internal void Synchronize(BroadPhase broadPhase, ref Transform transform1, ref Transform transform2)
{
if (_proxyCount == 0)
{
return;
}
for (int i = 0; i < _proxyCount; ++i)
{
FixtureProxy proxy = _proxies[i];
// Compute an AABB that covers the swept Shape (may miss some rotation effect).
AABB 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);
Vector2 displacement = transform2.Position - transform1.Position;
broadPhase.MoveProxy(proxy.proxyId, ref proxy.aabb, displacement);
}
}
// We need separation create/destroy functions from the constructor/destructor because
// the destructor cannot access the allocator or broad-phase (no destructor arguments allowed by C++).
internal void Create(Body body, FixtureDef def)
{
_userData = def.userData;
_friction = def.friction;
_restitution = def.restitution;
_body = body;
_next = null;
_filter = def.filter;
_isSensor = def.isSensor;
_shape = def.shape.Clone();
// Reserve proxy space
int childCount = _shape.GetChildCount();
_proxies = new FixtureProxy[childCount];
for (int i = 0; i < childCount; ++i)
{
_proxies[i] = new FixtureProxy();
_proxies[i].fixture = null;
_proxies[i].proxyId = BroadPhase.NullProxy;
}
_proxyCount = 0;
_density = def.density;
}
// Broad-phase callback.
internal void AddPair(FixtureProxy proxyA, FixtureProxy proxyB)
{
Fixture fixtureA = proxyA.fixture;
Fixture fixtureB = proxyB.fixture;
int indexA = proxyA.childIndex;
int indexB = proxyB.childIndex;
Body bodyA = fixtureA.GetBody();
Body bodyB = fixtureB.GetBody();
// Are the fixtures on the same body?
if (bodyA == bodyB)
{
return;
}
// Does a contact already exist?
ContactEdge edge = bodyB.GetContactList();
while (edge != null)
{
if (edge.Other == bodyA)
{
Fixture fA = edge.Contact.GetFixtureA();
Fixture 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 (ContactFilter != null && ContactFilter.ShouldCollide(fixtureA, fixtureB) == false)
{
return;
}
// Call the factory.
Contact c = Contact.Create(fixtureA, indexA, fixtureB, indexB);
// 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._prev = null;
c._next = _contactList;
if (_contactList != null)
{
_contactList._prev = c;
}
_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;
++_contactCount;
}
bool QueryAABBCallbackWrapper(int proxyId)
{
FixtureProxy proxy = (FixtureProxy)_contactManager._broadPhase.GetUserData(proxyId);
return(_queryAABBCallback(proxy));
}
/// Call this to draw shapes and other debug draw data.
public void DrawDebugData()
{
if (DebugDraw == null)
{
return;
}
DebugDrawFlags flags = DebugDraw.Flags;
if ((flags & DebugDrawFlags.Shape) == DebugDrawFlags.Shape)
{
for (Body b = _bodyList; b != null; b = b.GetNext())
{
Transform xf;
b.GetTransform(out xf);
for (Fixture f = b.GetFixtureList(); f != null; f = f.GetNext())
{
if (b.IsActive() == false)
{
DrawShape(f, xf, new Color(0.5f, 0.5f, 0.3f));
}
else if (b.GetType() == BodyType.Static)
{
DrawShape(f, xf, new Color(0.5f, 0.9f, 0.5f));
}
else if (b.GetType() == BodyType.Kinematic)
{
DrawShape(f, xf, new Color(0.5f, 0.5f, 0.9f));
}
else if (b.IsAwake() == false)
{
DrawShape(f, xf, new Color(0.6f, 0.6f, 0.6f));
}
else
{
DrawShape(f, xf, new Color(0.9f, 0.7f, 0.7f));
}
}
}
}
if ((flags & DebugDrawFlags.Joint) == DebugDrawFlags.Joint)
{
for (Joint j = _jointList; j != null; j = j.GetNext())
{
DrawJoint(j);
}
}
if ((flags & DebugDrawFlags.Pair) == DebugDrawFlags.Pair)
{
Color color = new Color(0.3f, 0.9f, 0.9f);
for (Contact c = _contactManager._contactList; c != null; c = c.GetNext())
{
/*
* Fixture fixtureA = c.GetFixtureA();
* Fixture fixtureB = c.GetFixtureB();
*
* AABB aabbA;
* AABB aabbB;
* fixtureA.GetAABB(out aabbA);
* fixtureB.GetAABB(out aabbB);
*
* Vector2 cA = aabbA.GetCenter();
* Vector2 cB = aabbB.GetCenter();
*
* DebugDraw.DrawSegment(cA, cB, color);
*/
}
}
if ((flags & DebugDrawFlags.AABB) == DebugDrawFlags.AABB)
{
Color color = new Color(0.9f, 0.3f, 0.9f);
BroadPhase bp = _contactManager._broadPhase;
for (Body b = _bodyList; b != null; b = b.GetNext())
{
if (b.IsActive() == false)
{
continue;
}
for (Fixture f = b.GetFixtureList(); f != null; f = f.GetNext())
{
for (int i = 0; i < f._proxyCount; ++i)
{
FixtureProxy proxy = f._proxies[i];
AABB aabb;
bp.GetFatAABB(proxy.proxyId, out aabb);
FixedArray8 <Vector2> vs = new FixedArray8 <Vector2>();
vs[0] = new Vector2(aabb.lowerBound.X, aabb.lowerBound.Y);
vs[1] = new Vector2(aabb.upperBound.X, aabb.lowerBound.Y);
vs[2] = new Vector2(aabb.upperBound.X, aabb.upperBound.Y);
vs[3] = new Vector2(aabb.lowerBound.X, aabb.upperBound.Y);
DebugDraw.DrawPolygon(ref vs, 4, color);
}
}
}
}
if ((flags & DebugDrawFlags.CenterOfMass) == DebugDrawFlags.CenterOfMass)
{
for (Body b = _bodyList; b != null; b = b.GetNext())
{
Transform xf;
b.GetTransform(out xf);
xf.Position = b.GetWorldCenter();
DebugDraw.DrawTransform(ref xf);
}
}
}
// Broad-phase callback.
internal void AddPair(FixtureProxy proxyA, FixtureProxy proxyB)
{
Fixture fixtureA = proxyA.fixture;
Fixture fixtureB = proxyB.fixture;
int indexA = proxyA.childIndex;
int indexB = proxyB.childIndex;
Body bodyA = fixtureA.GetBody();
Body bodyB = fixtureB.GetBody();
// Are the fixtures on the same body?
if (bodyA == bodyB)
{
return;
}
// Does a contact already exist?
ContactEdge edge = bodyB.GetContactList();
while (edge != null)
{
if (edge.Other == bodyA)
{
Fixture fA = edge.Contact.GetFixtureA();
Fixture 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 (ContactFilter != null && ContactFilter.ShouldCollide(fixtureA, fixtureB) == false)
{
return;
}
// Call the factory.
Contact c = Contact.Create(fixtureA, indexA, fixtureB, indexB);
// 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._prev = null;
c._next = _contactList;
if (_contactList != null)
{
_contactList._prev = c;
}
_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;
++_contactCount;
}
