public b2JointEdge GetJointList() { global::System.IntPtr cPtr = Box2DPINVOKE.b2Body_GetJointList__SWIG_0(swigCPtr); b2JointEdge ret = (cPtr == global::System.IntPtr.Zero) ? null : new b2JointEdge(cPtr, false); return(ret); }
public virtual bool ShouldCollide(b2Body other) { // At least one body should be dynamic. if (m_type != b2BodyType.b2_dynamicBody && other.m_type != b2BodyType.b2_dynamicBody) { return(false); } // Does a joint prevent collision? for (b2JointEdge jn = m_jointList; jn != null; jn = jn.Next) { if (jn.Other == other) { if (jn.Joint.GetCollideConnected() == false) { return(false); } } } return(true); }
public b2Body(b2BodyDef bd, b2World world) { m_flags = 0; if (bd.bullet) { m_flags |= b2BodyFlags.e_bulletFlag; } if (bd.fixedRotation) { m_flags |= b2BodyFlags.e_fixedRotationFlag; } if (bd.allowSleep) { m_flags |= b2BodyFlags.e_autoSleepFlag; } if (bd.awake) { m_flags |= b2BodyFlags.e_awakeFlag; } if (bd.active) { m_flags |= b2BodyFlags.e_activeFlag; } m_world = world; m_xf.p = bd.position; m_xf.q.Set(bd.angle); Sweep.localCenter.SetZero(); Sweep.c0 = m_xf.p; Sweep.c = m_xf.p; Sweep.a0 = bd.angle; Sweep.a = bd.angle; Sweep.alpha0 = 0.0f; m_jointList = null; m_contactList = null; Prev = null; Next = null; m_linearVelocity = bd.linearVelocity; m_angularVelocity = bd.angularVelocity; m_linearDamping = bd.linearDamping; m_angularDamping = bd.angularDamping; m_gravityScale = bd.gravityScale; m_force.SetZero(); m_torque = 0.0f; m_sleepTime = 0.0f; m_type = bd.type; if (m_type == b2BodyType.b2_dynamicBody) { m_mass = 1.0f; m_invMass = 1.0f; } else { m_mass = 0.0f; m_invMass = 0.0f; } m_I = 0.0f; m_invI = 0.0f; m_userData = bd.userData; m_fixtureList = null; m_fixtureCount = 0; }
// Find islands, integrate and solveraints, solve positionraints public void Solve(b2TimeStep step) { m_profile.solveInit = 0.0f; m_profile.solveVelocity = 0.0f; m_profile.solvePosition = 0.0f; // Size the island for the worst case. b2Island island = new b2Island(m_bodyCount, m_contactManager.ContactCount, m_jointCount, m_contactManager.ContactListener); // Clear all the island flags. for (b2Body b = m_bodyList; b != null; b = b.Next) { b.BodyFlags &= ~b2BodyFlags.e_islandFlag; } for (b2Contact c = m_contactManager.ContactList; c != null; c = c.Next) { c.ContactFlags &= ~b2ContactFlags.e_islandFlag; } for (b2Joint j = m_jointList; j; j = j.Next) { j.m_islandFlag = false; } // Build and simulate all awake islands. int stackSize = m_bodyCount; b2Body[] stack = new b2Body[stackSize]; for (b2Body seed = m_bodyList; seed != null; seed = seed.Next) { if (seed.BodyFlags & b2BodyFlags.e_islandFlag) { continue; } if (seed.IsAwake() == false || seed.IsActive() == false) { continue; } // The seed can be dynamic or kinematic. if (seed.BodyType == b2BodyType.b2_staticBody) { continue; } // Reset island and stack. island.Clear(); int stackCount = 0; stack[stackCount++] = seed; seed.BodyFlags |= b2BodyFlags.e_islandFlag; // Perform a depth first search (DFS) on theraint graph. while (stackCount > 0) { // Grab the next body off the stack and add it to the island. b2Body b = stack[--stackCount]; island.Add(b); // Make sure the body is awake. b.SetAwake(true); // To keep islands as small as possible, we don't // propagate islands across static bodies. if (b.BodyType == b2BodyType.b2_staticBody) { continue; } // Search all contacts connected to this body. for (b2ContactEdge ce = b.ContactList; ce != null; ce = ce.next) { b2Contact contact = ce.contact; // Has this contact already been added to an island? if (contact.ContactFlags & b2ContactFlags.e_islandFlag) { continue; } // Is this contact solid and touching? if (contact.IsEnabled() == false || contact.IsTouching() == false) { continue; } // Skip sensors. bool sensorA = contact.m_fixtureA.m_isSensor; bool sensorB = contact.m_fixtureB.m_isSensor; if (sensorA || sensorB) { continue; } island.Add(contact); contact.ContactFlags |= b2ContactType.e_islandFlag; b2Body other = ce.other; // Was the other body already added to this island? if ((other.BodyFlags & b2BodyFlags.e_islandFlag) > 0) { continue; } stack[stackCount++] = other; other.BodyFlags |= b2BodyFlags.e_islandFlag; } // Search all joints connect to this body. for (b2JointEdge je = b.JointList; je; je = je.next) { if (je.joint.IslandFlag == true) { continue; } b2Body other = je.other; // Don't simulate joints connected to inactive bodies. if (other.IsActive() == false) { continue; } island.Add(je.joint); je.joint.m_islandFlag = true; if ((other.BodyFlags & b2BodyFlags.e_islandFlag) > 0) { continue; } stack[stackCount++] = other; other.BodyFlags |= b2BodyFlags.e_islandFlag; } } b2Profile profile = island.Solve(step, m_gravity, m_allowSleep); m_profile.solveInit += profile.solveInit; m_profile.solveVelocity += profile.solveVelocity; m_profile.solvePosition += profile.solvePosition; // Post solve cleanup. for (int i = 0; i < island.m_bodyCount; ++i) { // Allow static bodies to participate in other islands. b2Body b = island.m_bodies[i]; if (b.BodyType == b2BodyType.b2_staticBody) { b.BodyFlags &= ~b2BodyFlags.e_islandFlag; } } } { b2Timer timer; // Synchronize fixtures, check for out of range bodies. for (b2Body b = m_bodyList; b != null; b = b.Next) { // If a body was not in an island then it did not move. if ((b.BodyFlags & b2BodyType.e_islandFlag) == 0) { continue; } if (b.GetBodyType() == b2BodyType.b2_staticBody) { continue; } // Update fixtures (for broad-phase). b.SynchronizeFixtures(); } // Look for new contacts. m_contactManager.FindNewContacts(); m_profile.broadphase = timer.GetMilliseconds(); } }
public void DestroyBody(b2Body b) { if (IsLocked()) { return; } // Delete the attached joints. b2JointEdge je = b.JointList; while (je) { b2JointEdge je0 = je; je = je.next; if (m_destructionListener != null) { m_destructionListener.SayGoodbye(je0.joint); } DestroyJoint(je0.joint); b.JointList = je; } b.JointList = null; // Delete the attached contacts. b2ContactEdge ce = b.ContactList; while (ce) { b2ContactEdge ce0 = ce; ce = ce.next; m_contactManager.Destroy(ce0.contact); } b.ContactList = null; // Delete the attached fixtures. This destroys broad-phase proxies. b2Fixture f = b.FixtureList; while (f != null) { b2Fixture f0 = f; f = f.Next; if (m_destructionListener != null) { m_destructionListener.SayGoodbye(f0); } f0.DestroyProxies(m_contactManager.BroadPhase); b.FixtureList = f; b.FixtureCount -= 1; } b.FixtureList = null; b.FixtureCount = 0; // Remove world body list. if (b.Prev != null) { b.Prev.Next = b.Next; } if (b.Next != null) { b.Next.Prev = b.Prev; } if (b == m_bodyList) { m_bodyList = b.Next; } --m_bodyCount; }
public b2Body(b2BodyDef bd, b2World world) { m_flags = 0; if (bd.bullet) { m_flags |= b2BodyFlags.e_bulletFlag; } if (bd.fixedRotation) { m_flags |= b2BodyFlags.e_fixedRotationFlag; } if (bd.allowSleep) { m_flags |= b2BodyFlags.e_autoSleepFlag; } if (bd.awake) { m_flags |= b2BodyFlags.e_awakeFlag; } if (bd.active) { m_flags |= b2BodyFlags.e_activeFlag; } m_world = world; m_xf.p = bd.position; m_xf.q.Set(bd.angle); m_sweep.localCenter.SetZero(); m_sweep.c0 = m_xf.p; m_sweep.c = m_xf.p; m_sweep.a0 = bd.angle; m_sweep.a = bd.angle; m_sweep.alpha0 = 0.0f; m_jointList = null; m_contactList = null; m_prev = null; m_next = null; m_linearVelocity = bd.linearVelocity; m_angularVelocity = bd.angularVelocity; m_linearDamping = bd.linearDamping; m_angularDamping = bd.angularDamping; m_gravityScale = bd.gravityScale; m_force.SetZero(); m_torque = 0.0f; m_sleepTime = 0.0f; m_type = bd.type; if (m_type == b2BodyType.b2_dynamicBody) { m_mass = 1.0f; m_invMass = 1.0f; } else { m_mass = 0.0f; m_invMass = 0.0f; } m_I = 0.0f; m_invI = 0.0f; m_userData = bd.userData; m_fixtureList = null; m_fixtureCount = 0; }
public b2Body(b2BodyDef bd, b2World world) { BodyFlags = 0; if (bd.bullet) { BodyFlags |= b2BodyFlags.e_bulletFlag; } if (bd.fixedRotation) { BodyFlags |= b2BodyFlags.e_fixedRotationFlag; } if (bd.allowSleep) { BodyFlags |= b2BodyFlags.e_autoSleepFlag; } if (bd.awake) { BodyFlags |= b2BodyFlags.e_awakeFlag; } if (bd.active) { BodyFlags |= b2BodyFlags.e_activeFlag; } World = world; Transform.p = bd.position; Transform.q.Set(bd.angle); Sweep.localCenter.SetZero(); Sweep.c0 = Transform.p; Sweep.c = Transform.p; Sweep.a0 = bd.angle; Sweep.a = bd.angle; Sweep.alpha0 = 0.0f; JointList = null; ContactList = null; Prev = null; Next = null; m_linearVelocity = bd.linearVelocity; m_angularVelocity = bd.angularVelocity; LinearDamping = bd.linearDamping; AngularDamping = bd.angularDamping; GravityScale = bd.gravityScale; Force.SetZero(); Torque = 0.0f; SleepTime = 0.0f; BodyType = bd.type; if (BodyType == b2BodyType.b2_dynamicBody) { Mass = 1.0f; InvertedMass = 1.0f; } else { Mass = 0.0f; InvertedMass = 0.0f; } m_I = 0.0f; InvertedI = 0.0f; UserData = bd.userData; FixtureList = null; FixtureCount = 0; }
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(b2JointEdge obj) { return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr); }