/// <summary>
/// Initializes a new instance of the RigidBody class.
/// </summary>
/// <param name="shape">The shape of the body.</param>
/// <param name="isParticle">If set to true the body doesn't rotate.
/// Also contacts are only solved for the linear motion part.</param>
public RigidBody(Shape shape, Material material, bool isParticle)
{
readOnlyArbiters = new ReadOnlyHashset <Arbiter>(arbiters);
readOnlyConstraints = new ReadOnlyHashset <Constraint>(constraints);
instance = Interlocked.Increment(ref instanceCount);
hashCode = CalculateHash(instance);
this.Shape = shape;
orientation = JMatrix.Identity;
if (!isParticle)
{
updatedHandler = new ShapeUpdatedHandler(ShapeUpdated);
this.Shape.ShapeUpdated += updatedHandler;
SetMassProperties();
}
else
{
this.inertia = JMatrix.Zero;
this.invInertia = this.invInertiaWorld = JMatrix.Zero;
this.invOrientation = this.orientation = JMatrix.Identity;
inverseMass = 1.0f;
}
this.material = material;
AllowDeactivation = true;
EnableSpeculativeContacts = false;
this.isParticle = isParticle;
Update();
}
public void Dispose()
{
material = null;
inactiveTime = 0f;
isActive = false;
isStatic = false;
affectedByGravity = false;
island = null;
inverseMass = 0f;
internalIndex = 0;
updatedHandler = null;
connections.Clear();
connections = null;
arbiters.Clear();
arbiters = null;
constraints.Clear();
constraints = null;
readOnlyArbiters = null;
readOnlyConstraints = null;
}
public RigidBody(Shape shape, RigidBodyTypes bodyType, Material material, RigidBodyFlags flags = 0)
{
Debug.Assert(shape != null, "Shape can't be null.");
Debug.Assert(material != null, "Material can't be null.");
this.bodyType = bodyType;
this.material = material;
// Pseudo-static bodies, by design, are always manually controlled.
if (bodyType == RigidBodyTypes.PseudoStatic)
{
flags |= RigidBodyFlags.IsManuallyControlled;
}
// TODO: Should pseudo-static bodies have deactivation allowed?
// By default, all bodies start active (and with deactivation allowed).
this.flags = flags | RigidBodyFlags.IsActive | RigidBodyFlags.IsDeactivationAllowed;
readOnlyArbiters = new ReadOnlyHashset <Arbiter>(arbiters);
readOnlyConstraints = new ReadOnlyHashset <Constraint>(constraints);
instance = Interlocked.Increment(ref instanceCount);
hashCode = CalculateHash(instance);
Shape = shape;
Damping = DampingType.Angular | DampingType.Linear;
orientation = JMatrix.Identity;
if (!IsParticle)
{
updatedHandler = ShapeUpdated;
Shape.ShapeUpdated += updatedHandler;
SetMassProperties();
}
else
{
inertia = JMatrix.Zero;
invInertia = invInertiaWorld = JMatrix.Zero;
invOrientation = orientation = JMatrix.Identity;
inverseMass = 1.0f;
}
Update();
}
public World(CollisionSystem collision)
{
CollisionSystem = collision ?? throw new ArgumentNullException("The CollisionSystem can't be null.", nameof(collision));
arbiterCallback = new Action <object>(ArbiterCallback);
integrateCallback = new Action <object>(IntegrateCallback);
RigidBodies = new ReadOnlyHashset <RigidBody>(rigidBodies);
Constraints = new ReadOnlyHashset <Constraint>(constraints);
SoftBodies = new ReadOnlyHashset <SoftBody>(softbodies);
collisionDetectionHandler = new CollisionDetectedHandler(CollisionDetected);
CollisionSystem.CollisionDetected += collisionDetectionHandler;
ArbiterMap = new ArbiterMap();
AllowDeactivation = true;
}
public World(CollisionSystem collision)
{
if (collision == null) throw new ArgumentNullException("collision", "The CollisionSystem can't be null.");
arbiterCallback = ArbiterCallback;
integrateCallback = IntegrateCallback;
RigidBodies = new ReadOnlyHashset<RigidBody>(rigidBodies);
Constraints = new ReadOnlyHashset<Constraint>(constraints);
SoftBodies = new ReadOnlyHashset<SoftBody>(softbodies);
CollisionSystem = collision;
collisionDetectionHandler = CollisionDetected;
CollisionSystem.CollisionDetected += collisionDetectionHandler;
arbiterMap = new ArbiterMap();
AllowDeactivation = true;
}
public World(CollisionSystem collision)
{
if (collision == null) throw new ArgumentNullException("collision", "The CollisionSystem can't be null.");
arbiterCallback = ArbiterCallback;
integrateCallback = IntegrateCallback;
RigidBodies = new ReadOnlyHashset<RigidBody>(rigidBodies);
Constraints = new ReadOnlyHashset<Constraint>(constraints);
SoftBodies = new ReadOnlyHashset<SoftBody>(softbodies);
CollisionSystem = collision;
collisionDetectionHandler = CollisionDetected;
CollisionSystem.CollisionDetected += collisionDetectionHandler;
arbiterMap = new ArbiterMap();
AllowDeactivation = true;
}
/// <summary>
/// Initializes a new instance of the RigidBody class.
/// </summary>
/// <param name="shape">The shape of the body.</param>
public RigidBody(Shape shape, Material material)
{
readOnlyArbiters = new ReadOnlyHashset <Arbiter>(arbiters);
readOnlyConstraints = new ReadOnlyHashset <Constraint>(constraints);
instance = Interlocked.Increment(ref instanceCount);
hashCode = CalculateHash(instance);
this.Shape = shape;
orientation = JMatrix.Identity;
updatedHandler = new ShapeUpdatedHandler(ShapeUpdated);
this.Shape.ShapeUpdated += updatedHandler;
SetMassProperties();
this.material = material;
AllowDeactivation = true;
Update();
}
/// <summary>
/// Create a new instance of the <see cref="World"/> class.
/// </summary>
/// <param name="collision">The collisionSystem which is used to detect
/// collisions. See for example: <see cref="CollisionSystemSAP"/>
/// or <see cref="CollisionSystemBrute"/>.
/// </param>
public World(CollisionSystem system)
{
Debug.Assert(system != null, "Collision system can't be null.");
Arbiter.World = this;
arbiterCallback = ArbiterCallback;
integrateCallback = IntegrateCallback;
// Create the readonly wrappers
this.RigidBodies = new ReadOnlyHashset <RigidBody>(rigidBodies);
this.Constraints = new ReadOnlyHashset <Constraint>(constraints);
this.SoftBodies = new ReadOnlyHashset <SoftBody>(softbodies);
this.CollisionSystem = system;
collisionDetectionHandler = new CollisionDetectedHandler(CollisionDetected);
this.CollisionSystem.CollisionDetected += collisionDetectionHandler;
this.arbiterMap = new ArbiterMap();
AllowDeactivation = true;
}
/// <summary>
/// Initializes a new instance of the RigidBody class.
/// </summary>
/// <param name="shape">The shape of the body.</param>
/// <param name="isParticle">If set to true the body doesn't rotate.
/// Also contacts are only solved for the linear motion part.</param>
public RigidBody(CommonData commonData, Shape shape, Material material, bool isParticle)
{
this.commonData = commonData;
this.DisableRotation = false;
readOnlyArbiters = new ReadOnlyHashset <Arbiter>(arbiters);
readOnlyConstraints = new ReadOnlyHashset <Constraint>(constraints);
instance = Interlocked.Increment(ref commonData.RigidBody_instanceCount);
hashCode = CalculateHash(instance);
this.Shape = shape;
orientation = 0.0f;
if (!isParticle)
{
updatedHandler = new ShapeUpdatedHandler(ShapeUpdated);
this.Shape.ShapeUpdated += updatedHandler;
SetMassProperties();
}
else
{
this.inertia = 0.0f;
this.invInertia = 0.0f;
this.invOrientation = this.orientation = 0.0f;
inverseMass = 1.0f;
}
this.material = material;
AllowDeactivation = true;
this.isParticle = isParticle;
Update();
}
/// Constructor of CollisionIsland class.
/// </summary>
public CollisionIsland()
{
readOnlyBodies = new ReadOnlyHashset <RigidBody>(bodies);
readOnlyArbiter = new ReadOnlyHashset <Arbiter>(arbiter);
readOnlyConstraints = new ReadOnlyHashset <Constraint>(constraints);
}
/// Constructor of CollisionIsland class.
/// </summary>
public CollisionIsland()
{
readOnlyBodies = new ReadOnlyHashset<RigidBody>(bodies);
readOnlyArbiter = new ReadOnlyHashset<Arbiter>(arbiter);
readOnlyConstraints = new ReadOnlyHashset<Constraint>(constraints);
}
