private void Reset(FSFixture fA, int indexA, FSFixture fB, int indexB)
{
Flags = ContactFlags.Enabled;
FixtureA = fA;
FixtureB = fB;
ChildIndexA = indexA;
ChildIndexB = indexB;
Manifold.PointCount = 0;
NodeA.Contact = null;
NodeA.Prev = null;
NodeA.Next = null;
NodeA.Other = null;
NodeB.Contact = null;
NodeB.Prev = null;
NodeB.Next = null;
NodeB.Other = null;
TOICount = 0;
//FPE: We only set the friction and restitution if we are not destroying the contact
if (FixtureA != null && FixtureB != null)
{
Friction = FSSettings.MixFriction(FixtureA.Friction, FixtureB.Friction);
Restitution = FSSettings.MixRestitution(FixtureA.Restitution, FixtureB.Restitution);
}
TangentSpeed = 0;
}
private void PreSolve(Contact contact, ref Manifold oldManifold)
{
if ((Flags & DebugViewFlags.ContactPoints) == DebugViewFlags.ContactPoints)
{
Manifold manifold = contact.Manifold;
if (manifold.PointCount == 0)
{
return;
}
FSFixture fixtureA = contact.FixtureA;
FixedArray2 <PointState> state1, state2;
Collision.Collision.GetPointStates(out state1, out state2, ref oldManifold, ref manifold);
FixedArray2 <FVector2> points;
FVector2 normal;
contact.GetWorldManifold(out normal, out points);
for (int i = 0; i < manifold.PointCount && _pointCount < MaxContactPoints; ++i)
{
if (fixtureA == null)
{
_points[i] = new ContactPoint();
}
ContactPoint cp = _points[_pointCount];
cp.Position = points[i];
cp.Normal = normal;
cp.State = state2[i];
_points[_pointCount] = cp;
++_pointCount;
}
}
}
private bool OnCollisionEvent(FSFixture fixtureA, FSFixture fixtureB, Contact contact)
{
if (!lastContacts.Contains(contact))
{
lastContacts.Add(contact);
}
return(true);
}
public void DrawShape(FSFixture fixture, Transform xf, Color color)
{
switch (fixture.ShapeType)
{
case ShapeType.Circle:
{
CircleShape circle = (CircleShape)fixture.Shape;
FVector2 center = MathUtils.Mul(ref xf, circle.Position);
float radius = circle.Radius;
FVector2 axis = MathUtils.Mul(xf.q, new FVector2(1.0f, 0.0f));
DrawSolidCircle(center, radius, axis, color);
}
break;
case ShapeType.Polygon:
{
PolygonShape poly = (PolygonShape)fixture.Shape;
int vertexCount = poly.Vertices.Count;
Debug.Assert(vertexCount <= FSSettings.MaxPolygonVertices);
for (int i = 0; i < vertexCount; ++i)
{
_tempVertices[i] = MathUtils.Mul(ref xf, poly.Vertices[i]);
}
DrawSolidPolygon(_tempVertices, vertexCount, color);
}
break;
case ShapeType.Edge:
{
EdgeShape edge = (EdgeShape)fixture.Shape;
FVector2 v1 = MathUtils.Mul(ref xf, edge.Vertex1);
FVector2 v2 = MathUtils.Mul(ref xf, edge.Vertex2);
DrawSegment(v1, v2, color);
}
break;
case ShapeType.Chain:
{
ChainShape chain = (ChainShape)fixture.Shape;
int count = chain.Vertices.Count;
FVector2 v1 = MathUtils.Mul(ref xf, chain.Vertices[count - 1]);
DrawCircle(v1, 0.05f, color);
for (int i = 0; i < count; ++i)
{
FVector2 v2 = MathUtils.Mul(ref xf, chain.Vertices[i]);
DrawSegment(v1, v2, color);
v1 = v2;
}
}
break;
}
}
private bool OnCollisionEvent(FSFixture fixtureA, FSFixture fixtureB, Contact contact)
{
FSBody bodyB = fixtureB.Body;
//if (bodyB.UserTag == "Respawn") {
FVector2 normal;
FarseerPhysics.Common.FixedArray2 <FVector2> contactPoints;
contact.GetWorldManifold(out normal, out contactPoints);
bodyB.ApplyLinearImpulse(normal * (-1 * Force));
//}
return(true);
}
private bool OnCollisionEvent(FSFixture fixtureA, FSFixture fixtureB, Contact contact)
{
FSBody bodyB = fixtureB.Body;
//if (bodyB.UserTag == "Respawn") {
FVector2 normal;
FarseerPhysics.Common.FixedArray2 <FVector2> contactPoints;
contact.GetWorldManifold(out normal, out contactPoints);
bodyB.SetTransform(FSHelper.Vector3ToFVector2(RespawnPosition.position), 0f);
bodyB.ResetDynamics();
//}
return(true);
}
internal static Contact Create(FSFixture fixtureA, int indexA, FSFixture fixtureB, int indexB)
{
ShapeType type1 = fixtureA.ShapeType;
ShapeType type2 = fixtureB.ShapeType;
Debug.Assert(ShapeType.Unknown < type1 && type1 < ShapeType.TypeCount);
Debug.Assert(ShapeType.Unknown < type2 && type2 < ShapeType.TypeCount);
Contact c;
Queue <Contact> pool = fixtureA.Body.World.ContactPool;
if (pool.Count > 0)
{
c = pool.Dequeue();
if ((type1 >= type2 || (type1 == ShapeType.Edge && type2 == ShapeType.Polygon))
&&
!(type2 == ShapeType.Edge && type1 == ShapeType.Polygon))
{
c.Reset(fixtureA, indexA, fixtureB, indexB);
}
else
{
c.Reset(fixtureB, indexB, fixtureA, indexA);
}
}
else
{
// Edge+Polygon is non-symetrical due to the way Erin handles collision type registration.
if ((type1 >= type2 || (type1 == ShapeType.Edge && type2 == ShapeType.Polygon))
&&
!(type2 == ShapeType.Edge && type1 == ShapeType.Polygon))
{
c = new Contact(fixtureA, indexA, fixtureB, indexB);
}
else
{
c = new Contact(fixtureB, indexB, fixtureA, indexA);
}
}
c._type = _registers[(int)type1, (int)type2];
return(c);
}
public override void Start()
{
base.Start();
FSBody body;
// Create 'basket'
{
body = BodyFactory.CreateBody(FSWorldComponent.PhysicsWorld, new FVector2(150f / physScale, -100f / physScale));
body.BodyType = BodyType.Dynamic;
body.IsBullet = true;
// bottom fixture
FSFixture f = FixtureFactory.AttachRectangle(90f / physScale, 9f / physScale, 4f, FVector2.Zero, body);
f.Restitution = 1.4f;
// left fixture
f = FixtureFactory.AttachRectangle(9f / physScale, 90f / physScale, 4f, new FVector2(-43.5f / physScale, 50.5f / physScale), body);
f.Restitution = 1.4f;
// right fixture
f = FixtureFactory.AttachRectangle(9f / physScale, 90f / physScale, 4f, new FVector2(43.5f / physScale, 50.5f / physScale), body);
f.Restitution = 1.4f;
}
// add some small circles for effect
for (int i = 0; i < 5; i++)
{
body = BodyFactory.CreateBody(FSWorldComponent.PhysicsWorld, new FVector2((Random.value * 300f + 250f) / physScale, (Random.value * -320f - 20f) / physScale));
FSFixture f = FixtureFactory.AttachCircle((Random.value * 10f + 5f) / physScale, 1f, body);
f.Friction = 0.3f;
f.Restitution = 1.1f;
body.BodyType = BodyType.Dynamic;
body.IsBullet = true;
}
}
public virtual void Start()
{
if (initialized)
{
return;
}
initialized = true;
//Body = BodyFactory.CreateRectangle(FSWorldComponent.PhysicsWorld, 1f, 1f, Density);
body = new FSBody(FSWorldComponent.PhysicsWorld);
FSShapeComponent[] shapecs = GetComponentsInChildren <FSShapeComponent>();
//print("shapes " + name + ": " + shapecs.Length);
foreach (FSShapeComponent shp in shapecs)
{
FSFixture fixture = body.CreateFixture(shp.GetShape());
fixture.Friction = shp.Friction;
fixture.Restitution = shp.Restitution;
if (shp.tag.Length > 0)
{
fixture.UserTag = shp.tag;
}
if (shp.CollisionFilter == CollisionGroupDef.Manually)
{
fixture.CollisionCategories = shp.BelongsTo;
fixture.CollidesWith = shp.CollidesWith;
}
else if (shp.CollisionFilter == CollisionGroupDef.PresetFile)
{
if (shp.CollisionGroup != null)
{
fixture.CollisionCategories = shp.CollisionGroup.BelongsTo;
fixture.CollidesWith = shp.CollisionGroup.CollidesWith;
}
}
}
// try to get a single shape at the same level
// if theres no children
if (shapecs.Length < 1)
{
var shape = GetComponent <FSShapeComponent>();
if (shape != null)
{
var fixture = body.CreateFixture(shape.GetShape());
fixture.Friction = shape.Friction;
fixture.Restitution = shape.Restitution;
if (shape.tag.Length > 0)
{
fixture.UserTag = shape.tag;
}
if (shape.CollisionFilter == CollisionGroupDef.Manually)
{
fixture.CollisionCategories = shape.BelongsTo;
fixture.CollidesWith = shape.CollidesWith;
}
else if (shape.CollisionFilter == CollisionGroupDef.PresetFile)
{
if (shape.CollisionGroup != null)
{
fixture.CollisionCategories = shape.CollisionGroup.BelongsTo;
fixture.CollidesWith = shape.CollisionGroup.CollidesWith;
}
}
}
}
body.BodyType = Type;
body.Position = new FVector2(transform.position.x, transform.position.y);
body.Rotation = transform.rotation.eulerAngles.z * Mathf.Deg2Rad;
if (this.tag.Length > 0)
{
body.UserTag = this.tag;
}
body.UserFSBodyComponent = this;
}
public override void Update(float dt)
{
_uniqueBodies.Clear();
World.QueryAABB(fixture =>
{
if (fixture.Body.IsStatic || !fixture.Body.Awake)
{
return(true);
}
if (!_uniqueBodies.ContainsKey(fixture.Body.BodyId))
{
_uniqueBodies.Add(fixture.Body.BodyId, fixture.Body);
}
return(true);
}, ref _container);
foreach (KeyValuePair <int, FSBody> kv in _uniqueBodies)
{
FSBody body = kv.Value;
FVector2 areac = FVector2.Zero;
FVector2 massc = FVector2.Zero;
float area = 0;
float mass = 0;
for (int j = 0; j < body.FixtureList.Count; j++)
{
FSFixture fixture = body.FixtureList[j];
if (fixture.Shape.ShapeType != ShapeType.Polygon && fixture.Shape.ShapeType != ShapeType.Circle)
{
continue;
}
Shape shape = fixture.Shape;
FVector2 sc;
float sarea = shape.ComputeSubmergedArea(_normal, _offset, body.Xf, out sc);
area += sarea;
areac.X += sarea * sc.X;
areac.Y += sarea * sc.Y;
mass += sarea * shape.Density;
massc.X += sarea * sc.X * shape.Density;
massc.Y += sarea * sc.Y * shape.Density;
}
areac.X /= area;
areac.Y /= area;
massc.X /= mass;
massc.Y /= mass;
if (area < FSSettings.Epsilon)
{
continue;
}
//Buoyancy
FVector2 buoyancyForce = -Density * area * _gravity;
body.ApplyForce(buoyancyForce, massc);
//Linear drag
FVector2 dragForce = body.GetLinearVelocityFromWorldPoint(areac) - Velocity;
dragForce *= -LinearDragCoefficient * area;
body.ApplyForce(dragForce, areac);
//Angular drag
body.ApplyTorque(-body.Inertia / body.Mass * area * body.AngularVelocity * AngularDragCoefficient);
}
}
public override void Start()
{
base.Start();
CircleShape circ;
PolygonShape box;
FSFixture fixture;
FSRevoluteJoint joint;
// Add 2 ragdolls along the top
for (int i = 0; i < 2; i++)
{
float startX = 70f + Random.value * 20f + 480f * (float)i;
float startY = (20f + Random.value * 50f) * -1f;
// Head
FSBody head = new FSBody(FSWorldComponent.PhysicsWorld);
circ = new CircleShape(12.5f / physScale, 1f);
fixture = new FSFixture(head, circ);
fixture.Friction = 0.4f;
fixture.Restitution = 0.3f;
head.Position = new FVector2(startX / physScale, startY / physScale);
head.ApplyLinearImpulse(new FVector2(Random.value * 100f - 50f, Random.value * 100f - 50f), head.Position);
head.BodyType = BodyType.Dynamic;
// Torso 1
FSBody torso1 = new FSBody(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(15f / physScale, 10f / physScale);
fixture = new FSFixture(torso1, box);
fixture.Friction = 0.4f;
fixture.Restitution = 0.1f;
torso1.Position = new FVector2(startX / physScale, (startY - 28f) / physScale);
torso1.BodyType = BodyType.Dynamic;
// Torso 2
FSBody torso2 = new FSBody(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(15f / physScale, 10f / physScale);
fixture = new FSFixture(torso2, box);
fixture.Friction = 0.4f;
fixture.Restitution = 0.1f;
torso2.Position = new FVector2(startX / physScale, (startY - 43f) / physScale);
torso2.BodyType = BodyType.Dynamic;
// Torso 3
FSBody torso3 = new FSBody(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(15f / physScale, 10f / physScale);
fixture = new FSFixture(torso3, box);
fixture.Friction = 0.4f;
fixture.Restitution = 0.1f;
torso3.Position = new FVector2(startX / physScale, (startY - 58f) / physScale);
torso3.BodyType = BodyType.Dynamic;
// UpperArm
// L
FSBody upperArmL = new FSBody(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(18f / physScale, 6.5f / physScale);
fixture = new FSFixture(upperArmL, box);
fixture.Friction = 0.4f;
fixture.Restitution = 0.1f;
upperArmL.Position = new FVector2((startX - 30f) / physScale, (startY - 20f) / physScale);
upperArmL.BodyType = BodyType.Dynamic;
// R
FSBody upperArmR = new FSBody(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(18f / physScale, 6.5f / physScale);
fixture = new FSFixture(upperArmR, box);
fixture.Friction = 0.4f;
fixture.Restitution = 0.1f;
upperArmR.Position = new FVector2((startX + 30f) / physScale, (startY - 20f) / physScale);
upperArmR.BodyType = BodyType.Dynamic;
// LowerArm
// L
FSBody lowerArmL = new FSBody(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(17f / physScale, 6f / physScale);
fixture = new FSFixture(lowerArmL, box);
fixture.Friction = 0.4f;
fixture.Restitution = 0.1f;
lowerArmL.Position = new FVector2((startX - 57f) / physScale, (startY - 20f) / physScale);
lowerArmL.BodyType = BodyType.Dynamic;
// R
FSBody lowerArmR = new FSBody(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(17f / physScale, 6f / physScale);
fixture = new FSFixture(lowerArmR, box);
fixture.Friction = 0.4f;
fixture.Restitution = 0.1f;
lowerArmR.Position = new FVector2((startX + 57f) / physScale, (startY - 20f) / physScale);
lowerArmR.BodyType = BodyType.Dynamic;
// UpperLeg
// L
FSBody upperLegL = new FSBody(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(7.5f / physScale, 22f / physScale);
fixture = new FSFixture(upperLegL, box);
fixture.Friction = 0.4f;
fixture.Restitution = 0.1f;
upperLegL.Position = new FVector2((startX - 8f) / physScale, (startY - 85f) / physScale);
upperLegL.BodyType = BodyType.Dynamic;
// R
FSBody upperLegR = new FSBody(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(7.5f / physScale, 22f / physScale);
fixture = new FSFixture(upperLegR, box);
fixture.Friction = 0.4f;
fixture.Restitution = 0.1f;
upperLegR.Position = new FVector2((startX + 8f) / physScale, (startY - 85f) / physScale);
upperLegR.BodyType = BodyType.Dynamic;
// LowerLeg
// L
FSBody lowerLegL = new FSBody(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(7.5f / physScale, 22f / physScale);
fixture = new FSFixture(lowerLegL, box);
fixture.Friction = 0.4f;
fixture.Restitution = 0.1f;
lowerLegL.Position = new FVector2((startX - 8f) / physScale, (startY - 120f) / physScale);
lowerLegL.BodyType = BodyType.Dynamic;
// R
FSBody lowerLegR = new FSBody(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(7.5f / physScale, 22f / physScale);
fixture = new FSFixture(lowerLegR, box);
fixture.Friction = 0.4f;
fixture.Restitution = 0.1f;
lowerLegR.Position = new FVector2((startX + 8f) / physScale, (startY - 120f) / physScale);
lowerLegR.BodyType = BodyType.Dynamic;
// JOINTS
// Head to shoulders
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, torso1, head, head.GetLocalPoint(new FVector2(startX / physScale, (startY - 15f) / physScale)));
joint.LowerLimit = -40f * Mathf.Deg2Rad;
joint.UpperLimit = 40f * Mathf.Deg2Rad;
joint.LimitEnabled = true;
joint.CollideConnected = false;
// Upper arm to shoulders
// L
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, torso1, upperArmL, upperArmL.GetLocalPoint(new FVector2((startX - 18f) / physScale, (startY - 20f) / physScale)));
joint.LowerLimit = -85f * Mathf.Deg2Rad;
joint.UpperLimit = 130f * Mathf.Deg2Rad;
joint.LimitEnabled = true;
joint.CollideConnected = false;
// R
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, torso1, upperArmR, upperArmR.GetLocalPoint(new FVector2((startX + 18f) / physScale, (startY - 20f) / physScale)));
joint.LowerLimit = -130f * Mathf.Deg2Rad;
joint.UpperLimit = 85f * Mathf.Deg2Rad;
joint.LimitEnabled = true;
joint.CollideConnected = false;
// Lower arm to upper arm
// L
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, upperArmL, lowerArmL, lowerArmL.GetLocalPoint(new FVector2((startX - 45f) / physScale, (startY - 20f) / physScale)));
joint.LowerLimit = -130f * Mathf.Deg2Rad;
joint.UpperLimit = 10f * Mathf.Deg2Rad;
joint.LimitEnabled = true;
joint.CollideConnected = false;
// R
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, upperArmR, lowerArmR, lowerArmR.GetLocalPoint(new FVector2((startX + 45f) / physScale, (startY - 20f) / physScale)));
joint.LowerLimit = -10f * Mathf.Deg2Rad;
joint.UpperLimit = 130f * Mathf.Deg2Rad;
joint.LimitEnabled = true;
joint.CollideConnected = false;
// Shoulders/stomach
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, torso1, torso2, torso2.GetLocalPoint(new FVector2((startX + 0f) / physScale, (startY - 35f) / physScale)));
joint.LowerLimit = -15f * Mathf.Deg2Rad;
joint.UpperLimit = 15f * Mathf.Deg2Rad;
joint.LimitEnabled = true;
joint.CollideConnected = false;
// Stomach/hips
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, torso2, torso3, torso3.GetLocalPoint(new FVector2((startX + 0f) / physScale, (startY - 50f) / physScale)));
joint.LowerLimit = -15f * Mathf.Deg2Rad;
joint.UpperLimit = 15f * Mathf.Deg2Rad;
joint.LimitEnabled = true;
joint.CollideConnected = false;
// Torso to upper leg
// L
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, torso3, upperLegL, upperLegL.GetLocalPoint(new FVector2((startX - 8f) / physScale, (startY - 72f) / physScale)));
joint.LowerLimit = -25f * Mathf.Deg2Rad;
joint.UpperLimit = 45f * Mathf.Deg2Rad;
joint.LimitEnabled = true;
joint.CollideConnected = false;
// R
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, torso3, upperLegR, upperLegR.GetLocalPoint(new FVector2((startX + 8f) / physScale, (startY - 72f) / physScale)));
joint.LowerLimit = -45f * Mathf.Deg2Rad;
joint.UpperLimit = 25f * Mathf.Deg2Rad;
joint.LimitEnabled = true;
joint.CollideConnected = false;
// Upper leg to lower leg
// L
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, upperLegL, lowerLegL, lowerLegL.GetLocalPoint(new FVector2((startX - 8f) / physScale, (startY - 105f) / physScale)));
joint.LowerLimit = -25f * Mathf.Deg2Rad;
joint.UpperLimit = 115f * Mathf.Deg2Rad;
joint.LimitEnabled = true;
joint.CollideConnected = false;
// R
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, upperLegR, lowerLegR, lowerLegR.GetLocalPoint(new FVector2((startX + 8f) / physScale, (startY - 105f) / physScale)));
joint.LowerLimit = -115f * Mathf.Deg2Rad;
joint.UpperLimit = 25f * Mathf.Deg2Rad;
joint.LimitEnabled = true;
joint.CollideConnected = false;
}
// Add stairs on the left, these are static bodies so set the type accordingly
for (int j = 1; j <= 10; j++)
{
FSBody body = new FSBody(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox((10f * (float)j) / physScale, 10f / physScale);
fixture = new FSFixture(body, box);
body.Position = new FVector2((10f * (float)j) / physScale, ((150f + 20f * (float)j) / physScale) * -1f);
}
// Add stairs on the right
for (int k = 1; k <= 10; k++)
{
FSBody body = new FSBody(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox((10f * (float)k) / physScale, 10f / physScale);
fixture = new FSFixture(body, box);
body.Position = new FVector2((640f - 10f * (float)k) / physScale, ((150f + 20f * (float)k) / physScale) * -1f);
}
FSBody ground = new FSBody(FSWorldComponent.PhysicsWorld);
box = new PolygonShape(1f);
box.SetAsBox(30f / physScale, 40f / physScale);
fixture = new FSFixture(ground, box);
ground.Position = new FVector2(320f / physScale, (320f / physScale) * -1f);
}
private Contact(FSFixture fA, int indexA, FSFixture fB, int indexB)
{
Reset(fA, indexA, fB, indexB);
}
//Cutting a shape into two is based on the work of Daid and his prototype BoxCutter: http://www.box2d.org/forum/viewtopic.php?f=3&t=1473
/// <summary>
/// Split a fixture into 2 vertice collections using the given entry and exit-point.
/// </summary>
/// <param name="fixture">The Fixture to split</param>
/// <param name="entryPoint">The entry point - The start point</param>
/// <param name="exitPoint">The exit point - The end point</param>
/// <param name="splitSize">The size of the split. Think of this as the laser-width</param>
/// <param name="first">The first collection of vertexes</param>
/// <param name="second">The second collection of vertexes</param>
public static void SplitShape(FSFixture fixture, FVector2 entryPoint, FVector2 exitPoint, float splitSize,
out Vertices first, out Vertices second)
{
FVector2 localEntryPoint = fixture.Body.GetLocalPoint(ref entryPoint);
FVector2 localExitPoint = fixture.Body.GetLocalPoint(ref exitPoint);
PolygonShape shape = fixture.Shape as PolygonShape;
if (shape == null)
{
first = new Vertices();
second = new Vertices();
return;
}
Vertices vertices = new Vertices(shape.Vertices);
Vertices[] newPolygon = new Vertices[2];
for (int i = 0; i < newPolygon.Length; i++)
{
newPolygon[i] = new Vertices(vertices.Count);
}
int[] cutAdded = { -1, -1 };
int last = -1;
for (int i = 0; i < vertices.Count; i++)
{
int n;
//Find out if this vertex is on the old or new shape.
if (FVector2.Dot(MathUtils.Cross(localExitPoint - localEntryPoint, 1), vertices[i] - localEntryPoint) > FSSettings.Epsilon)
{
n = 0;
}
else
{
n = 1;
}
if (last != n)
{
//If we switch from one shape to the other add the cut vertices.
if (last == 0)
{
Debug.Assert(cutAdded[0] == -1);
cutAdded[0] = newPolygon[last].Count;
newPolygon[last].Add(localExitPoint);
newPolygon[last].Add(localEntryPoint);
}
if (last == 1)
{
Debug.Assert(cutAdded[last] == -1);
cutAdded[last] = newPolygon[last].Count;
newPolygon[last].Add(localEntryPoint);
newPolygon[last].Add(localExitPoint);
}
}
newPolygon[n].Add(vertices[i]);
last = n;
}
//Add the cut in case it has not been added yet.
if (cutAdded[0] == -1)
{
cutAdded[0] = newPolygon[0].Count;
newPolygon[0].Add(localExitPoint);
newPolygon[0].Add(localEntryPoint);
}
if (cutAdded[1] == -1)
{
cutAdded[1] = newPolygon[1].Count;
newPolygon[1].Add(localEntryPoint);
newPolygon[1].Add(localExitPoint);
}
for (int n = 0; n < 2; n++)
{
FVector2 offset;
if (cutAdded[n] > 0)
{
offset = (newPolygon[n][cutAdded[n] - 1] - newPolygon[n][cutAdded[n]]);
}
else
{
offset = (newPolygon[n][newPolygon[n].Count - 1] - newPolygon[n][0]);
}
offset.Normalize();
newPolygon[n][cutAdded[n]] += splitSize * offset;
if (cutAdded[n] < newPolygon[n].Count - 2)
{
offset = (newPolygon[n][cutAdded[n] + 2] - newPolygon[n][cutAdded[n] + 1]);
}
else
{
offset = (newPolygon[n][0] - newPolygon[n][newPolygon[n].Count - 1]);
}
offset.Normalize();
newPolygon[n][cutAdded[n] + 1] += splitSize * offset;
}
first = newPolygon[0];
second = newPolygon[1];
}
public void Reset(FSTimeStep step, int count, Contact[] contacts, Position[] positions, Velocity[] velocities)
{
_step = step;
_count = count;
_positions = positions;
_velocities = velocities;
_contacts = contacts;
// grow the array
if (_velocityConstraints == null || _velocityConstraints.Length < count)
{
_velocityConstraints = new ContactVelocityConstraint[count * 2];
_positionConstraints = new ContactPositionConstraint[count * 2];
for (int i = 0; i < _velocityConstraints.Length; i++)
{
_velocityConstraints[i] = new ContactVelocityConstraint();
}
for (int i = 0; i < _positionConstraints.Length; i++)
{
_positionConstraints[i] = new ContactPositionConstraint();
}
}
// Initialize position independent portions of the constraints.
for (int i = 0; i < _count; ++i)
{
Contact contact = contacts[i];
FSFixture fixtureA = contact.FixtureA;
FSFixture fixtureB = contact.FixtureB;
Shape shapeA = fixtureA.Shape;
Shape shapeB = fixtureB.Shape;
float radiusA = shapeA.Radius;
float radiusB = shapeB.Radius;
FSBody bodyA = fixtureA.Body;
FSBody bodyB = fixtureB.Body;
Manifold manifold = contact.Manifold;
int pointCount = manifold.PointCount;
Debug.Assert(pointCount > 0);
ContactVelocityConstraint vc = _velocityConstraints[i];
vc.friction = contact.Friction;
vc.restitution = contact.Restitution;
vc.tangentSpeed = contact.TangentSpeed;
vc.indexA = bodyA.IslandIndex;
vc.indexB = bodyB.IslandIndex;
vc.invMassA = bodyA.InvMass;
vc.invMassB = bodyB.InvMass;
vc.invIA = bodyA.InvI;
vc.invIB = bodyB.InvI;
vc.contactIndex = i;
vc.pointCount = pointCount;
vc.K.SetZero();
vc.normalMass.SetZero();
ContactPositionConstraint pc = _positionConstraints[i];
pc.indexA = bodyA.IslandIndex;
pc.indexB = bodyB.IslandIndex;
pc.invMassA = bodyA.InvMass;
pc.invMassB = bodyB.InvMass;
pc.localCenterA = bodyA.Sweep.LocalCenter;
pc.localCenterB = bodyB.Sweep.LocalCenter;
pc.invIA = bodyA.InvI;
pc.invIB = bodyB.InvI;
pc.localNormal = manifold.LocalNormal;
pc.localPoint = manifold.LocalPoint;
pc.pointCount = pointCount;
pc.radiusA = radiusA;
pc.radiusB = radiusB;
pc.type = manifold.Type;
for (int j = 0; j < pointCount; ++j)
{
ManifoldPoint cp = manifold.Points[j];
VelocityConstraintPoint vcp = vc.points[j];
if (FSSettings.EnableWarmstarting)
{
vcp.normalImpulse = _step.dtRatio * cp.NormalImpulse;
vcp.tangentImpulse = _step.dtRatio * cp.TangentImpulse;
}
else
{
vcp.normalImpulse = 0.0f;
vcp.tangentImpulse = 0.0f;
}
vcp.rA = FVector2.Zero;
vcp.rB = FVector2.Zero;
vcp.normalMass = 0.0f;
vcp.tangentMass = 0.0f;
vcp.velocityBias = 0.0f;
pc.localPoints[j] = cp.LocalPoint;
}
}
}
public override void Start()
{
base.Start();
FSBody body;
tScale = physScale * 2f;
// St position in world space
m_offset = new FVector2(180f / physScale, -200f / physScale);
m_motorSpeed = 2f;
m_motorOn = true;
FVector2 pivot = new FVector2(0f, 24f / tScale);
for (int i = 0; i < 50; i++)
{
body = BodyFactory.CreateCircle(FSWorldComponent.PhysicsWorld, 3.75f / physScale, 1f, new FVector2((Random.value * 620f + 10f) / physScale, -340f / physScale));
body.BodyType = BodyType.Dynamic;
}
// chassis
{
m_chassis = BodyFactory.CreateBody(FSWorldComponent.PhysicsWorld, FVector2.Add(pivot, m_offset));
m_chassis.BodyType = BodyType.Dynamic;
FSFixture m_chassis_f = FixtureFactory.AttachRectangle(150f / tScale, 60f / tScale, 1f, FVector2.Zero, m_chassis);
//m_chassis_f.CollisionGroup = -1;
m_chassis_f.CollisionCategories = Category.Cat10;
m_chassis_f.CollidesWith = Category.Cat1;
}
// wheel
{
m_wheel = BodyFactory.CreateBody(FSWorldComponent.PhysicsWorld, FVector2.Add(pivot, m_offset));
m_wheel.BodyType = BodyType.Dynamic;
FSFixture m_wheel_f = FixtureFactory.AttachCircle(48f / tScale, 1f, m_wheel);
//m_wheel_f.CollisionGroup = -1;
m_wheel_f.CollisionCategories = Category.Cat10;
m_wheel_f.CollidesWith = Category.Cat1;
}
// glue chassis & wheel
{
m_motorJoint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, m_wheel, m_chassis, FVector2.Zero);
m_motorJoint.MotorSpeed = m_motorSpeed;
m_motorJoint.MaxMotorTorque = 400f;
m_motorJoint.CollideConnected = false;
m_motorJoint.MotorEnabled = m_motorOn;
}
FVector2 wheelAnchor;
wheelAnchor = new FVector2(0f, -24f / tScale) + pivot;
CreateLeg(-1f, wheelAnchor);
CreateLeg(1f, wheelAnchor);
m_wheel.Rotation = 120f * Mathf.Deg2Rad;
CreateLeg(-1f, wheelAnchor);
CreateLeg(1f, wheelAnchor);
m_wheel.Rotation = -120f * Mathf.Deg2Rad;
CreateLeg(-1f, wheelAnchor);
CreateLeg(1f, wheelAnchor);
}
private void Reset(FSFixture fA, int indexA, FSFixture fB, int indexB)
{
Flags = ContactFlags.Enabled;
FixtureA = fA;
FixtureB = fB;
ChildIndexA = indexA;
ChildIndexB = indexB;
Manifold.PointCount = 0;
NodeA.Contact = null;
NodeA.Prev = null;
NodeA.Next = null;
NodeA.Other = null;
NodeB.Contact = null;
NodeB.Prev = null;
NodeB.Next = null;
NodeB.Other = null;
TOICount = 0;
//FPE: We only set the friction and restitution if we are not destroying the contact
if (FixtureA != null && FixtureB != null)
{
Friction = FSSettings.MixFriction(FixtureA.Friction, FixtureB.Friction);
Restitution = FSSettings.MixRestitution(FixtureA.Restitution, FixtureB.Restitution);
}
TangentSpeed = 0;
}
internal static Contact Create(FSFixture fixtureA, int indexA, FSFixture fixtureB, int indexB)
{
ShapeType type1 = fixtureA.ShapeType;
ShapeType type2 = fixtureB.ShapeType;
Debug.Assert(ShapeType.Unknown < type1 && type1 < ShapeType.TypeCount);
Debug.Assert(ShapeType.Unknown < type2 && type2 < ShapeType.TypeCount);
Contact c;
Queue<Contact> pool = fixtureA.Body.World.ContactPool;
if (pool.Count > 0)
{
c = pool.Dequeue();
if ((type1 >= type2 || (type1 == ShapeType.Edge && type2 == ShapeType.Polygon))
&&
!(type2 == ShapeType.Edge && type1 == ShapeType.Polygon))
{
c.Reset(fixtureA, indexA, fixtureB, indexB);
}
else
{
c.Reset(fixtureB, indexB, fixtureA, indexA);
}
}
else
{
// Edge+Polygon is non-symetrical due to the way Erin handles collision type registration.
if ((type1 >= type2 || (type1 == ShapeType.Edge && type2 == ShapeType.Polygon))
&&
!(type2 == ShapeType.Edge && type1 == ShapeType.Polygon))
{
c = new Contact(fixtureA, indexA, fixtureB, indexB);
}
else
{
c = new Contact(fixtureB, indexB, fixtureA, indexA);
}
}
c._type = _registers[(int)type1, (int)type2];
return c;
}
private Contact(FSFixture fA, int indexA, FSFixture fB, int indexB)
{
Reset(fA, indexA, fB, indexB);
}
/// <summary>
/// Call this to draw shapes and other debug draw data.
/// </summary>
private void DrawDebugData()
{
if ((Flags & DebugViewFlags.Shape) == DebugViewFlags.Shape)
{
foreach (FSBody b in World.BodyList)
{
Transform xf;
b.GetTransform(out xf);
foreach (FSFixture f in b.FixtureList)
{
if (b.Enabled == false)
{
DrawShape(f, xf, InactiveShapeColor);
}
else if (b.BodyType == BodyType.Static)
{
DrawShape(f, xf, StaticShapeColor);
}
else if (b.BodyType == BodyType.Kinematic)
{
DrawShape(f, xf, KinematicShapeColor);
}
else if (b.Awake == false)
{
DrawShape(f, xf, SleepingShapeColor);
}
else
{
DrawShape(f, xf, DefaultShapeColor);
}
}
}
}
if ((Flags & DebugViewFlags.ContactPoints) == DebugViewFlags.ContactPoints)
{
const float axisScale = 0.3f;
for (int i = 0; i < _pointCount; ++i)
{
ContactPoint point = _points[i];
if (point.State == PointState.Add)
{
// Add
DrawPoint(point.Position, 0.1f, new Color(0.3f, 0.95f, 0.3f));
}
else if (point.State == PointState.Persist)
{
// Persist
DrawPoint(point.Position, 0.1f, new Color(0.3f, 0.3f, 0.95f));
}
if ((Flags & DebugViewFlags.ContactNormals) == DebugViewFlags.ContactNormals)
{
FVector2 p1 = point.Position;
FVector2 p2 = p1 + axisScale * point.Normal;
DrawSegment(p1, p2, new Color(0.4f, 0.9f, 0.4f));
}
}
_pointCount = 0;
}
if ((Flags & DebugViewFlags.PolygonPoints) == DebugViewFlags.PolygonPoints)
{
foreach (FSBody body in World.BodyList)
{
foreach (FSFixture f in body.FixtureList)
{
PolygonShape polygon = f.Shape as PolygonShape;
if (polygon != null)
{
Transform xf;
body.GetTransform(out xf);
for (int i = 0; i < polygon.Vertices.Count; i++)
{
FVector2 tmp = MathUtils.Mul(ref xf, polygon.Vertices[i]);
DrawPoint(tmp, 0.1f, Color.red);
}
}
}
}
}
if ((Flags & DebugViewFlags.Joint) == DebugViewFlags.Joint)
{
foreach (FarseerJoint j in World.JointList)
{
DrawJoint(j);
}
}
if ((Flags & DebugViewFlags.Pair) == DebugViewFlags.Pair)
{
Color color = new Color(0.3f, 0.9f, 0.9f);
for (int i = 0; i < World.ContactManager.ContactList.Count; i++)
{
Contact c = World.ContactManager.ContactList[i];
FSFixture fixtureA = c.FixtureA;
FSFixture fixtureB = c.FixtureB;
AABB aabbA;
fixtureA.GetAABB(out aabbA, 0);
AABB aabbB;
fixtureB.GetAABB(out aabbB, 0);
FVector2 cA = aabbA.Center;
FVector2 cB = aabbB.Center;
DrawSegment(cA, cB, color);
}
}
if ((Flags & DebugViewFlags.AABB) == DebugViewFlags.AABB)
{
Color color = new Color(0.9f, 0.3f, 0.9f);
IBroadPhase bp = World.ContactManager.BroadPhase;
foreach (FSBody b in World.BodyList)
{
if (b.Enabled == false)
{
continue;
}
foreach (FSFixture f in b.FixtureList)
{
for (int t = 0; t < f.ProxyCount; ++t)
{
FixtureProxy proxy = f.Proxies[t];
AABB aabb;
bp.GetFatAABB(proxy.ProxyId, out aabb);
DrawAABB(ref aabb, color);
}
}
}
}
if ((Flags & DebugViewFlags.CenterOfMass) == DebugViewFlags.CenterOfMass)
{
foreach (FSBody b in World.BodyList)
{
Transform xf;
b.GetTransform(out xf);
xf.p = b.WorldCenter;
DrawTransform(ref xf);
}
}
if ((Flags & DebugViewFlags.Controllers) == DebugViewFlags.Controllers)
{
for (int i = 0; i < World.ControllerList.Count; i++)
{
Controller controller = World.ControllerList[i];
BuoyancyController buoyancy = controller as BuoyancyController;
if (buoyancy != null)
{
AABB container = buoyancy.Container;
DrawAABB(ref container, new Color(0.3f, 0.5f, 1.0f));
}
}
}
}
/// <summary>
/// This makes the explosive explode
/// </summary>
/// <param name="pos">
/// The position where the explosion happens
/// </param>
/// <param name="radius">
/// The explosion radius
/// </param>
/// <param name="maxForce">
/// The explosion force at the explosion point
/// (then is inversely proportional to the square of the distance)
/// </param>
/// <returns>
/// A dictionnary containing all the "exploded" fixtures
/// with a list of the applied impulses
/// </returns>
public Dictionary <FSFixture, List <FVector2> > Activate(FVector2 pos, float radius, float maxForce)
{
_exploded.Clear();
AABB aabb;
aabb.LowerBound = pos + new FVector2(-radius, -radius);
aabb.UpperBound = pos + new FVector2(radius, radius);
FSFixture[] shapes = new FSFixture[MaxShapes];
// More than 5 shapes in an explosion could be possible, but still strange.
FSFixture[] containedShapes = new FSFixture[5];
bool exit = false;
int shapeCount = 0;
int containedShapeCount = 0;
// Query the world for overlapping shapes.
World.QueryAABB(
fixture =>
{
if (fixture.TestPoint(ref pos))
{
if (IgnoreWhenInsideShape)
{
exit = true;
}
else
{
containedShapes[containedShapeCount++] = fixture;
}
}
else
{
shapes[shapeCount++] = fixture;
}
// Continue the query.
return(true);
}, ref aabb);
if (exit)
{
return(_exploded);
}
// Per shape max/min angles for now.
float[] vals = new float[shapeCount * 2];
int valIndex = 0;
for (int i = 0; i < shapeCount; ++i)
{
PolygonShape ps;
CircleShape cs = shapes[i].Shape as CircleShape;
if (cs != null)
{
// We create a "diamond" approximation of the circle
Vertices v = new Vertices();
FVector2 vec = FVector2.Zero + new FVector2(cs.Radius, 0);
v.Add(vec);
vec = FVector2.Zero + new FVector2(0, cs.Radius);
v.Add(vec);
vec = FVector2.Zero + new FVector2(-cs.Radius, cs.Radius);
v.Add(vec);
vec = FVector2.Zero + new FVector2(0, -cs.Radius);
v.Add(vec);
ps = new PolygonShape(v, 0);
}
else
{
ps = shapes[i].Shape as PolygonShape;
}
if ((shapes[i].Body.BodyType == BodyType.Dynamic) && ps != null)
{
FVector2 toCentroid = shapes[i].Body.GetWorldPoint(ps.MassData.Centroid) - pos;
float angleToCentroid = (float)Math.Atan2(toCentroid.Y, toCentroid.X);
float min = float.MaxValue;
float max = float.MinValue;
float minAbsolute = 0.0f;
float maxAbsolute = 0.0f;
for (int j = 0; j < (ps.Vertices.Count()); ++j)
{
FVector2 toVertex = (shapes[i].Body.GetWorldPoint(ps.Vertices[j]) - pos);
float newAngle = (float)Math.Atan2(toVertex.Y, toVertex.X);
float diff = (newAngle - angleToCentroid);
diff = (diff - MathHelper.Pi) % (2 * MathHelper.Pi);
// the minus pi is important. It means cutoff for going other direction is at 180 deg where it needs to be
if (diff < 0.0f)
{
diff += 2 * MathHelper.Pi; // correction for not handling negs
}
diff -= MathHelper.Pi;
if (Math.Abs(diff) > MathHelper.Pi)
{
throw new ArgumentException("OMG!");
}
// Something's wrong, point not in shape but exists angle diff > 180
if (diff > max)
{
max = diff;
maxAbsolute = newAngle;
}
if (diff < min)
{
min = diff;
minAbsolute = newAngle;
}
}
vals[valIndex] = minAbsolute;
++valIndex;
vals[valIndex] = maxAbsolute;
++valIndex;
}
}
Array.Sort(vals, 0, valIndex, _rdc);
_data.Clear();
bool rayMissed = true;
for (int i = 0; i < valIndex; ++i)
{
FSFixture shape = null;
float midpt;
int iplus = (i == valIndex - 1 ? 0 : i + 1);
if (vals[i] == vals[iplus])
{
continue;
}
if (i == valIndex - 1)
{
// the single edgecase
midpt = (vals[0] + MathHelper.Pi * 2 + vals[i]);
}
else
{
midpt = (vals[i + 1] + vals[i]);
}
midpt = midpt / 2;
FVector2 p1 = pos;
FVector2 p2 = radius * new FVector2((float)Math.Cos(midpt),
(float)Math.Sin(midpt)) + pos;
// RaycastOne
bool hitClosest = false;
World.RayCast((f, p, n, fr) =>
{
FSBody body = f.Body;
if (!IsActiveOn(body))
{
return(0);
}
if (body.UserData != null)
{
int index = (int)body.UserData;
if (index == 0)
{
// filter
return(-1.0f);
}
}
hitClosest = true;
shape = f;
return(fr);
}, p1, p2);
//draws radius points
if ((hitClosest) && (shape.Body.BodyType == BodyType.Dynamic))
{
if ((_data.Count() > 0) && (_data.Last().Body == shape.Body) && (!rayMissed))
{
int laPos = _data.Count - 1;
ShapeData la = _data[laPos];
la.Max = vals[iplus];
_data[laPos] = la;
}
else
{
// make new
ShapeData d;
d.Body = shape.Body;
d.Min = vals[i];
d.Max = vals[iplus];
_data.Add(d);
}
if ((_data.Count() > 1) &&
(i == valIndex - 1) &&
(_data.Last().Body == _data.First().Body) &&
(_data.Last().Max == _data.First().Min))
{
ShapeData fi = _data[0];
fi.Min = _data.Last().Min;
_data.RemoveAt(_data.Count() - 1);
_data[0] = fi;
while (_data.First().Min >= _data.First().Max)
{
fi.Min -= MathHelper.Pi * 2;
_data[0] = fi;
}
}
int lastPos = _data.Count - 1;
ShapeData last = _data[lastPos];
while ((_data.Count() > 0) &&
(_data.Last().Min >= _data.Last().Max)) // just making sure min<max
{
last.Min = _data.Last().Min - 2 * MathHelper.Pi;
_data[lastPos] = last;
}
rayMissed = false;
}
else
{
rayMissed = true; // raycast did not find a shape
}
}
for (int i = 0; i < _data.Count(); ++i)
{
if (!IsActiveOn(_data[i].Body))
{
continue;
}
float arclen = _data[i].Max - _data[i].Min;
float first = MathHelper.Min(MaxEdgeOffset, EdgeRatio * arclen);
int insertedRays = (int)Math.Ceiling(((arclen - 2.0f * first) - (MinRays - 1) * MaxAngle) / MaxAngle);
if (insertedRays < 0)
{
insertedRays = 0;
}
float offset = (arclen - first * 2.0f) / ((float)MinRays + insertedRays - 1);
//Note: This loop can go into infinite as it operates on floats.
//Added FloatEquals with a large epsilon.
for (float j = _data[i].Min + first;
j < _data[i].Max || MathUtils.FloatEquals(j, _data[i].Max, 0.0001f);
j += offset)
{
FVector2 p1 = pos;
FVector2 p2 = pos + radius * new FVector2((float)Math.Cos(j), (float)Math.Sin(j));
FVector2 hitpoint = FVector2.Zero;
float minlambda = float.MaxValue;
List <FSFixture> fl = _data[i].Body.FixtureList;
for (int x = 0; x < fl.Count; x++)
{
FSFixture f = fl[x];
RayCastInput ri;
ri.Point1 = p1;
ri.Point2 = p2;
ri.MaxFraction = 50f;
RayCastOutput ro;
if (f.RayCast(out ro, ref ri, 0))
{
if (minlambda > ro.Fraction)
{
minlambda = ro.Fraction;
hitpoint = ro.Fraction * p2 + (1 - ro.Fraction) * p1;
}
}
// the force that is to be applied for this particular ray.
// offset is angular coverage. lambda*length of segment is distance.
float impulse = (arclen / (MinRays + insertedRays)) * maxForce * 180.0f / MathHelper.Pi *
(1.0f - Math.Min(1.0f, minlambda));
// We Apply the impulse!!!
FVector2 vectImp = FVector2.Dot(impulse * new FVector2((float)Math.Cos(j),
(float)Math.Sin(j)), -ro.Normal) *
new FVector2((float)Math.Cos(j),
(float)Math.Sin(j));
_data[i].Body.ApplyLinearImpulse(ref vectImp, ref hitpoint);
// We gather the fixtures for returning them
FVector2 val = FVector2.Zero;
List <FVector2> vectorList;
if (_exploded.TryGetValue(f, out vectorList))
{
val.X += Math.Abs(vectImp.X);
val.Y += Math.Abs(vectImp.Y);
vectorList.Add(val);
}
else
{
vectorList = new List <FVector2>();
val.X = Math.Abs(vectImp.X);
val.Y = Math.Abs(vectImp.Y);
vectorList.Add(val);
_exploded.Add(f, vectorList);
}
if (minlambda > 1.0f)
{
hitpoint = p2;
}
}
}
}
// We check contained shapes
for (int i = 0; i < containedShapeCount; ++i)
{
FSFixture fix = containedShapes[i];
if (!IsActiveOn(fix.Body))
{
continue;
}
float impulse = MinRays * maxForce * 180.0f / MathHelper.Pi;
FVector2 hitPoint;
CircleShape circShape = fix.Shape as CircleShape;
if (circShape != null)
{
hitPoint = fix.Body.GetWorldPoint(circShape.Position);
}
else
{
PolygonShape shape = fix.Shape as PolygonShape;
hitPoint = fix.Body.GetWorldPoint(shape.MassData.Centroid);
}
FVector2 vectImp = impulse * (hitPoint - pos);
List <FVector2> vectorList = new List <FVector2>();
vectorList.Add(vectImp);
fix.Body.ApplyLinearImpulse(ref vectImp, ref hitPoint);
if (!_exploded.ContainsKey(fix))
{
_exploded.Add(fix, vectorList);
}
}
return(_exploded);
}
