// Cache here per time step to reduce cache misses. // final Vec2 m_localCenterA, m_localCenterB; // float m_invMassA, m_invIA; // float m_invMassB, m_invIB; protected internal Joint(IWorldPool argWorldPool, JointDef def) { Debug.Assert(def.BodyA != def.BodyB); Pool = argWorldPool; Type = def.Type; Prev = null; Next = null; BodyA = def.BodyA; BodyB = def.BodyB; CollideConnected = def.CollideConnected; IslandFlag = false; UserData = def.UserData; Index = 0; EdgeA = new JointEdge(); EdgeA.Joint = null; EdgeA.Other = null; EdgeA.Prev = null; EdgeA.Next = null; EdgeB = new JointEdge(); EdgeB.Joint = null; EdgeB.Other = null; EdgeB.Prev = null; EdgeB.Next = null; // m_localCenterA = new Vec2(); // m_localCenterB = new Vec2(); }
// Cache here per time step to reduce cache misses. // final Vec2 m_localCenterA, m_localCenterB; // float m_invMassA, m_invIA; // float m_invMassB, m_invIB; protected internal Joint(IWorldPool argWorldPool, JointDef def) { Debug.Assert(def.bodyA != def.bodyB); pool = argWorldPool; m_type = def.type; m_prev = null; m_next = null; m_bodyA = def.bodyA; m_bodyB = def.bodyB; m_collideConnected = def.collideConnected; m_islandFlag = false; m_userData = def.userData; m_index = 0; m_edgeA = new JointEdge(); m_edgeA.joint = null; m_edgeA.other = null; m_edgeA.prev = null; m_edgeA.next = null; m_edgeB = new JointEdge(); m_edgeB.joint = null; m_edgeB.other = null; m_edgeB.prev = null; m_edgeB.next = null; // m_localCenterA = new Vec2(); // m_localCenterB = new Vec2(); }
public static Joint Create(World argWorld, JointDef def) { //Joint joint = null; switch (def.Type) { case JointType.Mouse: return(new MouseJoint(argWorld.Pool, (MouseJointDef)def)); case JointType.Distance: return(new DistanceJoint(argWorld.Pool, (DistanceJointDef)def)); case JointType.Prismatic: return(new PrismaticJoint(argWorld.Pool, (PrismaticJointDef)def)); case JointType.Revolute: return(new RevoluteJoint(argWorld.Pool, (RevoluteJointDef)def)); case JointType.Weld: return(new WeldJoint(argWorld.Pool, (WeldJointDef)def)); case JointType.Friction: return(new FrictionJoint(argWorld.Pool, (FrictionJointDef)def)); //case JointType.WHEEL: // return new WheelJoint(argWorld.Pool, (LineJointDef)def); //case JointType.GEAR: // return new GearJoint(argWorld.Pool, (GearJointDef)def); case JointType.Pulley: return(new PulleyJoint(argWorld.Pool, (PulleyJointDef)def)); case JointType.ConstantVolume: return(new ConstantVolumeJoint(argWorld, (ConstantVolumeJointDef)def)); } return(null); }
/// <summary> /// create a joint to constrain bodies together. No reference to the definition is retained. This /// may cause the connected bodies to cease colliding. /// </summary> /// <warning>This function is locked during callbacks.</warning> /// <param name="def"></param> /// <returns></returns> public virtual Joint createJoint(JointDef def) { Debug.Assert(Locked == false); if (Locked) { return null; } Joint j = Joint.create(this, def); // Connect to the world list. j.m_prev = null; j.m_next = m_jointList; if (m_jointList != null) { m_jointList.m_prev = j; } m_jointList = j; ++m_jointCount; // Connect to the bodies' doubly linked lists. j.m_edgeA.joint = j; j.m_edgeA.other = j.m_bodyB; j.m_edgeA.prev = null; j.m_edgeA.next = j.m_bodyA.m_jointList; if (j.m_bodyA.m_jointList != null) { j.m_bodyA.m_jointList.prev = j.m_edgeA; } j.m_bodyA.m_jointList = j.m_edgeA; j.m_edgeB.joint = j; j.m_edgeB.other = j.m_bodyA; j.m_edgeB.prev = null; j.m_edgeB.next = j.m_bodyB.m_jointList; if (j.m_bodyB.m_jointList != null) { j.m_bodyB.m_jointList.prev = j.m_edgeB; } j.m_bodyB.m_jointList = j.m_edgeB; Body bodyA = def.bodyA; Body bodyB = def.bodyB; // If the joint prevents collisions, then flag any contacts for filtering. if (def.collideConnected == false) { ContactEdge edge = bodyB.ContactList; while (edge != null) { if (edge.other == bodyA) { // Flag the contact for filtering at the next time step (where either // body is awake). edge.contact.flagForFiltering(); } edge = edge.next; } } // Note: creating a joint doesn't wake the bodies. return j; }
/// <summary> /// create a joint to constrain bodies together. No reference to the definition is retained. This /// may cause the connected bodies to cease colliding. /// </summary> /// <warning>This function is locked during callbacks.</warning> /// <param name="def"></param> /// <returns></returns> public Joint CreateJoint(JointDef def) { Debug.Assert(Locked == false); if (Locked) { return null; } Joint j = Joint.Create(this, def); // Connect to the world list. j.Prev = null; j.Next = JointList; if (JointList != null) { JointList.Prev = j; } JointList = j; ++JointCount; // Connect to the bodies' doubly linked lists. j.EdgeA.Joint = j; j.EdgeA.Other = j.BodyB; j.EdgeA.Prev = null; j.EdgeA.Next = j.BodyA.JointList; if (j.BodyA.JointList != null) { j.BodyA.JointList.Prev = j.EdgeA; } j.BodyA.JointList = j.EdgeA; j.EdgeB.Joint = j; j.EdgeB.Other = j.BodyA; j.EdgeB.Prev = null; j.EdgeB.Next = j.BodyB.JointList; if (j.BodyB.JointList != null) { j.BodyB.JointList.Prev = j.EdgeB; } j.BodyB.JointList = j.EdgeB; Body bodyA = def.BodyA; Body bodyB = def.BodyB; // If the joint prevents collisions, then flag any contacts for filtering. if (def.CollideConnected == false) { ContactEdge edge = bodyB.ContactList; while (edge != null) { if (edge.Other == bodyA) { // Flag the contact for filtering at the next time step (where either // body is awake). edge.Contact.SetFlagForFiltering(); } edge = edge.Next; } } // Note: creating a joint doesn't wake the bodies. return j; }
// Cache here per time step to reduce cache misses. // final Vec2 m_localCenterA, m_localCenterB; // float m_invMassA, m_invIA; // float m_invMassB, m_invIB; protected internal Joint(IWorldPool argWorldPool, JointDef def) { Debug.Assert(def.BodyA != def.BodyB); Pool = argWorldPool; Type = def.Type; Prev = null; Next = null; BodyA = def.BodyA; BodyB = def.BodyB; CollideConnected = def.CollideConnected; IslandFlag = false; UserData = def.UserData; Index = 0; EdgeA = new JointEdge(); EdgeA.Joint = null; EdgeA.Other = null; EdgeA.Prev = null; EdgeA.Next = null; EdgeB = new JointEdge(); EdgeB.Joint = null; EdgeB.Other = null; EdgeB.Prev = null; EdgeB.Next = null; // m_localCenterA = new Vec2(); // m_localCenterB = new Vec2(); }
public static Joint Create(World argWorld, JointDef def) { //Joint joint = null; switch (def.Type) { case JointType.Mouse: return new MouseJoint(argWorld.Pool, (MouseJointDef)def); case JointType.Distance: return new DistanceJoint(argWorld.Pool, (DistanceJointDef)def); case JointType.Prismatic: return new PrismaticJoint(argWorld.Pool, (PrismaticJointDef)def); case JointType.Revolute: return new RevoluteJoint(argWorld.Pool, (RevoluteJointDef)def); case JointType.Weld: return new WeldJoint(argWorld.Pool, (WeldJointDef)def); case JointType.Friction: return new FrictionJoint(argWorld.Pool, (FrictionJointDef)def); //case JointType.WHEEL: // return new WheelJoint(argWorld.Pool, (LineJointDef)def); //case JointType.GEAR: // return new GearJoint(argWorld.Pool, (GearJointDef)def); case JointType.Pulley: return new PulleyJoint(argWorld.Pool, (PulleyJointDef)def); case JointType.ConstantVolume: return new ConstantVolumeJoint(argWorld, (ConstantVolumeJointDef)def); } return null; }
public static Joint create(World argWorld, JointDef def) { //Joint joint = null; switch (def.type) { case JointType.MOUSE: return new MouseJoint(argWorld.Pool, (MouseJointDef)def); case JointType.DISTANCE: return new DistanceJoint(argWorld.Pool, (DistanceJointDef)def); case JointType.PRISMATIC: return new PrismaticJoint(argWorld.Pool, (PrismaticJointDef)def); case JointType.REVOLUTE: return new RevoluteJoint(argWorld.Pool, (RevoluteJointDef)def); case JointType.WELD: return new WeldJoint(argWorld.Pool, (WeldJointDef)def); case JointType.FRICTION: return new FrictionJoint(argWorld.Pool, (FrictionJointDef)def); //case JointType.WHEEL: // return new WheelJoint(argWorld.Pool, (LineJointDef)def); //case JointType.GEAR: // return new GearJoint(argWorld.Pool, (GearJointDef)def); case JointType.PULLEY: return new PulleyJoint(argWorld.Pool, (PulleyJointDef)def); case JointType.CONSTANT_VOLUME: return new ConstantVolumeJoint(argWorld, (ConstantVolumeJointDef)def); } return null; }