/// Reset the force and torque applied to this body.
public void ResetForces()
{
if (_handle != IntPtr.Zero)
{
CP.cpBodyResetForces(_handle);
}
}
protected override void UpdateConstraint()
{
base.UpdateConstraint();
CP._cpGearJointSetPhase(_handle, _phase * Mathf.Deg2Rad);
CP.cpGearJointSetRatio(_handle, _ratio);
}
protected void RescaleMass()
{
// Rescale the mass back to the user value.
float calculated = CP._cpBodyGetMass(_handle);
CP.cpBodySetMass(_handle, _mass);
// Debug.Log("Rescaling body mass. (mass: " + calculated + " moment: " + CP._cpBodyGetMoment(_handle) + ")");
if (calculated > 0f && momentCalculationMode == ChipmunkBodyMomentMode.CalculateFromShapes)
{
float moment = CP._cpBodyGetMoment(_handle);
this.moment = moment * _mass / calculated;
}
else if (momentCalculationMode == ChipmunkBodyMomentMode.Override)
{
this.moment = _customMoment;
}
else
{
this.moment = Mathf.Infinity;
}
// Cache the calculated moment.
_customMoment = this.moment;
if (_isKinematic)
{
CP.cpBodySetMass(_handle, Mathf.Infinity);
CP.cpBodySetMoment(_handle, Mathf.Infinity);
}
// Debug.Log("Rescaled body mass. (mass: " + this.mass + " moment: " + this.moment + ")");
}
/// Force a body to fall asleep immediately even if it's in motion or unsupported.
public void Sleep()
{
if (_handle != IntPtr.Zero)
{
CP.cpBodySleep(_handle);
}
}
protected override void Awake()
{
if (_handle != IntPtr.Zero)
{
return;
}
base.Awake();
// in case no vertices have been set yet
if (_verts == null)
{
_verts = defaultVerts;
}
Vector2[] transformed = MakeVerts();
_handle = CP.NewConvexPolyShapeWithVerts(transformed.Length, transformed);
CP.cpPolyShapeSetRadius(_handle, _maxScale * _radius);
if (body != null)
{
body._AddMassForShape(this);
}
GCHandle gch = GCHandle.Alloc(this);
CP._cpShapeSetUserData(_handle, GCHandle.ToIntPtr(gch));
}
protected override void UpdateConstraint()
{
base.UpdateConstraint();
CP._cpRotaryLimitJointSetMin(_handle, _min * Mathf.Deg2Rad);
CP._cpRotaryLimitJointSetMax(_handle, _max * Mathf.Deg2Rad);
}
public void _Remove(ChipmunkBody obj)
{
if (obj._handle == IntPtr.Zero)
{
Debug.LogError("ChipmunkBody handle is NULL");
return;
}
if (!CP.cpSpaceContainsBody(_handle, obj._handle))
{
Debug.LogError("Space does not contain ChipmunkBody.");
return;
}
PostStepFunc del = delegate(){
// Debug.Log("Removing body.");
bodies.Remove(obj);
CP.cpSpaceRemoveBody(_handle, obj._handle);
};
if (locked)
{
_AddPostStepCallback(_handle, obj.handle, del);
}
else
{
del();
}
}
/// Force a body to wake up if it has fallen asleep.
public void Activate()
{
if (_handle != IntPtr.Zero)
{
CP.cpBodyActivate(_handle);
}
}
/// Apply (accumulate) a force on the body at the given point in the transform's local coords.
public void ApplyForce(Vector2 force, Vector2 localPosition)
{
if (_handle != IntPtr.Zero)
{
Vector3 offset = _transform.TransformDirection(localPosition);
CP.cpBodyApplyForce(_handle, force, offset);
}
}
protected override void UpdateConstraint()
{
base.UpdateConstraint();
CP._cpDampedRotarySpringSetRestAngle(_handle, _restAngle * Mathf.Deg2Rad);
CP._cpDampedRotarySpringSetStiffness(_handle, _stiffness * Mathf.Deg2Rad);
CP._cpDampedRotarySpringSetDamping(_handle, _damping);
}
protected override void UpdateConstraint()
{
base.UpdateConstraint();
CP._cpRatchetJointSetAngle(_handle, _angle * Mathf.Deg2Rad);
CP._cpRatchetJointSetPhase(_handle, _phase * Mathf.Deg2Rad);
CP._cpRatchetJointSetRatchet(_handle, _ratchet * Mathf.Deg2Rad);
}
/// Apply an impulse on the body at the given point in the transform's local coords.
public void ApplyImpulse(Vector2 impulse, Vector2 localPosition)
{
if (_handle != IntPtr.Zero)
{
var offset = _transform.TransformDirection(localPosition);
CP.cpBodyApplyImpulse(_handle, impulse, offset);
}
}
public override ChipmunkBody _UpdatedTransform()
{
CP.cpBodySetPos(_handle, transform.position);
CP.cpBodySetAngle(_handle, transform.eulerAngles.z * Mathf.Deg2Rad);
_transform = base.transform;
return(this);
}
protected override void UpdateConstraint()
{
base.UpdateConstraint();
Vector2 p = transform.TransformPoint(pivot);
CP._cpPivotJointSetAnchr1(_handle, CP._cpBodyWorld2Local(handleA, p));
CP._cpPivotJointSetAnchr2(_handle, CP._cpBodyWorld2Local(handleB, p));
}
protected override void Awake()
{
if(_handle != IntPtr.Zero) return;
_handle = CP.cpPinJointNew(IntPtr.Zero, IntPtr.Zero, Vector2.zero, Vector2.zero);
var gch = GCHandle.Alloc(this);
CP._cpConstraintSetUserData(_handle, GCHandle.ToIntPtr(gch));
}
protected override void UpdateConstraint()
{
base.UpdateConstraint();
Vector2 p1 = transform.TransformPoint(anchr1);
Vector2 p2 = transform.TransformPoint(anchr2);
CP._cpPinJointSetAnchr1(_handle, CP._cpBodyWorld2Local(handleA, p1));
CP._cpPinJointSetAnchr2(_handle, CP._cpBodyWorld2Local(handleB, p2));
CP._cpPinJointSetDist(_handle, Vector2.Distance(p1, p2));
}
public static ChipmunkShape _FromHandle(IntPtr handle)
{
if (handle == IntPtr.Zero)
{
return(null);
}
else
{
return(GCHandle.FromIntPtr(CP._cpShapeGetUserData(handle)).Target as ChipmunkShape);
}
}
public ChipmunkSpace()
{
#if UNITY_EDITOR
_handle = CP.cpSpaceNew();
#elif UNITY_IPHONE
_handle = cpHastySpaceNew();
#else
_handle = CP.cpSpaceNew();
#endif
_staticBody = CP.cpBodyNewStatic();
}
public void _Step(float dt)
{
locked = true; {
#if UNITY_EDITOR
CP.cpSpaceStep(_handle, dt);
#elif UNITY_IPHONE
cpHastySpaceStep(_handle, dt);
#else
CP.cpSpaceStep(_handle, dt);
#endif
} locked = false;
}
protected override void UpdateConstraint()
{
base.UpdateConstraint();
Vector2 p1 = transform.TransformPoint(grooveA);
Vector2 p2 = transform.TransformPoint(grooveB);
Vector2 p3 = transform.TransformPoint(anchr2);
CP.cpGrooveJointSetGrooveA(_handle, CP._cpBodyWorld2Local(handleA, p1));
CP.cpGrooveJointSetGrooveB(_handle, CP._cpBodyWorld2Local(handleA, p2));
CP._cpGrooveJointSetAnchr2(_handle, CP._cpBodyWorld2Local(handleB, p3));
}
/// Get the penetration depth (negative value) of the ith contact point.
public float GetDepth(int i)
{
if (0 <= i && i < contactCount)
{
return(CP.cpArbiterGetDepth(_handle, i));
}
else
{
Debug.LogError("Index out of bounds");
return(0f);
}
}
/// Get the normal of the ith contact point.
public Vector2 GetNormal(int i)
{
if (0 <= i && i < contactCount)
{
return(CP.cpArbiterGetNormal(_handle, i));
}
else
{
Debug.LogError("Index out of bounds");
return(Vector2.zero);
}
}
protected override void UpdateConstraint()
{
base.UpdateConstraint();
Vector2 p1 = transform.TransformPoint(anchr1);
Vector2 p2 = transform.TransformPoint(anchr2);
CP._cpSlideJointSetAnchr1(_handle, CP._cpBodyWorld2Local(handleA, p1));
CP._cpSlideJointSetAnchr2(_handle, CP._cpBodyWorld2Local(handleB, p2));
CP._cpSlideJointSetMin(_handle, min);
CP._cpSlideJointSetMax(_handle, max);
}
protected override void Awake()
{
if (_handle != IntPtr.Zero)
{
return;
}
_handle = CP.cpDampedRotarySpringNew(IntPtr.Zero, IntPtr.Zero, 0f, 0f, 0f);
var gch = GCHandle.Alloc(this);
CP._cpConstraintSetUserData(_handle, GCHandle.ToIntPtr(gch));
}
protected void UpdateParentBody()
{
ChipmunkBody body = this.GetComponentUpwards <ChipmunkBody>();
if (body != this.body && space != null)
{
space._Remove(this);
CP.cpShapeSetBody(_handle, body == null ? space._staticBody : body.handle);
space._Add(this);
}
this.body = body;
}
public void OnDrawGizmosSelected()
{
Gizmos.color = GizmoColor;
if(_handle == IntPtr.Zero){
Vector2 p1 = transform.TransformPoint(anchr1);
Vector2 p2 = transform.TransformPoint(anchr2);
Gizmos.DrawLine(p1, p2);
} else {
Vector2 p1 = CP._cpBodyLocal2World(handleA, CP._cpPinJointGetAnchr1(_handle));
Vector2 p2 = CP._cpBodyLocal2World(handleB, CP._cpPinJointGetAnchr2(_handle));
Gizmos.DrawLine(p1, p2);
}
}
protected override void Awake()
{
if (_handle != IntPtr.Zero)
{
return;
}
_handle = CP.cpDampedSpringNew(IntPtr.Zero, IntPtr.Zero, Vector2.zero, Vector2.zero, 10f, 10f, 10f);
// _handle = CP.cpDampedSpringNew(IntPtr.Zero, IntPtr.Zero, new Vector2(10f, 10f), new Vector2(10f, 10f), 0f, 1f, 0f);
var gch = GCHandle.Alloc(this);
CP._cpConstraintSetUserData(_handle, GCHandle.ToIntPtr(gch));
}
protected override void UpdateConstraint()
{
base.UpdateConstraint();
Vector2 p1 = transform.TransformPoint(anchr1);
Vector2 p2 = transform.TransformPoint(anchr2);
// CP._cpDampedSpringSetAnchr1(_handle, new Vector2(10f, 10f));
// CP._cpDampedSpringSetAnchr2(_handle, new Vector2(0f, 10f));
CP._cpDampedSpringSetAnchr1(_handle, CP._cpBodyWorld2Local(handleA, p1));
CP._cpDampedSpringSetAnchr2(_handle, CP._cpBodyWorld2Local(handleB, p2));
CP._cpDampedSpringSetRestLength(_handle, _restLength);
CP._cpDampedSpringSetStiffness(_handle, _stiffness);
CP._cpDampedSpringSetDamping(_handle, _damping);
}
protected override void Awake()
{
if (_handle != IntPtr.Zero)
{
return;
}
// Debug.Log ("ChipmunkBody Awake: " + gameObject.name);
_handle = CP.cpBodyNew(0f, 0f);
var gch = GCHandle.Alloc(this);
CP._cpBodySetUserData(_handle, GCHandle.ToIntPtr(gch));
_UpdatedTransform();
}
protected void UpdateVerts()
{
if (_handle != IntPtr.Zero)
{
var transformed = MakeVerts();
CP.UpdateConvexPolyShapeWithVerts(_handle, transformed.Length, transformed);
CP.cpPolyShapeSetRadius(_handle, _maxScale * _radius);
CP.cpSpaceReindexShape(space._handle, _handle);
if (body)
{
body.Activate();
}
}
}
