/**
* Set the active state of the body. An inactive body is not simulated and cannot be collided with
* or woken up. If you pass a flag of true, all fixtures will be added to the broad-phase. If you
* pass a flag of false, all fixtures will be removed from the broad-phase and all contacts will
* be destroyed. Fixtures and joints are otherwise unaffected. You may continue to create/destroy
* fixtures and joints on inactive bodies. Fixtures on an inactive body are implicitly inactive
* and will not participate in collisions, ray-casts, or queries. Joints connected to an inactive
* body are implicitly inactive. An inactive body is still owned by a World object and remains in
* the body list.
*
* @param flag
*/
public void setActive(bool flag)
{
Debug.Assert(m_world.isLocked() == false);
if (flag == isActive())
{
return;
}
if (flag)
{
m_flags |= BodyFlags.Active;
// Create all proxies.
BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
for (Fixture f = m_fixtureList; f != null; f = f.m_next)
{
f.createProxies(broadPhase, m_xf);
}
// Contacts are created the next time step.
}
else
{
m_flags &= ~BodyFlags.Active;
// Destroy all proxies.
BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
for (Fixture f = m_fixtureList; f != null; f = f.m_next)
{
f.destroyProxies(broadPhase);
}
// Destroy the attached contacts.
ContactEdge ce = m_contactList;
while (ce != null)
{
ContactEdge ce0 = ce;
ce = ce.next;
m_world.m_contactManager.destroy(ce0.contact);
}
m_contactList = null;
}
}
public Body(BodyDef bd, World world)
{
Debug.Assert(bd.position.isValid());
Debug.Assert(bd.linearVelocity.isValid());
Debug.Assert(bd.gravityScale >= 0.0f);
Debug.Assert(bd.angularDamping >= 0.0f);
Debug.Assert(bd.linearDamping >= 0.0f);
m_flags = 0;
if (bd.bullet)
{
m_flags |= BodyFlags.Bullet;
}
if (bd.fixedRotation)
{
m_flags |= BodyFlags.FixedRotation;
}
if (bd.allowSleep)
{
m_flags |= BodyFlags.AutoSleep;
}
if (bd.awake)
{
m_flags |= BodyFlags.Awake;
}
if (bd.active)
{
m_flags |= BodyFlags.Active;
}
m_world = world;
m_xf.p.set(bd.position);
m_xf.q.set(bd.angle);
m_sweep.localCenter.setZero();
m_sweep.c0.set(m_xf.p);
m_sweep.c.set(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.set(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 == BodyType.DYNAMIC)
{
m_mass = 1f;
m_invMass = 1f;
}
else
{
m_mass = 0f;
m_invMass = 0f;
}
m_I = 0.0f;
m_invI = 0.0f;
m_userData = bd.userData;
m_fixtureList = null;
m_fixtureCount = 0;
}
/**
* Set the type of this body. This may alter the mass and velocity.
*
* @param type
*/
public void setType(BodyType type)
{
Debug.Assert(m_world.isLocked() == false);
if (m_world.isLocked() == true)
{
return;
}
if (m_type == type)
{
return;
}
m_type = type;
resetMassData();
if (m_type == BodyType.STATIC)
{
m_linearVelocity.setZero();
m_angularVelocity = 0.0f;
m_sweep.a0 = m_sweep.a;
m_sweep.c0.set(m_sweep.c);
synchronizeFixtures();
}
setAwake(true);
m_force.setZero();
m_torque = 0.0f;
// Delete the attached contacts.
ContactEdge ce = m_contactList;
while (ce != null)
{
ContactEdge ce0 = ce;
ce = ce.next;
m_world.m_contactManager.destroy(ce0.contact);
}
m_contactList = null;
// Touch the proxies so that new contacts will be created (when appropriate)
BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
for (Fixture f = m_fixtureList; f != null; f = f.m_next)
{
int proxyCount = f.m_proxyCount;
for (int i = 0; i < proxyCount; ++i)
{
broadPhase.touchProxy(f.m_proxies[i].proxyId);
}
}
}
protected Contact(IWorldPool argPool)
{
m_fixtureA = null;
m_fixtureB = null;
m_nodeA = new ContactEdge();
m_nodeB = new ContactEdge();
m_manifold = new Manifold();
pool = argPool;
}