/// <summary>
/// Create a new instance of the <see cref="World"/> class.
/// </summary>
/// <param name="collision">The collisionSystem which is used to detect
/// collisions. See for example: <see cref="CollisionSystemSAP"/>
/// or <see cref="CollisionSystemBrute"/>.
/// </param>
public World(CollisionSystem collision)
{
if (collision == null)
{
throw new ArgumentNullException("The CollisionSystem can't be null.", "collision");
}
RigidBody.instanceCount = 0;
Constraint.instanceCount = 0;
arbiterCallback = new Action <object>(ArbiterCallback);
integrateCallback = new Action <object>(IntegrateCallback);
// Create the readonly wrappers
this.RigidBodies = new ReadOnlyHashset <RigidBody>(rigidBodies);
this.Constraints = new ReadOnlyHashset <Constraint>(constraints);
this.SoftBodies = new ReadOnlyHashset <SoftBody>(softbodies);
this.CollisionSystem = collision;
collisionDetectionHandler = new CollisionDetectedHandler(CollisionDetected);
this.CollisionSystem.CollisionDetected += collisionDetectionHandler;
this.arbiterMap = new ArbiterMap();
this.arbiterTriggerMap = new ArbiterMap();
AllowDeactivation = false;
}
private void UpdateContacts(ArbiterMap selectedArbiterMap)
{
foreach (Arbiter arbiter in selectedArbiterMap.Arbiters)
{
UpdateArbiterContacts(arbiter);
}
while (removedArbiterStack.Count > 0)
{
Arbiter arbiter = removedArbiterStack.Pop();
Arbiter.Pool.GiveBack(arbiter);
selectedArbiterMap.Remove(arbiter);
if (selectedArbiterMap == arbiterMap)
{
removedArbiterQueue.Enqueue(arbiter);
events.RaiseBodiesEndCollide(arbiter.body1, arbiter.body2);
cacheOverPairContact.SetBodies(arbiter.body1, arbiter.body2);
Contact.Pool.GiveBack(initialCollisions[cacheOverPairContact]);
initialCollisions.Remove(cacheOverPairContact);
}
else
{
if (arbiter.body1.isColliderOnly)
{
events.RaiseTriggerEndCollide(arbiter.body1, arbiter.body2);
}
else
{
events.RaiseTriggerEndCollide(arbiter.body2, arbiter.body1);
}
cacheOverPairContact.SetBodies(arbiter.body1, arbiter.body2);
Contact.Pool.GiveBack(initialTriggers[cacheOverPairContact]);
initialTriggers.Remove(cacheOverPairContact);
}
}
}
private void CollisionDetected(RigidBody body1, RigidBody body2, TSVector point1, TSVector point2, TSVector normal, FP penetration)
{
bool anyBodyColliderOnly = body1.IsColliderOnly || body2.IsColliderOnly;
Arbiter arbiter = null;
ArbiterMap selectedArbiterMap = null;
if (anyBodyColliderOnly)
{
selectedArbiterMap = arbiterTriggerMap;
}
else
{
selectedArbiterMap = arbiterMap;
}
bool arbiterCreated = false;
lock (selectedArbiterMap) {
selectedArbiterMap.LookUpArbiter(body1, body2, out arbiter);
if (arbiter == null)
{
arbiter = Arbiter.Pool.GetNew();
arbiter.body1 = body1; arbiter.body2 = body2;
selectedArbiterMap.Add(new ArbiterKey(body1, body2), arbiter);
arbiterCreated = true;
}
}
Contact contact = null;
if (arbiter.body1 == body1)
{
TSVector.Negate(ref normal, out normal);
contact = arbiter.AddContact(point1, point2, normal, penetration, contactSettings);
}
else
{
contact = arbiter.AddContact(point2, point1, normal, penetration, contactSettings);
}
if (arbiterCreated)
{
if (anyBodyColliderOnly)
{
/*if (body1.isColliderOnly) {
* events.RaiseTriggerBeginCollide(body1, body2);
* } else {
* events.RaiseTriggerBeginCollide(body2, body1);
* }*/
events.RaiseTriggerBeginCollide(contact);
body1.arbitersTrigger.Add(arbiter);
body2.arbitersTrigger.Add(arbiter);
OverlapPairContact overlapContact = new OverlapPairContact(body1, body2);
overlapContact.contact = contact;
initialTriggers.Add(overlapContact);
}
else
{
events.RaiseBodiesBeginCollide(contact);
addedArbiterQueue.Enqueue(arbiter);
OverlapPairContact overlapContact = new OverlapPairContact(body1, body2);
overlapContact.contact = contact;
initialCollisions.Add(overlapContact);
}
}
else if (contact != null)
{
cacheOverPairContact.SetBodies(body1, body2);
//if (!initialTriggers.Contains(cacheOverPairContact)) Debug.LogWarning("不包含==========");
int cacheOverPairContactHashCode = cacheOverPairContact.GetHashCode();
//cacheOverPairContact.contact = contact;//为什么不在这里这里赋值?因为cacheOverPairContact居然不一定能正确拿到对应在initialTriggers里面的op
//所以只能在下面循环查找出对应的实例化对象
for (int index = 0, length = initialTriggers.Count; index < length; index++)
{
OverlapPairContact op = initialTriggers[index];
if (op.GetHashCode() == cacheOverPairContactHashCode)
{
op.contact = contact;
//Debug.LogErrorFormat("包含3=====:法向量{0},穿透{1},哈希{2}", op.contact.normal.ToString(), op.contact.Penetration, op.GetHashCode());
}
}
}
if (!anyBodyColliderOnly && contact != null)
{
events.RaiseContactCreated(contact);
}
}
private void CollisionDetected(RigidBody body1, RigidBody body2, TSVector point1, TSVector point2, TSVector normal, FP penetration)
{
bool anyBodyColliderOnly = body1.IsColliderOnly || body2.IsColliderOnly;
Arbiter arbiter = null;
ArbiterMap selectedArbiterMap = null;
if (anyBodyColliderOnly)
{
selectedArbiterMap = arbiterTriggerMap;
}
else
{
selectedArbiterMap = arbiterMap;
}
bool arbiterCreated = false;
lock (selectedArbiterMap) {
selectedArbiterMap.LookUpArbiter(body1, body2, out arbiter);
if (arbiter == null)
{
arbiter = Arbiter.Pool.GetNew();
arbiter.body1 = body1; arbiter.body2 = body2;
selectedArbiterMap.Add(new ArbiterKey(body1, body2), arbiter);
arbiterCreated = true;
}
}
Contact contact = null;
if (arbiter.body1 == body1)
{
TSVector.Negate(ref normal, out normal);
contact = arbiter.AddContact(point1, point2, normal, penetration, contactSettings);
}
else
{
contact = arbiter.AddContact(point2, point1, normal, penetration, contactSettings);
}
if (arbiterCreated)
{
if (anyBodyColliderOnly)
{
/*if (body1.isColliderOnly) {
* events.RaiseTriggerBeginCollide(body1, body2);
* } else {
* events.RaiseTriggerBeginCollide(body2, body1);
* }*/
events.RaiseTriggerBeginCollide(contact);
body1.arbitersTrigger.Add(arbiter);
body2.arbitersTrigger.Add(arbiter);
OverlapPairContact overlapContact = new OverlapPairContact(body1, body2);
overlapContact.contact = contact;
initialTriggers.Add(overlapContact);
}
else
{
events.RaiseBodiesBeginCollide(contact);
addedArbiterQueue.Enqueue(arbiter);
OverlapPairContact overlapContact = new OverlapPairContact(body1, body2);
overlapContact.contact = contact;
initialCollisions.Add(overlapContact);
}
}
if (!anyBodyColliderOnly && contact != null)
{
events.RaiseContactCreated(contact);
}
}