internal static Shape Create(ShapeDef def)
{
Shape result;
switch (def.Type)
{
case ShapeType.CircleShape:
{
result = new CircleShape(def);
break;
}
case ShapeType.PolygonShape:
{
result = new PolygonShape(def);
break;
}
default:
{
Box2DXDebug.Assert(false);
result = null;
break;
}
}
return(result);
}
internal CircleShape(ShapeDef def) : base(def)
{
Box2DXDebug.Assert(def.Type == ShapeType.CircleShape);
CircleDef circleDef = (CircleDef)def;
this._type = ShapeType.CircleShape;
this._localPosition = circleDef.LocalPosition;
this._radius = circleDef.Radius;
}
internal CircleShape(ShapeDef def)
: base(def)
{
Box2DXDebug.Assert(def.Type == ShapeType.CircleShape);
CircleDef circleDef = (CircleDef)def;
this._type = ShapeType.CircleShape;
this._localPosition = circleDef.LocalPosition;
this._radius = circleDef.Radius;
}
protected Shape(ShapeDef def)
{
this._userData = def.UserData;
this._friction = def.Friction;
this._restitution = def.Restitution;
this._density = def.Density;
this._body = null;
this._sweepRadius = 0f;
this._next = null;
this._proxyId = PairManager.NullProxy;
this._filter = def.Filter;
this._isSensor = def.IsSensor;
}
protected Shape(ShapeDef def)
{
this._userData = def.UserData;
this._friction = def.Friction;
this._restitution = def.Restitution;
this._density = def.Density;
this._body = null;
this._sweepRadius = 0f;
this._next = null;
this._proxyId = PairManager.NullProxy;
this._filter = def.Filter;
this._isSensor = def.IsSensor;
}
protected Shape(ShapeDef def)
{
_userData = def.UserData;
_friction = def.Friction;
_restitution = def.Restitution;
_density = def.Density;
_body = null;
_sweepRadius = 0.0f;
_next = null;
_proxyId = PairManager.NullProxy;
_filter = def.Filter;
_isSensor = def.IsSensor;
}
internal static Shape Create(ShapeDef def)
{
switch (def.Type)
{
case ShapeType.CircleShape:
{
return(new CircleShape(def));
}
case ShapeType.PolygonShape:
{
return(new PolygonShape(def));
}
default:
Box2DXDebug.Assert(false);
return(null);
}
}
internal PolygonShape(ShapeDef def)
: base(def)
{
Box2DXDebug.Assert(def.Type == ShapeType.PolygonShape);
_type = ShapeType.PolygonShape;
PolygonDef poly = (PolygonDef)def;
// Get the vertices transformed into the body frame.
_vertexCount = poly.VertexCount;
Box2DXDebug.Assert(3 <= _vertexCount && _vertexCount <= Settings.MaxPolygonVertices);
// Copy vertices.
for (int i = 0; i < _vertexCount; ++i)
{
_vertices[i] = poly.Vertices[i];
}
// Compute normals. Ensure the edges have non-zero length.
for (int i = 0; i < _vertexCount; ++i)
{
int i1 = i;
int i2 = i + 1 < _vertexCount ? i + 1 : 0;
Vec2 edge = _vertices[i2] - _vertices[i1];
Box2DXDebug.Assert(edge.LengthSquared() > Common.Settings.FLT_EPSILON * Common.Settings.FLT_EPSILON);
_normals[i] = Vec2.Cross(edge, 1.0f);
_normals[i].Normalize();
}
#if DEBUG
// Ensure the polygon is convex.
for (int i = 0; i < _vertexCount; ++i)
{
for (int j = 0; j < _vertexCount; ++j)
{
// Don't check vertices on the current edge.
if (j == i || j == (i + 1) % _vertexCount)
{
continue;
}
// Your polygon is non-convex (it has an indentation).
// Or your polygon is too skinny.
float s = Vec2.Dot(_normals[i], _vertices[j] - _vertices[i]);
Box2DXDebug.Assert(s < -Settings.LinearSlop);
}
}
// Ensure the polygon is counter-clockwise.
for (int i = 1; i < _vertexCount; ++i)
{
float cross = Vec2.Cross(_normals[i - 1], _normals[i]);
// Keep asinf happy.
cross = Common.Math.Clamp(cross, -1.0f, 1.0f);
// You have consecutive edges that are almost parallel on your polygon.
float angle = (float)System.Math.Asin(cross);
Box2DXDebug.Assert(angle > Settings.AngularSlop);
}
#endif
// Compute the polygon centroid.
_centroid = ComputeCentroid(poly.Vertices, poly.VertexCount);
// Compute the oriented bounding box.
ComputeOBB(out _obb, _vertices, _vertexCount);
// Create core polygon shape by shifting edges inward.
// Also compute the min/max radius for CCD.
for (int i = 0; i < _vertexCount; ++i)
{
int i1 = i - 1 >= 0 ? i - 1 : _vertexCount - 1;
int i2 = i;
Vec2 n1 = _normals[i1];
Vec2 n2 = _normals[i2];
Vec2 v = _vertices[i] - _centroid; ;
Vec2 d = new Vec2();
d.X = Vec2.Dot(n1, v) - Settings.ToiSlop;
d.Y = Vec2.Dot(n2, v) - Settings.ToiSlop;
// Shifting the edge inward by b2_toiSlop should
// not cause the plane to pass the centroid.
// Your shape has a radius/extent less than b2_toiSlop.
Box2DXDebug.Assert(d.X >= 0.0f);
Box2DXDebug.Assert(d.Y >= 0.0f);
Mat22 A = new Mat22();
A.Col1.X = n1.X; A.Col2.X = n1.Y;
A.Col1.Y = n2.X; A.Col2.Y = n2.Y;
_coreVertices[i] = A.Solve(d) + _centroid;
}
}
internal static Shape Create(ShapeDef def)
{
Shape result;
switch (def.Type)
{
case ShapeType.CircleShape:
{
result = new CircleShape(def);
break;
}
case ShapeType.PolygonShape:
{
result = new PolygonShape(def);
break;
}
default:
{
Box2DXDebug.Assert(false);
result = null;
break;
}
}
return result;
}
internal PolygonShape(ShapeDef def)
: base(def)
{
Box2DXDebug.Assert(def.Type == ShapeType.PolygonShape);
_type = ShapeType.PolygonShape;
PolygonDef poly = (PolygonDef)def;
// Get the vertices transformed into the body frame.
_vertexCount = poly.VertexCount;
Box2DXDebug.Assert(3 <= _vertexCount && _vertexCount <= Settings.MaxPolygonVertices);
// Copy vertices.
for (int i = 0; i < _vertexCount; ++i)
{
_vertices[i] = poly.Vertices[i];
}
// Compute normals. Ensure the edges have non-zero length.
for (int i = 0; i < _vertexCount; ++i)
{
int i1 = i;
int i2 = i + 1 < _vertexCount ? i + 1 : 0;
Vec2 edge = _vertices[i2] - _vertices[i1];
Box2DXDebug.Assert(edge.LengthSquared() > Common.Settings.FLT_EPSILON * Common.Settings.FLT_EPSILON);
_normals[i] = Vec2.Cross(edge, 1.0f);
_normals[i].Normalize();
}
#if DEBUG
// Ensure the polygon is convex.
for (int i = 0; i < _vertexCount; ++i)
{
for (int j = 0; j < _vertexCount; ++j)
{
// Don't check vertices on the current edge.
if (j == i || j == (i + 1) % _vertexCount)
{
continue;
}
// Your polygon is non-convex (it has an indentation).
// Or your polygon is too skinny.
float s = Vec2.Dot(_normals[i], _vertices[j] - _vertices[i]);
Box2DXDebug.Assert(s < -Settings.LinearSlop);
}
}
// Ensure the polygon is counter-clockwise.
for (int i = 1; i < _vertexCount; ++i)
{
float cross = Vec2.Cross(_normals[i - 1], _normals[i]);
// Keep asinf happy.
cross = Common.Math.Clamp(cross, -1.0f, 1.0f);
// You have consecutive edges that are almost parallel on your polygon.
float angle = (float)System.Math.Asin(cross);
Box2DXDebug.Assert(angle > Settings.AngularSlop);
}
#endif
// Compute the polygon centroid.
_centroid = ComputeCentroid(poly.Vertices, poly.VertexCount);
// Compute the oriented bounding box.
ComputeOBB(out _obb, _vertices, _vertexCount);
// Create core polygon shape by shifting edges inward.
// Also compute the min/max radius for CCD.
for (int i = 0; i < _vertexCount; ++i)
{
int i1 = i - 1 >= 0 ? i - 1 : _vertexCount - 1;
int i2 = i;
Vec2 n1 = _normals[i1];
Vec2 n2 = _normals[i2];
Vec2 v = _vertices[i] - _centroid;;
Vec2 d = new Vec2();
d.X = Vec2.Dot(n1, v) - Settings.ToiSlop;
d.Y = Vec2.Dot(n2, v) - Settings.ToiSlop;
// Shifting the edge inward by b2_toiSlop should
// not cause the plane to pass the centroid.
// Your shape has a radius/extent less than b2_toiSlop.
Box2DXDebug.Assert(d.X >= 0.0f);
Box2DXDebug.Assert(d.Y >= 0.0f);
Mat22 A = new Mat22();
A.Col1.X = n1.X; A.Col2.X = n1.Y;
A.Col1.Y = n2.X; A.Col2.Y = n2.Y;
_coreVertices[i] = A.Solve(d) + _centroid;
}
}
internal PolygonShape(ShapeDef def)
: base(def)
{
Box2DXDebug.Assert(def.Type == ShapeType.PolygonShape);
this._type = ShapeType.PolygonShape;
PolygonDef polygonDef = (PolygonDef)def;
this._vertexCount = polygonDef.VertexCount;
Box2DXDebug.Assert(3 <= this._vertexCount && this._vertexCount <= Settings.MaxPolygonVertices);
for (int i = 0; i < this._vertexCount; i++)
{
this._vertices[i] = polygonDef.Vertices[i];
}
for (int i = 0; i < this._vertexCount; i++)
{
int num = i;
int num2 = (i + 1 < this._vertexCount) ? (i + 1) : 0;
Vec2 a = this._vertices[num2] - this._vertices[num];
Box2DXDebug.Assert(a.LengthSquared() > Settings.FLT_EPSILON * Settings.FLT_EPSILON);
this._normals[i] = Vec2.Cross(a, 1f);
this._normals[i].Normalize();
}
for (int i = 0; i < this._vertexCount; i++)
{
for (int j = 0; j < this._vertexCount; j++)
{
if (j != i && j != (i + 1) % this._vertexCount)
{
float num3 = Vec2.Dot(this._normals[i], this._vertices[j] - this._vertices[i]);
Box2DXDebug.Assert(num3 < -Settings.LinearSlop);
}
}
}
for (int i = 1; i < this._vertexCount; i++)
{
float num4 = Vec2.Cross(this._normals[i - 1], this._normals[i]);
num4 = Box2DX.Common.Math.Clamp(num4, -1f, 1f);
float num5 = (float)System.Math.Asin((double)num4);
Box2DXDebug.Assert(num5 > Settings.AngularSlop);
}
this._centroid = PolygonShape.ComputeCentroid(polygonDef.Vertices, polygonDef.VertexCount);
PolygonShape.ComputeOBB(out this._obb, this._vertices, this._vertexCount);
for (int i = 0; i < this._vertexCount; i++)
{
int num = (i - 1 >= 0) ? (i - 1) : (this._vertexCount - 1);
int num2 = i;
Vec2 a2 = this._normals[num];
Vec2 a3 = this._normals[num2];
Vec2 b = this._vertices[i] - this._centroid;
Vec2 b2 = default(Vec2);
b2.X = Vec2.Dot(a2, b) - Settings.ToiSlop;
b2.Y = Vec2.Dot(a3, b) - Settings.ToiSlop;
Box2DXDebug.Assert(b2.X >= 0f);
Box2DXDebug.Assert(b2.Y >= 0f);
Mat22 mat = default(Mat22);
mat.Col1.X = a2.X;
mat.Col2.X = a2.Y;
mat.Col1.Y = a3.X;
mat.Col2.Y = a3.Y;
this._coreVertices[i] = mat.Solve(b2) + this._centroid;
}
}
internal static Shape Create(ShapeDef def)
{
switch (def.Type)
{
case ShapeType.CircleShape:
{
return new CircleShape(def);
}
case ShapeType.PolygonShape:
{
return new PolygonShape(def);
}
default:
Box2DXDebug.Assert(false);
return null;
}
}
protected Shape(ShapeDef def)
{
_userData = def.UserData;
_friction = def.Friction;
_restitution = def.Restitution;
_density = def.Density;
_body = null;
_sweepRadius = 0.0f;
_next = null;
_proxyId = PairManager.NullProxy;
_filter = def.Filter;
_isSensor = def.IsSensor;
}
internal PolygonShape(ShapeDef def) : base(def)
{
Box2DXDebug.Assert(def.Type == ShapeType.PolygonShape);
this._type = ShapeType.PolygonShape;
PolygonDef polygonDef = (PolygonDef)def;
this._vertexCount = polygonDef.VertexCount;
Box2DXDebug.Assert(3 <= this._vertexCount && this._vertexCount <= Settings.MaxPolygonVertices);
for (int i = 0; i < this._vertexCount; i++)
{
this._vertices[i] = polygonDef.Vertices[i];
}
for (int i = 0; i < this._vertexCount; i++)
{
int num = i;
int num2 = (i + 1 < this._vertexCount) ? (i + 1) : 0;
Vec2 a = this._vertices[num2] - this._vertices[num];
Box2DXDebug.Assert(a.LengthSquared() > Settings.FLT_EPSILON * Settings.FLT_EPSILON);
this._normals[i] = Vec2.Cross(a, 1f);
this._normals[i].Normalize();
}
for (int i = 0; i < this._vertexCount; i++)
{
for (int j = 0; j < this._vertexCount; j++)
{
if (j != i && j != (i + 1) % this._vertexCount)
{
float num3 = Vec2.Dot(this._normals[i], this._vertices[j] - this._vertices[i]);
Box2DXDebug.Assert(num3 < -Settings.LinearSlop);
}
}
}
for (int i = 1; i < this._vertexCount; i++)
{
float num4 = Vec2.Cross(this._normals[i - 1], this._normals[i]);
num4 = Box2DX.Common.Math.Clamp(num4, -1f, 1f);
float num5 = (float)System.Math.Asin((double)num4);
Box2DXDebug.Assert(num5 > Settings.AngularSlop);
}
this._centroid = PolygonShape.ComputeCentroid(polygonDef.Vertices, polygonDef.VertexCount);
PolygonShape.ComputeOBB(out this._obb, this._vertices, this._vertexCount);
for (int i = 0; i < this._vertexCount; i++)
{
int num = (i - 1 >= 0) ? (i - 1) : (this._vertexCount - 1);
int num2 = i;
Vec2 a2 = this._normals[num];
Vec2 a3 = this._normals[num2];
Vec2 b = this._vertices[i] - this._centroid;
Vec2 b2 = default(Vec2);
b2.X = Vec2.Dot(a2, b) - Settings.ToiSlop;
b2.Y = Vec2.Dot(a3, b) - Settings.ToiSlop;
Box2DXDebug.Assert(b2.X >= 0f);
Box2DXDebug.Assert(b2.Y >= 0f);
Mat22 mat = default(Mat22);
mat.Col1.X = a2.X;
mat.Col2.X = a2.Y;
mat.Col1.Y = a3.X;
mat.Col2.Y = a3.Y;
this._coreVertices[i] = mat.Solve(b2) + this._centroid;
}
}
/// <summary>
/// Creates a shape and attach it to this body.
/// @warning This function is locked during callbacks.
/// </summary>
/// <param name="shapeDef">The shape definition.</param>
/// <returns></returns>
public Shape CreateShape(ShapeDef shapeDef)
{
Box2DXDebug.Assert(_world._lock == false);
if (_world._lock == true)
{
return null;
}
Shape s = Shape.Create(shapeDef);
s._next = _shapeList;
_shapeList = s;
++_shapeCount;
s._body = this;
// Add the shape to the world's broad-phase.
s.CreateProxy(_world._broadPhase, _xf);
// Compute the sweep radius for CCD.
s.UpdateSweepRadius(_sweep.LocalCenter);
return s;
}
public Shape CreateShape(ShapeDef shapeDef)
{
Box2DXDebug.Assert(!this._world._lock);
Shape result;
if (this._world._lock)
{
result = null;
}
else
{
Shape shape = Shape.Create(shapeDef);
shape._next = this._shapeList;
this._shapeList = shape;
this._shapeCount++;
shape._body = this;
shape.CreateProxy(this._world._broadPhase, this._xf);
shape.UpdateSweepRadius(this._sweep.LocalCenter);
result = shape;
}
return result;
}
