protected Joint(JointDef def)
{
//Debug.Assert(def.bodyA != def.bodyB);
_type = def.type;
_bodyA = def.bodyA;
_bodyB = def.bodyB;
_collideConnected = def.collideConnected;
_userData = def.userData;
_edgeA = new JointEdge();
_edgeB = new JointEdge();
}
protected Joint(JointDef def){
Utilities.Assert(def.bodyA != def.bodyB);
m_type = def.type;
m_prev = null;
m_next = null;
m_bodyA = def.bodyA;
m_bodyB = def.bodyB;
m_index = 0;
m_collideConnected = def.collideConnected;
m_islandFlag = false;
m_userData = def.userData;
m_edgeA = new List<JointEdge>();
m_edgeB = new List<JointEdge>();
}
protected Joint(JointDef def)
{
Utilities.Assert(def.bodyA != def.bodyB);
m_type = def.type;
m_prev = null;
m_next = null;
m_bodyA = def.bodyA;
m_bodyB = def.bodyB;
m_index = 0;
m_collideConnected = def.collideConnected;
m_islandFlag = false;
m_userData = def.userData;
m_edgeA = new List <JointEdge>();
m_edgeB = new List <JointEdge>();
}
/// Create a joint to constrain bodies together. No reference to the definition
/// is retained. This may cause the connected bodies to cease colliding.
/// @warning This function is locked during callbacks.
public Joint CreateJoint(JointDef def)
{
Utilities.Assert(IsLocked() == false);
if (IsLocked())
{
return(null);
}
Joint j = Joint.Create(def);
// Connect to the world list.
m_jointList.Add(j);
// Connect to the bodies' doubly linked lists.
j.m_edgeA.Clear();
j.m_edgeA.Add(new JointEdge(j, j.m_bodyB));
j.m_edgeA.AddRange(j.m_bodyA.m_jointList);
j.m_bodyA.m_jointList = j.m_edgeA;
j.m_edgeB.Clear();
j.m_edgeB.Add(new JointEdge(j, j.m_bodyA));
j.m_edgeB.AddRange(j.m_bodyB.m_jointList);
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)
{
foreach (ContactEdge edge in bodyB.GetContactList())
{
if (edge.other == bodyA)
{
// Flag the contact for filtering at the next time step (where either
// body is awake).
edge.contact.FlagForFiltering();
}
}
}
// Note: creating a joint doesn't wake the bodies.
return(j);
}
internal static Joint Create(JointDef def)
{
Joint joint = null;
switch (def.type)
{
case JointType.Distance:
{
joint = new DistanceJoint((DistanceJointDef)def);
}
break;
case JointType.Mouse:
{
joint = new MouseJoint((MouseJointDef)def);
}
break;
case JointType.Prismatic:
{
joint = new PrismaticJoint((PrismaticJointDef)def);
}
break;
case JointType.Revolute:
{
joint = new RevoluteJoint((RevoluteJointDef)def);
}
break;
case JointType.Pulley:
{
joint = new PulleyJoint((PulleyJointDef)def);
}
break;
case JointType.Gear:
{
joint = new GearJoint((GearJointDef)def);
}
break;
case JointType.Line:
{
joint = new LineJoint((LineJointDef)def);
}
break;
case JointType.Weld:
{
joint = new WeldJoint((WeldJointDef)def);
}
break;
case JointType.Friction:
{
joint = new FrictionJoint((FrictionJointDef)def);
}
break;
case JointType.MaxDistance:
{
joint = new MaxDistanceJoint((MaxDistanceJointDef)def);
}
break;
default:
//Debug.Assert(false);
break;
}
return(joint);
}
internal static Joint Create(JointDef def){
Joint joint = null;
switch (def.type)
{
case JointType.e_distanceJoint:
{
joint = new DistanceJoint((DistanceJointDef)def);
}
break;
case JointType.e_mouseJoint:
{
joint = new MouseJoint((MouseJointDef)def);
}
break;
case JointType.e_prismaticJoint:
{
joint = new PrismaticJoint((PrismaticJointDef)def);
}
break;
case JointType.e_revoluteJoint:
{
joint = new RevoluteJoint((RevoluteJointDef)def);
}
break;
case JointType.e_pulleyJoint:
{
joint = new PulleyJoint((PulleyJointDef)def);
}
break;
case JointType.e_gearJoint:
{
joint = new GearJoint((GearJointDef)def);
}
break;
case JointType.e_wheelJoint:
{
joint = new WheelJoint((WheelJointDef)def);
}
break;
case JointType.e_weldJoint:
{
joint = new WeldJoint((WeldJointDef)def);
}
break;
case JointType.e_frictionJoint:
{
joint = new FrictionJoint((FrictionJointDef)def);
}
break;
case JointType.e_ropeJoint:
{
throw new NotImplementedException();
//joint = new RopeJoint((RopeJointDef)def);
}
break;
case JointType.e_motorJoint:
{
joint = new MotorJoint((MotorJointDef)def);
}
break;
default:
Utilities.Assert(false);
break;
}
return joint;
}
internal static Joint Create(JointDef def)
{
Joint joint = null;
switch (def.type)
{
case JointType.e_distanceJoint:
{
joint = new DistanceJoint((DistanceJointDef)def);
}
break;
case JointType.e_mouseJoint:
{
joint = new MouseJoint((MouseJointDef)def);
}
break;
case JointType.e_prismaticJoint:
{
joint = new PrismaticJoint((PrismaticJointDef)def);
}
break;
case JointType.e_revoluteJoint:
{
joint = new RevoluteJoint((RevoluteJointDef)def);
}
break;
case JointType.e_pulleyJoint:
{
joint = new PulleyJoint((PulleyJointDef)def);
}
break;
case JointType.e_gearJoint:
{
joint = new GearJoint((GearJointDef)def);
}
break;
case JointType.e_wheelJoint:
{
joint = new WheelJoint((WheelJointDef)def);
}
break;
case JointType.e_weldJoint:
{
joint = new WeldJoint((WeldJointDef)def);
}
break;
case JointType.e_frictionJoint:
{
joint = new FrictionJoint((FrictionJointDef)def);
}
break;
case JointType.e_ropeJoint:
{
throw new NotImplementedException();
//joint = new RopeJoint((RopeJointDef)def);
}
break;
case JointType.e_motorJoint:
{
joint = new MotorJoint((MotorJointDef)def);
}
break;
default:
Utilities.Assert(false);
break;
}
return(joint);
}
/// Create a joint to constrain bodies together. No reference to the definition
/// is retained. This may cause the connected bodies to cease colliding.
/// @warning This function is locked during callbacks.
public Joint CreateJoint(JointDef def){
Utilities.Assert(IsLocked() == false);
if (IsLocked())
{
return null;
}
Joint j = Joint.Create(def);
// Connect to the world list.
m_jointList.Add(j);
// Connect to the bodies' doubly linked lists.
j.m_edgeA.Clear();
j.m_edgeA.Add(new JointEdge(j, j.m_bodyB));
j.m_edgeA.AddRange(j.m_bodyA.m_jointList);
j.m_bodyA.m_jointList = j.m_edgeA;
j.m_edgeB.Clear();
j.m_edgeB.Add(new JointEdge(j, j.m_bodyA));
j.m_edgeB.AddRange(j.m_bodyB.m_jointList);
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)
{
foreach (ContactEdge edge in bodyB.GetContactList())
{
if (edge.other == bodyA)
{
// Flag the contact for filtering at the next time step (where either
// body is awake).
edge.contact.FlagForFiltering();
}
}
}
// Note: creating a joint doesn't wake the bodies.
return j;
}
/// Create a joint to rain bodies together. No reference to the definition
/// is retained. This may cause the connected bodies to cease colliding.
/// @warning This function is locked during callbacks.
public Joint CreateJoint(JointDef def)
{
//Debug.Assert(!IsLocked);
if (IsLocked)
{
return(null);
}
Joint j = Joint.Create(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;
bool staticA = bodyA.GetType() == BodyType.Static;
bool staticB = bodyB.GetType() == BodyType.Static;
// If the joint prevents collisions, then flag any contacts for filtering.
if (def.collideConnected == false)
{
ContactEdge edge = bodyB.GetContactList();
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);
}
