public cpCollisionHandler LookupHandler(ulong a, ulong b, cpCollisionHandler defaultValue)
{
cpCollisionHandler test;
if (collisionHandlers.TryGetValue(cp.CP_HASH_PAIR(a, b), out test))
{
return(test);
}
else
{
return(defaultValue);
}
}
public cpCollisionHandler AddCollisionHandler(ulong a, ulong b)
{
ulong hash = cp.CP_HASH_PAIR(a, b);
var handlers = this.collisionHandlers;
cpCollisionHandler handler;
if (!handlers.TryGetValue(hash, out handler))
{
handler = new cpCollisionHandler(a, b, DefaultBegin, DefaultPreSolve, DefaultPostSolve, DefaultSeparate, null);
handlers.Add(hash, handler);
}
return(handler);
}
public cpCollisionHandler Clone()
{
cpCollisionHandler copy = new cpCollisionHandler();
copy.typeA = typeA;
copy.typeB = typeB;
copy.beginFunc = beginFunc;
copy.preSolveFunc = preSolveFunc;
copy.postSolveFunc = postSolveFunc;
copy.separateFunc = separateFunc;
copy.userData = userData;
return(copy);
}
public cpCollisionHandler AddWildcardHandler(ulong type)
{
UseWildcardDefaultHandler();
ulong hash = cp.CP_HASH_PAIR(type, cp.WILDCARD_COLLISION_TYPE);
var handlers = this.collisionHandlers;
cpCollisionHandler handler;
if (!handlers.TryGetValue(hash, out handler))
{
handler = new cpCollisionHandler(type, cp.WILDCARD_COLLISION_TYPE, cpCollisionHandler.AlwaysCollide, cpCollisionHandler.AlwaysCollide, cpCollisionHandler.DoNothing, cpCollisionHandler.DoNothing, null);
handlers.Add(hash, handler);
}
return(handler);
}
public bool CallWildcardBeginA(cpSpace space)
{
cpCollisionHandler handler = this.handlerA;
return(handler.beginFunc(this, space, handler.userData));
}
public cpCollisionHandler Clone()
{
cpCollisionHandler copy = new cpCollisionHandler();
copy.typeA = typeA;
copy.typeB = typeB;
copy.beginFunc = beginFunc;
copy.preSolveFunc = preSolveFunc;
copy.postSolveFunc = postSolveFunc;
copy.separateFunc = separateFunc;
copy.userData = userData;
return copy;
}
// Equals function for collisionHandlers.
public static bool SetEql(cpCollisionHandler check, cpCollisionHandler pair)
{
return (
(check.typeA == pair.typeA && check.typeB == pair.typeB) ||
(check.typeB == pair.typeA && check.typeA == pair.typeB)
);
}
public void Update(cpCollisionInfo info, cpSpace space)
{
cpShape a = info.a, b = info.b;
// For collisions between two similar primitive types, the order could have been swapped since the last frame.
this.a = a; this.body_a = a.body;
this.b = b; this.body_b = b.body;
// Iterate over the possible pairs to look for hash value matches.
for (int i = 0; i < info.count; i++)
{
cpContact con = info.arr[i];
// r1 and r2 store absolute offsets at init time.
// Need to convert them to relative offsets.
con.r1 = cpVect.cpvsub(con.r1, a.body.p);
con.r2 = cpVect.cpvsub(con.r2, b.body.p);
// Cached impulses are not zeroed at init time.
con.jnAcc = con.jtAcc = 0.0f;
for (int j = 0; j < this.Count; j++)
{
cpContact old = this.contacts[j];
// This could trigger false positives, but is fairly unlikely nor serious if it does.
if (con.hash == old.hash)
{
// Copy the persistant contact information.
con.jnAcc = old.jnAcc;
con.jtAcc = old.jtAcc;
}
}
}
//TODO: revise
this.contacts = info.arr.ToList();
//this.count = info.count;
this.n = info.n;
this.e = a.e * b.e;
this.u = a.u * b.u;
cpVect surface_vr = cpVect.cpvsub(b.surfaceV, a.surfaceV);
this.surface_vr = cpVect.cpvsub(surface_vr, cpVect.cpvmult(info.n, cpVect.cpvdot(surface_vr, info.n)));
ulong typeA = info.a.type, typeB = info.b.type;
cpCollisionHandler defaultHandler = space.defaultHandler;
cpCollisionHandler handler = this.handler = space.LookupHandler(typeA, typeB, defaultHandler);
// Check if the types match, but don't swap for a default handler which use the wildcard for type A.
bool swapped = this.swapped = (typeA != handler.typeA && handler.typeA != cp.WILDCARD_COLLISION_TYPE);
if (handler != defaultHandler || space.usesWildcards)
{
// The order of the main handler swaps the wildcard handlers too. Uffda.
this.handlerA = space.LookupHandler(swapped ? typeB : typeA, cp.WILDCARD_COLLISION_TYPE, cpCollisionHandler.cpCollisionHandlerDoNothing);
this.handlerB = space.LookupHandler(swapped ? typeA : typeB, cp.WILDCARD_COLLISION_TYPE, cpCollisionHandler.cpCollisionHandlerDoNothing);
}
// mark it as new if it's been cached
if (this.state == cpArbiterState.Cached)
this.state = cpArbiterState.FirstCollision;
}
public cpCollisionHandler AddCollisionHandler(ulong a, ulong b)
{
ulong hash = cp.CP_HASH_PAIR(a, b);
var handlers = this.collisionHandlers;
cpCollisionHandler handler;
if (!handlers.TryGetValue(hash, out handler))
{
handler = new cpCollisionHandler(a, b, DefaultBegin, DefaultPreSolve, DefaultPostSolve, DefaultSeparate, null);
handlers.Add(hash, handler);
}
return handler;
}
public void CallWildcardSeparateA(cpSpace space)
{
cpCollisionHandler handler = this.handlerA;
handler.separateFunc(this, space, handler.userData);
}
// Used for disposing of collision handlers.
//static void FreeWrap(void* ptr, void* unused) { cpfree(ptr); }
//MARK: Memory Management Functions
public cpSpace()
{
#if DEBUG
Debug.WriteLine("Initializing cpSpace - Chipmunk v{0} (Debug Enabled)\n", cp.cpVersionString);
Debug.WriteLine("Compile with -DNDEBUG defined to disable debug mode and runtime assertion checks\n");
#endif
/// Number of iterations to use in the impulse solver to solve contacts.
this.iterations = 10;
/// Gravity to pass to rigid bodies when integrating velocity.
this.gravity = cpVect.Zero;
/// Damping rate expressed as the fraction of velocity bodies retain each second.
/// A value of 0.9 would mean that each body's velocity will drop 10% per second.
/// The default value is 1.0, meaning no damping is applied.
/// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring.
this.damping = 1;
/// Amount of encouraged penetration between colliding shapes..
/// Used to reduce oscillating contacts and keep the collision cache warm.
/// Defaults to 0.1. If you have poor simulation quality,
/// increase this number as much as possible without allowing visible amounts of overlap.
this.collisionSlop = 0.1f;
/// Determines how fast overlapping shapes are pushed apart.
/// Expressed as a fraction of the error remaining after each second.
/// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz.
this.collisionBias = cp.cpfpow(1f - 0.1f, 60f);
/// Number of frames that contact information should persist.
/// Defaults to 3. There is probably never a reason to change this value.
this.collisionPersistence = 3;
this.locked = 0;
this.stamp = 0;
this.staticShapes = new cpBBTree(null);
this.dynamicShapes = new cpBBTree(this.staticShapes);
this.dynamicShapes.SetVelocityFunc(o => ShapeVelocityFunc(o as cpShape));
this.dynamicBodies = new List <cpBody>();
this.staticBodies = new List <cpBody>();
this.rousedBodies = new List <cpBody>();
this.sleepingComponents = new List <cpBody>();
/// Time a group of bodies must remain idle in order to fall asleep.
/// Enabling sleeping also implicitly enables the the contact graph.
/// The default value of Infinity disables the sleeping algorithm.
this.sleepTimeThreshold = cp.Infinity;
/// Speed threshold for a body to be considered idle.
/// The default value of 0 means to let the space guess a good threshold based on gravity.
this.idleSpeedThreshold = 0;
this.arbiters = new List <cpArbiter>();
this.cachedArbiters = new Dictionary <ulong, cpArbiter>();
this.constraints = new List <cpConstraint>();
this.usesWildcards = false;
this.defaultHandler = cpCollisionHandlerDoNothing;
this.collisionHandlers = new Dictionary <ulong, cpCollisionHandler>();
this.postStepCallbacks = new List <cpPostStepCallback>();
this.skipPostStep = false;
/// The designated static body for this space.
/// You can modify this body, or replace it with your own static body.
/// By default it points to a statically allocated cpBody in the cpSpace struct.
this.staticBody = cpBody.NewStatic();
}
public ulong CollideShapes(cpShape a, cpShape b, ulong id)
{
// It would be nicer to use .bind() or something, but this is faster.
//return new Action<object, object>((obj1, obj2) =>
//{// Reject any of the simple cases
if (QueryReject(a, b))
{
return(id);
}
//contactsBuffer.Clear();
List <cpContact> contacts = new List <cpContact>();
// Narrow-phase collision detection.
//int numContacts = cpCollideShapes(a, b, contacts);
cpCollisionInfo info = cpCollision.cpCollide(a, b, id, ref contacts);
if (info.count == 0)
{
return(info.id); // Shapes are not colliding.
}
// Get an arbiter from space.arbiterSet for the two shapes.
// This is where the persistant contact magic comes from.
var arbHash = cp.CP_HASH_PAIR(info.a.hashid, info.b.hashid);
cpArbiter arb;
if (!cachedArbiters.TryGetValue(arbHash, out arb))
{
arb = new cpArbiter(a, b);
cachedArbiters.Add(arbHash, arb);
}
arb.Update(info, this);
cpCollisionHandler handler = arb.handler; //LookupHandler(a.type, b.type, defaultHandler);
// Call the begin function first if it's the first step
if (arb.state == cpArbiterState.FirstCollision && !handler.beginFunc(arb, this, null))
{
arb.Ignore(); // permanently ignore the collision until separation
}
if (
// Ignore the arbiter if it has been flagged
(arb.state != cpArbiterState.Ignore) &&
// Call preSolve
handler.preSolveFunc(arb, this, handler.userData) &&
!(a.sensor || b.sensor) &&
// Process, but don't add collisions for sensors.
!(a.body.m == cp.Infinity && b.body.m == cp.Infinity)
)
{
this.arbiters.Add(arb);
}
else
{
//cpSpacePopContacts(space, numContacts);
arb.contacts.Clear();
// Normally arbiters are set as used after calling the post-solve callback.
// However, post-solve callbacks are not called for sensors or arbiters rejected from pre-solve.
if (arb.state != cpArbiterState.Ignore)
{
arb.state = cpArbiterState.Normal;
}
}
// Time stamp the arbiter so we know it was used recently.
arb.stamp = this.stamp;
// });
return(info.id);
}
public void UseWildcardDefaultHandler()
{
// Spaces default to using the slightly faster "do nothing" default handler until wildcards are potentially needed.
if (!this.usesWildcards)
{
this.usesWildcards = true;
this.defaultHandler = cpCollisionHandlerDefault;
}
}
public cpCollisionHandler LookupHandler(ulong a, ulong b, cpCollisionHandler defaultValue)
{
cpCollisionHandler test;
if (collisionHandlers.TryGetValue(cp.CP_HASH_PAIR(a, b), out test))
return test;
else
return defaultValue;
}
public cpCollisionHandler AddWildcardHandler(ulong type)
{
UseWildcardDefaultHandler();
ulong hash = cp.CP_HASH_PAIR(type, cp.WILDCARD_COLLISION_TYPE);
var handlers = this.collisionHandlers;
cpCollisionHandler handler;
if (!handlers.TryGetValue(hash, out handler))
{
handler = new cpCollisionHandler(type, cp.WILDCARD_COLLISION_TYPE, cpCollisionHandler.AlwaysCollide, cpCollisionHandler.AlwaysCollide, cpCollisionHandler.DoNothing, cpCollisionHandler.DoNothing, null);
handlers.Add(hash, handler);
}
return handler;
}
public bool CallWildcardPreSolveA(cpSpace space)
{
cpCollisionHandler handler = this.handlerA;
return(handler.preSolveFunc(this, space, handler.userData));
}
public void CallWildcardPostSolveA(cpSpace space)
{
cpCollisionHandler handler = this.handlerA;
handler.postSolveFunc(this, space, handler.userData);
}
/// A colliding pair of shapes.
public cpArbiter(cpShape a, cpShape b)
{
this.handler = null;
this.swapped = false;
this.handlerA = null;
this.handlerB = null;
/// Calculated value to use for the elasticity coefficient.
/// Override in a pre-solve collision handler for custom behavior.
this.e = 0;
/// Calculated value to use for the friction coefficient.
/// Override in a pre-solve collision handler for custom behavior.
this.u = 0;
/// Calculated value to use for applying surface velocities.
/// Override in a pre-solve collision handler for custom behavior.
this.surface_vr = cpVect.Zero;
this.a = a; this.body_a = a.body;
this.b = b; this.body_b = b.body;
this.thread_a = new cpArbiterThread(null, null);
this.thread_b = new cpArbiterThread(null, null);
this.contacts = new List<cpContact>();
this.stamp = 0;
this.state = cpArbiterState.FirstCollision;
}
public void Update(cpCollisionInfo info, cpSpace space)
{
cpShape a = info.a, b = info.b;
// For collisions between two similar primitive types, the order could have been swapped since the last frame.
this.a = a; this.body_a = a.body;
this.b = b; this.body_b = b.body;
// Iterate over the possible pairs to look for hash value matches.
for (int i = 0; i < info.count; i++)
{
cpContact con = info.arr[i];
// r1 and r2 store absolute offsets at init time.
// Need to convert them to relative offsets.
con.r1 = cpVect.cpvsub(con.r1, a.body.p);
con.r2 = cpVect.cpvsub(con.r2, b.body.p);
// Cached impulses are not zeroed at init time.
con.jnAcc = con.jtAcc = 0.0f;
for (int j = 0; j < this.Count; j++)
{
cpContact old = this.contacts[j];
// This could trigger false positives, but is fairly unlikely nor serious if it does.
if (con.hash == old.hash)
{
// Copy the persistant contact information.
con.jnAcc = old.jnAcc;
con.jtAcc = old.jtAcc;
}
}
}
//TODO: revise
this.contacts = info.arr.ToList();
//this.count = info.count;
this.n = info.n;
this.e = a.e * b.e;
this.u = a.u * b.u;
cpVect surface_vr = cpVect.cpvsub(b.surfaceV, a.surfaceV);
this.surface_vr = cpVect.cpvsub(surface_vr, cpVect.cpvmult(info.n, cpVect.cpvdot(surface_vr, info.n)));
ulong typeA = info.a.type, typeB = info.b.type;
cpCollisionHandler defaultHandler = space.defaultHandler;
cpCollisionHandler handler = this.handler = space.LookupHandler(typeA, typeB, defaultHandler);
// Check if the types match, but don't swap for a default handler which use the wildcard for type A.
bool swapped = this.swapped = (typeA != handler.typeA && handler.typeA != cp.WILDCARD_COLLISION_TYPE);
if (handler != defaultHandler || space.usesWildcards)
{
// The order of the main handler swaps the wildcard handlers too. Uffda.
this.handlerA = space.LookupHandler(swapped ? typeB : typeA, cp.WILDCARD_COLLISION_TYPE, cpCollisionHandler.cpCollisionHandlerDoNothing);
this.handlerB = space.LookupHandler(swapped ? typeA : typeB, cp.WILDCARD_COLLISION_TYPE, cpCollisionHandler.cpCollisionHandlerDoNothing);
}
// mark it as new if it's been cached
if (this.state == cpArbiterState.Cached)
{
this.state = cpArbiterState.FirstCollision;
}
}
// Used for disposing of collision handlers.
//static void FreeWrap(void* ptr, void* unused) { cpfree(ptr); }
//MARK: Memory Management Functions
public cpSpace()
{
#if DEBUG
Debug.WriteLine("Initializing cpSpace - Chipmunk v{0} (Debug Enabled)\n", cp.cpVersionString);
Debug.WriteLine("Compile with -DNDEBUG defined to disable debug mode and runtime assertion checks\n");
#endif
/// Number of iterations to use in the impulse solver to solve contacts.
this.iterations = 10;
/// Gravity to pass to rigid bodies when integrating velocity.
this.gravity = cpVect.Zero;
/// Damping rate expressed as the fraction of velocity bodies retain each second.
/// A value of 0.9 would mean that each body's velocity will drop 10% per second.
/// The default value is 1.0, meaning no damping is applied.
/// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring.
this.damping = 1;
/// Amount of encouraged penetration between colliding shapes..
/// Used to reduce oscillating contacts and keep the collision cache warm.
/// Defaults to 0.1. If you have poor simulation quality,
/// increase this number as much as possible without allowing visible amounts of overlap.
this.collisionSlop = 0.1f;
/// Determines how fast overlapping shapes are pushed apart.
/// Expressed as a fraction of the error remaining after each second.
/// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz.
this.collisionBias = cp.cpfpow(1f - 0.1f, 60f);
/// Number of frames that contact information should persist.
/// Defaults to 3. There is probably never a reason to change this value.
this.collisionPersistence = 3;
this.locked = 0;
this.stamp = 0;
this.staticShapes = new cpBBTree(null);
this.dynamicShapes = new cpBBTree(this.staticShapes);
this.dynamicShapes.SetVelocityFunc(o => ShapeVelocityFunc(o as cpShape));
this.dynamicBodies = new List<cpBody>();
this.staticBodies = new List<cpBody>();
this.rousedBodies = new List<cpBody>();
this.sleepingComponents = new List<cpBody>();
/// Time a group of bodies must remain idle in order to fall asleep.
/// Enabling sleeping also implicitly enables the the contact graph.
/// The default value of Infinity disables the sleeping algorithm.
this.sleepTimeThreshold = cp.Infinity;
/// Speed threshold for a body to be considered idle.
/// The default value of 0 means to let the space guess a good threshold based on gravity.
this.idleSpeedThreshold = 0;
this.arbiters = new List<cpArbiter>();
this.cachedArbiters = new Dictionary<ulong, cpArbiter>();
this.constraints = new List<cpConstraint>();
this.usesWildcards = false;
this.defaultHandler = cpCollisionHandlerDoNothing;
this.collisionHandlers = new Dictionary<ulong, cpCollisionHandler>();
this.postStepCallbacks = new List<cpPostStepCallback>();
this.skipPostStep = false;
/// The designated static body for this space.
/// You can modify this body, or replace it with your own static body.
/// By default it points to a statically allocated cpBody in the cpSpace struct.
this.staticBody = cpBody.NewStatic();
}
