public void Create(b2Body body, b2FixtureDef def)
{
m_userData = def.userData;
m_friction = def.friction;
m_restitution = def.restitution;
m_body = body;
Next = null;
m_filter = def.filter;
m_isSensor = def.isSensor;
m_shape = def.shape.Clone();
// Reserve proxy space
int childCount = m_shape.GetChildCount();
for (int i = 0; i < childCount; ++i)
{
b2FixtureProxy proxy = new b2FixtureProxy();
proxy.fixture = null;
proxy.proxyId = b2BroadPhase.e_nullProxy;
m_proxies.Add(proxy);
}
m_proxyCount = 0;
m_density = def.density;
}
public virtual void Synchronize(b2BroadPhase broadPhase, ref b2Transform transform1, ref b2Transform transform2)
{
if (m_proxyCount == 0)
{
return;
}
for (int i = 0, count = m_proxyCount; i < count; ++i)
{
b2FixtureProxy proxy = m_proxies[i];
// Compute an AABB that covers the swept shape (may miss some rotation effect).
b2AABB aabb1, aabb2;
Shape.ComputeAABB(out aabb1, ref transform1, proxy.childIndex);
Shape.ComputeAABB(out aabb2, ref transform2, proxy.childIndex);
proxy.aabb.Combine(ref aabb1, ref aabb2);
b2Vec2 displacement;
displacement.x = transform2.p.x - transform1.p.x;
displacement.y = transform2.p.y - transform1.p.y;
broadPhase.MoveProxy(proxy.proxyId, ref proxy.aabb, ref displacement);
}
}
public virtual void DestroyProxies(b2BroadPhase broadPhase)
{
// Destroy proxies in the broad-phase.
for (int i = 0; i < m_proxyCount; ++i)
{
b2FixtureProxy proxy = m_proxies[i];
broadPhase.DestroyProxy(proxy.proxyId);
proxy.proxyId = b2BroadPhase.e_nullProxy;
}
m_proxies.Clear();
m_proxyCount = 0;
}
public virtual void CreateProxies(b2BroadPhase broadPhase, b2Transform xf)
{
// Create proxies in the broad-phase.
m_proxyCount = m_shape.GetChildCount();
for (int i = 0; i < m_proxyCount; ++i)
{
b2FixtureProxy proxy = m_proxies[i];
proxy.aabb = m_shape.ComputeAABB(xf, i);
proxy.proxyId = broadPhase.CreateProxy(proxy.aabb, proxy);
proxy.fixture = this;
proxy.childIndex = i;
}
}
public float RayCastCallback(ref b2RayCastInput input, int proxyId)
{
b2FixtureProxy proxy = broadPhase.GetUserData(proxyId);
b2Fixture fixture = proxy.fixture;
int index = proxy.childIndex;
b2RayCastOutput output;
bool hit = fixture.RayCast(out output, input, index);
if (hit)
{
float fraction = output.fraction;
b2Vec2 point = (1.0f - fraction) * input.p1 + fraction * input.p2;
return(callback.ReportFixture(fixture, point, output.normal, fraction));
}
return(input.maxFraction);
}
public virtual void Synchronize(b2BroadPhase broadPhase, b2Transform transform1, b2Transform transform2)
{
if (m_proxyCount == 0)
{
return;
}
for (int i = 0; i < m_proxyCount; ++i)
{
b2FixtureProxy proxy = m_proxies[i];
// Compute an AABB that covers the swept shape (may miss some rotation effect).
b2AABB aabb1, aabb2;
aabb1 = m_shape.ComputeAABB(transform1, proxy.childIndex);
aabb2 = m_shape.ComputeAABB(transform2, proxy.childIndex);
proxy.aabb.Combine(aabb1, aabb2);
b2Vec2 displacement = transform2.p - transform1.p;
broadPhase.MoveProxy(proxy.proxyId, proxy.aabb, displacement);
}
}
public void DrawDebugData()
{
if (m_debugDraw == null)
{
return;
}
b2DrawFlags flags = m_debugDraw.GetFlags();
if (flags & b2DrawFlags.e_shapeBit)
{
for (b2Body b = m_bodyList; b; b = b.Next)
{
b2Transform xf = b.Transform;
for (b2Fixture f = b.FixtureList; f != null; f = f.Next)
{
if (b.IsActive() == false)
{
DrawShape(f, xf, new b2Color(0.5f, 0.5f, 0.3f));
}
else if (b.GetType() == b2BodyType.b2_staticBody)
{
DrawShape(f, xf, new b2Color(0.5f, 0.9f, 0.5f));
}
else if (b.GetType() == b2BodyType.b2_kinematicBody)
{
DrawShape(f, xf, new b2Color(0.5f, 0.5f, 0.9f));
}
else if (b.IsAwake() == false)
{
DrawShape(f, xf, new b2Color(0.6f, 0.6f, 0.6f));
}
else
{
DrawShape(f, xf, new b2Color(0.9f, 0.7f, 0.7f));
}
}
}
}
if (flags.HasFlag(b2DrawFlags.e_jointBit))
{
for (b2Joint j = m_jointList; j != null; j = j.GetNext())
{
DrawJoint(j);
}
}
if (flags.HasFlag(b2DrawFlags.e_pairBit))
{
b2Color color = new b2Color(0.3f, 0.9f, 0.9f);
for (b2Contact c = m_contactManager.ContactList; c != null; c = c.Next)
{
//b2Fixture fixtureA = c.GetFixtureA();
//b2Fixture fixtureB = c.GetFixtureB();
//b2Vec2 cA = fixtureA.GetAABB().GetCenter();
//b2Vec2 cB = fixtureB.GetAABB().GetCenter();
//m_debugDraw.DrawSegment(cA, cB, color);
}
}
if (flags.HasFlag(b2DrawFlags.e_aabbBit))
{
b2Color color(0.9f, 0.3f, 0.9f);
b2BroadPhase bp = m_contactManager.BroadPhase;
for (b2Body b = m_bodyList; b != null; b = b.Next)
{
if (b.IsActive() == false)
{
continue;
}
for (b2Fixture f = b.FixtureList; f != null; f = f.Next)
{
for (int i = 0; i < f.ProxyCount; ++i)
{
b2FixtureProxy proxy = f.Proxies[i];
b2AABB aabb = bp.GetFatAABB(proxy.proxyId);
b2Vec2[] vs = new b2Vec2[4];
vs[0].Set(aabb.lowerBound.x, aabb.lowerBound.y);
vs[1].Set(aabb.upperBound.x, aabb.lowerBound.y);
vs[2].Set(aabb.upperBound.x, aabb.upperBound.y);
vs[3].Set(aabb.lowerBound.x, aabb.upperBound.y);
m_debugDraw.DrawPolygon(vs, 4, color);
}
}
}
}
if (flags.HasFlag(b2DrawFlags.e_centerOfMassBit))
{
for (b2Body b = m_bodyList; b != null; b = b.Next)
{
b2Transform xf = b.Transform;
xf.p = b.WorldCenter;
m_debugDraw.DrawTransform(xf);
}
}
}
public bool QueryCallback(int proxyId)
{
b2FixtureProxy proxy = (b2FixtureProxy)broadPhase.GetUserData(proxyId);
return(callback.ReportFixture(proxy.fixture));
}
public void Create(b2Body body, b2FixtureDef def)
{
m_userData = def.userData;
m_friction = def.friction;
m_restitution = def.restitution;
m_body = body;
Next = null;
m_filter = def.filter;
m_isSensor = def.isSensor;
m_shape = def.shape.Clone();
// Reserve proxy space
int childCount = m_shape.GetChildCount();
for (int i = 0; i < childCount; ++i)
{
b2FixtureProxy proxy = new b2FixtureProxy();
proxy.fixture = null;
proxy.proxyId = b2BroadPhase.e_nullProxy;
m_proxies.Add(proxy);
}
m_proxyCount = 0;
m_density = def.density;
}
public void AddPair(ref b2FixtureProxy proxyA, ref b2FixtureProxy proxyB)
{
b2Fixture fixtureA = proxyA.fixture;
b2Fixture fixtureB = proxyB.fixture;
int indexA = proxyA.childIndex;
int indexB = proxyB.childIndex;
b2Body bodyA = fixtureA.Body;
b2Body bodyB = fixtureB.Body;
// Are the fixtures on the same body?
if (bodyA == bodyB)
{
return;
}
// TODO_ERIN use a hash table to remove a potential bottleneck when both
// bodies have a lot of contacts.
// Does a contact already exist?
b2ContactEdge edge = bodyB.ContactList;
while (edge != null)
{
if (edge.Other == bodyA)
{
b2Fixture fA = edge.Contact.FixtureA;
b2Fixture fB = edge.Contact.FixtureB;
int iA = edge.Contact.m_indexA;
int iB = edge.Contact.m_indexB;
if (fA == fixtureA && fB == fixtureB && iA == indexA && iB == indexB)
{
// A contact already exists.
return;
}
if (fA == fixtureB && fB == fixtureA && iA == indexB && iB == indexA)
{
// A contact already exists.
return;
}
}
edge = edge.Next;
}
// Does a joint override collision? Is at least one body dynamic?
if (!bodyB.ShouldCollide(bodyA))
{
return;
}
// Check user filtering.
if (m_contactFilter != null && !m_contactFilter.ShouldCollide(fixtureA, fixtureB))
{
return;
}
// Call the factory.
b2Contact c = b2Contact.Create(fixtureA, indexA, fixtureB, indexB);
if (c == null)
{
return;
}
// Contact creation may swap fixtures.
//fixtureA = c.FixtureA;
//fixtureB = c.FixtureB;
//indexA = c.m_indexA;
//indexB = c.m_indexB;
bodyA = c.FixtureA.Body;
bodyB = c.FixtureB.Body;
// Insert into the world.
c.Prev = null;
c.Next = m_contactList;
if (m_contactList != null)
{
m_contactList.Prev = c;
}
m_contactList = c;
// Connect to island graph.
// Connect to body A
c.NodeA.Contact = c;
c.NodeA.Other = bodyB;
c.NodeA.Prev = null;
c.NodeA.Next = bodyA.ContactList;
if (bodyA.ContactList != null)
{
bodyA.ContactList.Prev = c.NodeA;
}
bodyA.ContactList = c.NodeA;
// Connect to body B
c.NodeB.Contact = c;
c.NodeB.Other = bodyA;
c.NodeB.Prev = null;
c.NodeB.Next = bodyB.ContactList;
if (bodyB.ContactList != null)
{
bodyB.ContactList.Prev = c.NodeB;
}
bodyB.ContactList = c.NodeB;
// Wake up the bodies
bodyA.SetAwake(true);
bodyB.SetAwake(true);
++m_contactCount;
}
public void AddPair(object proxyUserDataA, object proxyUserDataB)
{
b2FixtureProxy proxyA = (b2FixtureProxy)proxyUserDataA;
b2FixtureProxy proxyB = (b2FixtureProxy)proxyUserDataB;
b2Fixture fixtureA = proxyA.fixture;
b2Fixture fixtureB = proxyB.fixture;
int indexA = proxyA.childIndex;
int indexB = proxyB.childIndex;
b2Body bodyA = fixtureA.GetBody();
b2Body bodyB = fixtureB.GetBody();
// Are the fixtures on the same body?
if (bodyA == bodyB)
{
return;
}
// TODO_ERIN use a hash table to remove a potential bottleneck when both
// bodies have a lot of contacts.
// Does a contact already exist?
b2ContactEdge edge = bodyB.GetContactList();
while (edge)
{
if (edge.other == bodyA)
{
b2Fixture fA = edge.contact.GetFixtureA();
b2Fixture fB = edge.contact.GetFixtureB();
int iA = edge.contact.GetChildIndexA();
int iB = edge.contact.GetChildIndexB();
if (fA == fixtureA && fB == fixtureB && iA == indexA && iB == indexB)
{
// A contact already exists.
return;
}
if (fA == fixtureB && fB == fixtureA && iA == indexB && iB == indexA)
{
// A contact already exists.
return;
}
}
edge = edge.next;
}
// Does a joint override collision? Is at least one body dynamic?
if (bodyB.ShouldCollide(bodyA) == false)
{
return;
}
// Check user filtering.
if (m_contactFilter && m_contactFilter.ShouldCollide(fixtureA, fixtureB) == false)
{
return;
}
// Call the factory.
b2Contact c = b2Contact.Create(fixtureA, indexA, fixtureB, indexB, m_allocator);
if (c == null)
{
return;
}
// Contact creation may swap fixtures.
fixtureA = c.GetFixtureA();
fixtureB = c.GetFixtureB();
indexA = c.GetChildIndexA();
indexB = c.GetChildIndexB();
bodyA = fixtureA.GetBody();
bodyB = fixtureB.GetBody();
// Insert into the world.
c.m_prev = null;
c.m_next = m_contactList;
if (m_contactList != null)
{
m_contactList.m_prev = c;
}
m_contactList = c;
// Connect to island graph.
// Connect to body A
c.m_nodeA.contact = c;
c.m_nodeA.other = bodyB;
c.m_nodeA.prev = null;
c.m_nodeA.next = bodyA.m_contactList;
if (bodyA.m_contactList != null)
{
bodyA.m_contactList.prev = &c.m_nodeA;
}
bodyA.m_contactList = &c.m_nodeA;
// Connect to body B
c.m_nodeB.contact = c;
c.m_nodeB.other = bodyA;
c.m_nodeB.prev = null;
c.m_nodeB.next = bodyB.m_contactList;
if (bodyB.m_contactList != null)
{
bodyB.m_contactList.prev = &c.m_nodeB;
}
bodyB.m_contactList = &c.m_nodeB;
// Wake up the bodies
bodyA.SetAwake(true);
bodyB.SetAwake(true);
++m_contactCount;
}
public void AddPair(ref b2FixtureProxy proxyA, ref b2FixtureProxy proxyB)
{
b2Fixture fixtureA = proxyA.fixture;
b2Fixture fixtureB = proxyB.fixture;
int indexA = proxyA.childIndex;
int indexB = proxyB.childIndex;
b2Body bodyA = fixtureA.Body;
b2Body bodyB = fixtureB.Body;
// Are the fixtures on the same body?
if (bodyA == bodyB)
{
return;
}
// TODO_ERIN use a hash table to remove a potential bottleneck when both
// bodies have a lot of contacts.
// Does a contact already exist?
b2ContactEdge edge = bodyB.ContactList;
while (edge != null)
{
if (edge.Other == bodyA)
{
b2Fixture fA = edge.Contact.FixtureA;
b2Fixture fB = edge.Contact.FixtureB;
int iA = edge.Contact.m_indexA;
int iB = edge.Contact.m_indexB;
if (fA == fixtureA && fB == fixtureB && iA == indexA && iB == indexB)
{
// A contact already exists.
return;
}
if (fA == fixtureB && fB == fixtureA && iA == indexB && iB == indexA)
{
// A contact already exists.
return;
}
}
edge = edge.Next;
}
// Does a joint override collision? Is at least one body dynamic?
if (!bodyB.ShouldCollide(bodyA))
{
return;
}
// Check user filtering.
if (m_contactFilter != null && !m_contactFilter.ShouldCollide(fixtureA, fixtureB))
{
return;
}
// Call the factory.
b2Contact c = b2Contact.Create(fixtureA, indexA, fixtureB, indexB);
if (c == null)
{
return;
}
// Contact creation may swap fixtures.
//fixtureA = c.FixtureA;
//fixtureB = c.FixtureB;
//indexA = c.m_indexA;
//indexB = c.m_indexB;
bodyA = c.FixtureA.Body;
bodyB = c.FixtureB.Body;
// Insert into the world.
c.Prev = null;
c.Next = m_contactList;
if (m_contactList != null)
{
m_contactList.Prev = c;
}
m_contactList = c;
// Connect to island graph.
// Connect to body A
c.NodeA.Contact = c;
c.NodeA.Other = bodyB;
c.NodeA.Prev = null;
c.NodeA.Next = bodyA.ContactList;
if (bodyA.ContactList != null)
{
bodyA.ContactList.Prev = c.NodeA;
}
bodyA.ContactList = c.NodeA;
// Connect to body B
c.NodeB.Contact = c;
c.NodeB.Other = bodyA;
c.NodeB.Prev = null;
c.NodeB.Next = bodyB.ContactList;
if (bodyB.ContactList != null)
{
bodyB.ContactList.Prev = c.NodeB;
}
bodyB.ContactList = c.NodeB;
// Wake up the bodies
bodyA.SetAwake(true);
bodyB.SetAwake(true);
++m_contactCount;
}
