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);
}
}
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);
}
}
bool QueryCallback(int proxyId)
{
FixtureProxy proxy = (FixtureProxy)broadPhase.GetUserData(proxyId);
return(callback.ReportFixture(proxy.fixture));
}
// Broad-phase callback.
internal void AddPair(FixtureProxy proxyA, FixtureProxy proxyB)
{
Fixture fixtureA = proxyA.fixture;
Fixture fixtureB = proxyB.fixture;
int indexA = proxyA.childIndex;
int indexB = proxyB.childIndex;
Body bodyA = fixtureA.GetBody();
Body bodyB = fixtureB.GetBody();
// Are the fixtures on the same body?
if (bodyA == bodyB)
{
return;
}
// Does a contact already exist?
ContactEdge edge = bodyB.GetContactList();
while (edge != null)
{
if (edge.Other == bodyA)
{
Fixture fA = edge.Contact.GetFixtureA();
Fixture fB = edge.Contact.GetFixtureB();
int iA = edge.Contact.GetChildIndexA();
int iB = edge.Contact.GetChildIndexB();
if (fA == fixtureA && fB == fixtureB && iA == indexA && iB == indexB)
{
// A contact already exists.
return;
}
if (fA == fixtureB && fB == fixtureA && iA == indexB && iB == indexA)
{
// A contact already exists.
return;
}
}
edge = edge.Next;
}
// Does a joint override collision? Is at least one body dynamic?
if (bodyB.ShouldCollide(bodyA) == false)
{
return;
}
// Check user filtering.
if (ContactFilter != null && ContactFilter.ShouldCollide(fixtureA, fixtureB) == false)
{
return;
}
// Call the factory.
Contact c = Contact.Create(fixtureA, indexA, fixtureB, indexB);
// Contact creation may swap fixtures.
fixtureA = c.GetFixtureA();
fixtureB = c.GetFixtureB();
indexA = c.GetChildIndexA();
indexB = c.GetChildIndexB();
bodyA = fixtureA.GetBody();
bodyB = fixtureB.GetBody();
// Insert into the world.
c._prev = null;
c._next = _contactList;
if (_contactList != null)
{
_contactList._prev = c;
}
_contactList = c;
// Connect to island graph.
// Connect to body A
c._nodeA.Contact = c;
c._nodeA.Other = bodyB;
c._nodeA.Prev = null;
c._nodeA.Next = bodyA._contactList;
if (bodyA._contactList != null)
{
bodyA._contactList.Prev = c._nodeA;
}
bodyA._contactList = c._nodeA;
// Connect to body B
c._nodeB.Contact = c;
c._nodeB.Other = bodyA;
c._nodeB.Prev = null;
c._nodeB.Next = bodyB._contactList;
if (bodyB._contactList != null)
{
bodyB._contactList.Prev = c._nodeB;
}
bodyB._contactList = c._nodeB;
++_contactCount;
}
// Broad-phase callback.
public void AddPair(object proxyUserDataA, object proxyUserDataB)
{
FixtureProxy proxyA = (FixtureProxy)proxyUserDataA;
FixtureProxy proxyB = (FixtureProxy)proxyUserDataB;
Fixture fixtureA = proxyA.fixture;
Fixture fixtureB = proxyB.fixture;
int indexA = proxyA.childIndex;
int indexB = proxyB.childIndex;
Body bodyA = fixtureA.GetBody();
Body bodyB = fixtureB.GetBody();
// Are the fixtures on the same body?
if (bodyA == bodyB)
{
return;
}
// TODO_ERIN use a hash table to remove a potential bottleneck when both
// bodies have a lot of contacts.
// Does a contact already exist?
List <ContactEdge> edges = bodyB.GetContactList();
foreach (ContactEdge edge in edges)
{
if (edge.other == bodyA)
{
Fixture fA = edge.contact.FixtureA;
Fixture fB = edge.contact.FixtureB;
int iA = edge.contact.GetChildIndexA();
int iB = edge.contact.GetChildIndexB();
if (fA == fixtureA && fB == fixtureB && iA == indexA && iB == indexB)
{
// A contact already exists.
return;
}
if (fA == fixtureB && fB == fixtureA && iA == indexB && iB == indexA)
{
// A contact already exists.
return;
}
}
}
// Does a joint override collision? Is at least one body dynamic?
if (bodyB.ShouldCollide(bodyA) == false)
{
return;
}
// Check user filtering.
if ((m_contactFilter != null) && m_contactFilter.ShouldCollide(fixtureA, fixtureB) == false)
{
return;
}
// Call the factory.
Contact c = Contact.Create(fixtureA, indexA, fixtureB, indexB);
if (c == null)
{
return;
}
// Contact creation may swap fixtures.
fixtureA = c.FixtureA;
fixtureB = c.FixtureB;
indexA = c.GetChildIndexA();
indexB = c.GetChildIndexB();
bodyA = fixtureA.GetBody();
bodyB = fixtureB.GetBody();
// Insert into the world.
m_contactList.Add(c);
// Connect to island graph.
// Connect to body A
c.m_nodeA.contact = c;
c.m_nodeA.other = bodyB;
bodyA.m_contactList.Add(c.m_nodeA);
// Connect to body B
c.m_nodeB.contact = c;
c.m_nodeB.other = bodyA;
bodyB.m_contactList.Add(c.m_nodeB);
// Wake up the bodies
if (fixtureA.IsSensor == false && fixtureB.IsSensor == false)
{
bodyA.SetAwake(true);
bodyB.SetAwake(true);
}
}
// 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);
}
}
bool QueryAABBCallbackWrapper(int proxyId)
{
FixtureProxy proxy = (FixtureProxy)_contactManager._broadPhase.GetUserData(proxyId);
return(_queryAABBCallback(proxy));
}
/// Call this to draw shapes and other debug draw data.
public void DrawDebugData()
{
if (DebugDraw == null)
{
return;
}
DebugDrawFlags flags = DebugDraw.Flags;
if ((flags & DebugDrawFlags.Shape) == DebugDrawFlags.Shape)
{
for (Body b = _bodyList; b != null; b = b.GetNext())
{
Transform xf;
b.GetTransform(out xf);
for (Fixture f = b.GetFixtureList(); f != null; f = f.GetNext())
{
if (b.IsActive() == false)
{
DrawShape(f, xf, new Color(0.5f, 0.5f, 0.3f));
}
else if (b.GetType() == BodyType.Static)
{
DrawShape(f, xf, new Color(0.5f, 0.9f, 0.5f));
}
else if (b.GetType() == BodyType.Kinematic)
{
DrawShape(f, xf, new Color(0.5f, 0.5f, 0.9f));
}
else if (b.IsAwake() == false)
{
DrawShape(f, xf, new Color(0.6f, 0.6f, 0.6f));
}
else
{
DrawShape(f, xf, new Color(0.9f, 0.7f, 0.7f));
}
}
}
}
if ((flags & DebugDrawFlags.Joint) == DebugDrawFlags.Joint)
{
for (Joint j = _jointList; j != null; j = j.GetNext())
{
DrawJoint(j);
}
}
if ((flags & DebugDrawFlags.Pair) == DebugDrawFlags.Pair)
{
Color color = new Color(0.3f, 0.9f, 0.9f);
for (Contact c = _contactManager._contactList; c != null; c = c.GetNext())
{
/*
* Fixture fixtureA = c.GetFixtureA();
* Fixture fixtureB = c.GetFixtureB();
*
* AABB aabbA;
* AABB aabbB;
* fixtureA.GetAABB(out aabbA);
* fixtureB.GetAABB(out aabbB);
*
* Vector2 cA = aabbA.GetCenter();
* Vector2 cB = aabbB.GetCenter();
*
* DebugDraw.DrawSegment(cA, cB, color);
*/
}
}
if ((flags & DebugDrawFlags.AABB) == DebugDrawFlags.AABB)
{
Color color = new Color(0.9f, 0.3f, 0.9f);
BroadPhase bp = _contactManager._broadPhase;
for (Body b = _bodyList; b != null; b = b.GetNext())
{
if (b.IsActive() == false)
{
continue;
}
for (Fixture f = b.GetFixtureList(); f != null; f = f.GetNext())
{
for (int i = 0; i < f._proxyCount; ++i)
{
FixtureProxy proxy = f._proxies[i];
AABB aabb;
bp.GetFatAABB(proxy.proxyId, out aabb);
FixedArray8 <Vector2> vs = new FixedArray8 <Vector2>();
vs[0] = new Vector2(aabb.lowerBound.x, aabb.lowerBound.y);
vs[1] = new Vector2(aabb.upperBound.x, aabb.lowerBound.y);
vs[2] = new Vector2(aabb.upperBound.x, aabb.upperBound.y);
vs[3] = new Vector2(aabb.lowerBound.x, aabb.upperBound.y);
DebugDraw.DrawPolygon(ref vs, 4, color);
}
}
}
}
if ((flags & DebugDrawFlags.CenterOfMass) == DebugDrawFlags.CenterOfMass)
{
for (Body b = _bodyList; b != null; b = b.GetNext())
{
Transform xf;
b.GetTransform(out xf);
xf.Position = b.GetWorldCenter();
DebugDraw.DrawTransform(ref xf);
}
}
}
/// Call this to draw shapes and other debug draw data.
public void DrawDebugData()
{
if (m_debugDraw == null)
{
return;
}
Draw.DrawFlags flags = m_debugDraw.GetFlags();
if (flags.HasFlag(Draw.DrawFlags.e_shapeBit))
{
foreach (Body b in m_bodyList)
{
Transform xf = b.GetTransform();
foreach (Fixture f in b.GetFixtureList())
{
if (b.IsActive() == false)
{
DrawShape(f, xf, Color.FromArgb(128, 128, 75));
}
else if (b.GetBodyType() == BodyType._staticBody)
{
DrawShape(f, xf, Color.FromArgb(128, 225, 128));
}
else if (b.GetBodyType() == BodyType._kinematicBody)
{
DrawShape(f, xf, Color.FromArgb(128, 128, 225));
}
else if (b.IsAwake() == false)
{
DrawShape(f, xf, Color.FromArgb(150, 150, 150));
}
else
{
DrawShape(f, xf, Color.FromArgb(225, 175, 175));
}
}
}
}
if (flags.HasFlag(Draw.DrawFlags.e_jointBit))
{
foreach (Joint j in m_jointList)
{
DrawJoint(j);
}
}
if (flags.HasFlag(Draw.DrawFlags.e_pairBit))
{
Color color = Color.FromArgb(75, 225, 225);
foreach (Contact c in m_contactManager.m_contactList)
{
//Fixture fixtureA = c.FixtureA;
//Fixture fixtureB = c.FixtureB;
//Vec2 cA = fixtureA.GetAABB().GetCenter();
//Vec2 cB = fixtureB.GetAABB().GetCenter();
//m_debugDraw.DrawSegment(cA, cB, color);
}
}
if (flags.HasFlag(Draw.DrawFlags.e_aabbBit))
{
Color color = Color.FromArgb(225, 75, 225);
BroadPhase bp = m_contactManager.m_broadPhase;
foreach (Body b in m_bodyList)
{
if (b.IsActive() == false)
{
continue;
}
foreach (Fixture f in b.GetFixtureList())
{
for (int i = 0; i < f.m_proxies.Count(); ++i)
{
FixtureProxy proxy = f.m_proxies[i];
AABB aabb = bp.GetFatAABB(proxy.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);
m_debugDraw.DrawPolygon(vs, 4, color);
}
}
}
}
if (flags.HasFlag(Draw.DrawFlags.e_centerOfMassBit))
{
foreach (Body b in m_bodyList)
{
Transform xf = b.GetTransform();
xf.p = b.GetWorldCenter();
m_debugDraw.DrawTransform(xf);
}
}
}
