)
{
HistoryRecord record = this.GetState(ticksBehind);
// AABB check done in world space (because it keeps changing)
if (bypassAABB == false)
{
if (record.aabb.CircleCastApprox(ref ray, radius) == false)
{
return(false);
}
}
// Actual tests on shapes done in body space
VoltRayCast bodySpaceRay = record.WorldToBodyRay(ref ray);
for (int i = 0; i < this.shapeCount; i++)
{
if (this.shapes[i].CircleCast(ref bodySpaceRay, radius, ref result))
{
if (result.IsContained)
{
return(true);
}
}
}
// We need to convert the results back to world space to be any use
// (Doesn't matter if we were contained since there will be no normal)
if (result.Body == this)
{
result.normal = record.BodyToWorldDirection(result.normal);
}
return(result.IsValid);
}
internal void Store(ref HistoryRecord other)
{
this.aabb = other.aabb;
this.position = other.position;
this.facing = other.facing;
}
internal void Store(ref HistoryRecord other)
{
this.aabb = other.aabb;
this.position = other.position;
this.facing = other.facing;
}
