public static void ComponentActivate(cpBody root)
{
if (root == null || !root.IsSleeping())
{
return;
}
cp.AssertHard(!root.IsRogue(), "Internal Error: componentActivate() called on a rogue body.");
var space = root.space;
cpBody body = root;
while (body != null)
{
var next = body.nodeNext;
body.nodeIdleTime = 0;
body.nodeRoot = null;
body.nodeNext = null;
space.ActivateBody(body);
body = next;
}
space.sleepingComponents.Remove(root);
}
// Hashset filter func to throw away old arbiters.
public bool ArbiterSetFilter(cpArbiter arb)
{
var ticks = this.stamp - arb.stamp;
cpBody a = arb.body_a, b = arb.body_b;
// TODO should make an arbiter state for this so it doesn't require filtering arbiters for
// dangling body pointers on body removal.
// Preserve arbiters on sensors and rejected arbiters for sleeping objects.
// This prevents errant separate callbacks from happenening.
if (
(a.bodyType == cpBodyType.STATIC || a.IsSleeping()) &&
(b.bodyType == cpBodyType.STATIC || b.IsSleeping())
)
{
return(true);
}
// Arbiter was used last frame, but not this one
if (ticks >= 1 && arb.state != cpArbiterState.Cached)
{
arb.state = cpArbiterState.Cached;
arb.handler.separateFunc(arb, this, arb.handler.userData);
}
if (ticks >= this.collisionPersistence)
{
arb.contacts.Clear();
//cpArrayPush(this.pooledArbiters, arb);
return(false);
}
return(true);
}
// Force a body to fall asleep immediately along with other bodies in a group.
public void SleepWithGroup(cpBody group)
{
cp.AssertHard(bodyType == cpBodyType.DYNAMIC, "Non-dynamic bodies cannot be put to sleep.");
var space = this.space;
cp.AssertHard(!space.IsLocked, "Bodies cannot be put to sleep during a query or a call to cpSpaceStep(). Put these calls into a post-step callback.");
cp.AssertHard(space.GetSleepTimeThreshold() < cp.Infinity, "Sleeping is not enabled on the space. You cannot sleep a body without setting a sleep time threshold on the space.");
cp.AssertHard(group == null || group.IsSleeping(), "Cannot use a non-sleeping body as a group identifier.");
if (this.IsSleeping())
{
cp.AssertSoft(cp.ComponentRoot(this) == cp.ComponentRoot(group), "The body is already sleeping and it's group cannot be reassigned.");
return;
}
eachShape((shape, o) => shape.CacheBB(), null);
space.DeactivateBody(this);
if (group != null)
{
var root = cp.ComponentRoot(group);
this.nodeRoot = root;
this.nodeNext = root.nodeNext;
this.nodeIdleTime = 0;
root.nodeNext = this;
}
else
{
this.nodeRoot = this;
this.nodeNext = null;
this.nodeIdleTime = 0;
space.sleepingComponents.Add(this);
}
space.dynamicBodies.Remove(this);
}
// Defined in cpSpace.c
// Wake up a sleeping or idle body.
public void Activate()
{
if (bodyType == cpBodyType.DYNAMIC)
{
nodeIdleTime = 0.0f;
cpBody root = nodeRoot;
if (root != null && root.IsSleeping())
{
// TODO should cpBodyIsSleeping(root) be an assertion?
cp.AssertSoft(root.bodyType == cpBodyType.DYNAMIC, "Internal Error: Non-dynamic body component root detected.");
cpSpace space = root.space;
cpBody body = root;
while (body != null)
{
cpBody next = body.nodeNext;
body.nodeIdleTime = 0.0f;
body.nodeRoot = null;
body.nodeNext = null;
space.ActivateBody(body);
body = next;
}
space.sleepingComponents.Remove(root);
}
eachArbiter((arb, o) =>
{
// Reset the idle timer of things the body is touching as well.
// That way things don't get left hanging in the air.
cpBody other = (arb.body_a == this ? arb.body_b : arb.body_a);
if (other.bodyType != cpBodyType.STATIC)
{
other.nodeIdleTime = 0.0f;
}
}, null);
}
}
public void ProcessComponents(float dt)
{
var sleep = (this.sleepTimeThreshold != cp.Infinity);
var bodies = this.dynamicBodies;
// These checks can be removed at some stage (if DEBUG == undefined)
for (var i = 0; i < bodies.Count; i++)
{
var body = bodies[i];
cp.AssertSoft(body.nodeNext == null, "Internal Error: Dangling next pointer detected in contact graph.");
cp.AssertSoft(body.nodeRoot == null, "Internal Error: Dangling root pointer detected in contact graph.");
}
// Calculate the kinetic energy of all the bodies
if (sleep)
{
var dv = this.idleSpeedThreshold;
var dvsq = (dv != 0 ? dv * dv : cpVect.cpvlengthsq(this.gravity) * dt * dt);
for (var i = 0; i < bodies.Count; i++)
{
// TODO should make a separate array for kinematic bodies.
if (bodies[i].bodyType != cpBodyType.DYNAMIC)
{
continue;
}
// Need to deal with infinite mass objects
var keThreshold = (dvsq > 0 ? bodies[i].m * dvsq : 0.0f);
bodies[i].nodeIdleTime = (bodies[i].KineticEnergy() > keThreshold ? 0 : bodies[i].nodeIdleTime + dt);
}
}
// Awaken any sleeping bodies found and then push arbiters to the bodies' lists.
List <cpArbiter> arbiters = this.arbiters; // new List<cpArbiter>();
var count = arbiters.Count; //FIX: we cannot read the count values of the array because it changes inside
for (int i = 0; i < count; i++)
{
cpArbiter arb = arbiters[i];
cpBody a = arb.body_a, b = arb.body_b;
if (sleep)
{
if (b.bodyType == cpBodyType.KINEMATIC || a.IsSleeping())
{
a.Activate();
}
if (a.bodyType == cpBodyType.KINEMATIC || b.IsSleeping())
{
b.Activate();
}
}
a.PushArbiter(arb);
b.PushArbiter(arb);
}
if (sleep)
{
// Bodies should be held active if connected by a joint to a non-static rouge body.
var constraints = this.constraints;
for (var i = 0; i < constraints.Count; i++)
{
cpConstraint constraint = constraints[i];
cpBody a = constraint.a, b = constraint.b;
if (b.bodyType == cpBodyType.KINEMATIC)
{
a.Activate();
}
if (a.bodyType == cpBodyType.KINEMATIC)
{
b.Activate();
}
}
// Generate components and deactivate sleeping ones
for (var i = 0; i < bodies.Count;)
{
var body = bodies[i];
if (cp.ComponentRoot(body) == null)
{
// Body not in a component yet. Perform a DFS to flood fill mark
// the component in the contact graph using this body as the root.
FloodFillComponent(body, body);
// Check if the component should be put to sleep.
if (!ComponentActive(body, this.sleepTimeThreshold))
{
this.sleepingComponents.Add(body);
//CP_BODY_FOREACH_COMPONENT
for (var other = body; other != null; other = other.nodeNext)
{
this.DeactivateBody(other);
}
// deactivateBody() removed the current body from the list.
// Skip incrementing the index counter.
continue;
}
}
i++;
// Only sleeping bodies retain their component node pointers.
body.nodeRoot = null;
body.nodeNext = null;
}
}
}
// Force a body to fall asleep immediately along with other bodies in a group.
public void SleepWithGroup(cpBody group)
{
cp.AssertHard(bodyType == cpBodyType.DYNAMIC, "Non-dynamic bodies cannot be put to sleep.");
var space = this.space;
cp.AssertHard(!space.IsLocked, "Bodies cannot be put to sleep during a query or a call to cpSpaceStep(). Put these calls into a post-step callback.");
cp.AssertHard(space.GetSleepTimeThreshold() < cp.Infinity, "Sleeping is not enabled on the space. You cannot sleep a body without setting a sleep time threshold on the space.");
cp.AssertHard(group == null || group.IsSleeping(), "Cannot use a non-sleeping body as a group identifier.");
if (this.IsSleeping())
{
cp.AssertSoft(cp.ComponentRoot(this) == cp.ComponentRoot(group), "The body is already sleeping and it's group cannot be reassigned.");
return;
}
eachShape((shape, o) => shape.CacheBB(), null);
space.DeactivateBody(this);
if (group != null)
{
var root = cp.ComponentRoot(group);
this.nodeRoot = root;
this.nodeNext = root.nodeNext;
this.nodeIdleTime = 0;
root.nodeNext = this;
}
else
{
this.nodeRoot = this;
this.nodeNext = null;
this.nodeIdleTime = 0;
space.sleepingComponents.Add(this);
}
space.dynamicBodies.Remove(this);
}
public static void ComponentActivate(cpBody root)
{
if (root == null || !root.IsSleeping()) return;
cp.AssertHard(!root.IsRogue(), "Internal Error: componentActivate() called on a rogue body.");
var space = root.space;
cpBody body = root;
while (body != null)
{
var next = body.nodeNext;
body.nodeIdleTime = 0;
body.nodeRoot = null;
body.nodeNext = null;
space.ActivateBody(body);
body = next;
}
space.sleepingComponents.Remove(root);
}
