/// Creates a fixture and attach it to this body. Use this function if you need
/// to set some fixture parameters, like friction. Otherwise you can create the
/// fixture directly from a shape.
/// If the Density is non-zero, this function automatically updates the mass of the body.
/// Contacts are not created until the next time step.
/// @param def the fixture definition.
/// @warning This function is locked during callbacks.
public Fixture CreateFixture(FixtureDef def){
Utilities.Assert(m_world.IsLocked() == false);
if (m_world.IsLocked() == true)
{
return null;
}
Fixture fixture = new Fixture();
fixture.Create(this, def);
if (m_flags.HasFlag(BodyFlags.e_activeFlag))
{
BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
fixture.CreateProxies(broadPhase, m_xf);
}
m_fixtureList.Add(fixture);
fixture.m_body = this;
// Adjust mass properties if needed.
if (fixture.m_Density > 0.0f)
{
ResetMassData();
}
// Let the world know we have a new fixture. This will cause new contacts
// to be created at the beginning of the next time step.
m_world.m_flags |= WorldFlags.e_newFixture;
return fixture;
}
public override float ReportFixture(Fixture fixture, Vec2 point,
Vec2 normal, float fraction)
{
m_fixture = fixture;
m_point = point;
m_normal = normal;
return fraction;
}
/// Return true if contact calculations should be performed between these two shapes.
/// @warning for performance reasons this is only called when the AABBs begin to overlap.
public virtual bool ShouldCollide(Fixture fixtureA, Fixture fixtureB){
Filter filterA = fixtureA.Filter;
Filter filterB = fixtureB.Filter;
if (filterA.GroupIndex == filterB.GroupIndex && filterA.GroupIndex != 0)
{
return filterA.GroupIndex > 0;
}
bool collide = (filterA.MaskBits & filterB.CategoryBits) != 0 && (filterA.CategoryBits & filterB.MaskBits) != 0;
return collide;
}
public override bool ReportFixture(Fixture fixture)
{
throw new NotImplementedException();
//Body body = fixture.GetBody();
//if (body.GetType() == BodyType._dynamicBody)
//{
// bool inside = fixture.TestPoint(m_point);
// if (inside)
// {
// m_fixture = fixture;
// // We are done, terminate the query.
// return false;
// }
//}
//// Continue the query.
//return true;
}
/// Called for each fixture found in the query AABB.
/// @return false to terminate the query.
public override bool ReportFixture(Fixture fixture)
{
if (m_count == e_maxCount)
{
return false;
}
Body body = fixture.GetBody();
Shape shape = fixture.GetShape();
bool overlap = Collision.TestOverlap(shape, 0, m_circle, 0, body.GetTransform(), m_transform);
if (overlap)
{
DrawFixture(fixture);
++m_count;
}
return true;
}
public override float ReportFixture(Fixture fixture, Vec2 point, Vec2 normal, float fraction)
{
Body body = fixture.GetBody();
if (body.UserData != null)
{
int index = (int)body.UserData;
if (index == 0)
{
// By returning -1, we instruct the calling code to ignore this fixture
// and continue the ray-cast to the next fixture.
return -1.0f;
}
}
m_hit = true;
m_point = point;
m_normal = normal;
// At this point we have a hit, so we know the ray is obstructed.
// By returning 0, we instruct the calling code to terminate the ray-cast.
return 0.0f;
}
public void DrawFixture(Fixture fixture)
{
Color color = Color.FromArgb(245, 245, 150);
Transform xf = fixture.GetBody().GetTransform();
switch (fixture.GetShapeType())
{
case ShapeType.Circle:
{
CircleShape circle = (CircleShape)fixture.GetShape();
Vec2 center = Utilities.Mul(xf, circle.m_p);
float radius = circle.m_radius;
m_debugDraw.DrawCircle(center, radius, color);
}
break;
case ShapeType.Polygon:
{
PolygonShape poly = (PolygonShape)fixture.GetShape();
int vertexCount = poly.m_count;
Utilities.Assert(vertexCount <= Settings._maxPolygonVertices);
Vec2[] vertices = new Vec2[Settings._maxPolygonVertices];
for (int i = 0; i < vertexCount; ++i)
{
vertices[i] = Utilities.Mul(xf, poly.m_vertices[i]);
}
m_debugDraw.DrawPolygon(vertices, vertexCount, color);
}
break;
default:
break;
}
}
public override float ReportFixture(Fixture fixture, Vec2 point, Vec2 normal, float fraction)
{
Body body = fixture.GetBody();
if (body.UserData != null)
{
int index = (int)body.UserData;
if (index == 0)
{
// By returning -1, we instruct the calling code to ignore this fixture and
// continue the ray-cast to the next fixture.
return -1.0f;
}
}
m_hit = true;
m_point = point;
m_normal = normal;
// By returning the current fraction, we instruct the calling code to clip the ray and
// continue the ray-cast to the next fixture. WARNING: do not assume that fixtures
// are reported in order. However, by clipping, we can always get the closest fixture.
return fraction;
}
/// Destroy a fixture. This removes the fixture from the broad-phase and
/// destroys all contacts associated with this fixture. This will
/// automatically adjust the mass of the body if the body is dynamic and the
/// fixture has positive Density.
/// All fixtures attached to a body are implicitly destroyed when the body is destroyed.
/// @param fixture the fixture to be removed.
/// @warning This function is locked during callbacks.
public void DestroyFixture(Fixture fixture){
throw new NotImplementedException();
//Utilities.Assert(m_world.IsLocked() == false);
//if (m_world.IsLocked() == true)
//{
// return;
//}
//Utilities.Assert(fixture.m_body == this);
//// Remove the fixture from this body's singly linked list.
//Utilities.Assert(m_fixtureCount > 0);
//Fixture** node = &m_fixtureList;
//bool found = false;
//while (*node != null)
//{
// if (*node == fixture)
// {
// *node = fixture.m_next;
// found = true;
// break;
// }
// node = &(*node).m_next;
//}
//// You tried to remove a shape that is not attached to this body.
//Utilities.Assert(found);
//// Destroy any contacts associated with the fixture.
//ContactEdge* edge = m_contactList;
//while (edge)
//{
// Contact* c = edge.contact;
// edge = edge.next;
// Fixture fixtureA = c.FixtureA;
// Fixture fixtureB = c.FixtureB;
// if (fixture == fixtureA || fixture == fixtureB)
// {
// // This destroys the contact and removes it from
// // this body's contact list.
// m_world.m_contactManager.Destroy(c);
// }
//}
//BlockAllocator* allocator = &m_world.m_blockAllocator;
//if (m_flags & e_activeFlag)
//{
// BroadPhase* broadPhase = &m_world.m_contactManager.m_broadPhase;
// fixture.DestroyProxies(broadPhase);
//}
//fixture.Destroy(allocator);
//fixture.m_body = null;
//fixture.m_next = null;
//fixture.~Fixture();
//allocator.Free(fixture, sizeof(Fixture));
//--m_fixtureCount;
//// Reset the mass data.
//ResetMassData();
}
public override float ReportFixture(Fixture fixture, Vec2 point, Vec2 normal, float fraction)
{
Body body = fixture.GetBody();
if (body.UserData != null)
{
int index = (int)body.UserData;
if (index == 0)
{
// By returning -1, we instruct the calling code to ignore this fixture
// and continue the ray-cast to the next fixture.
return -1.0f;
}
}
Utilities.Assert(m_count < e_maxCount);
m_points[m_count] = point;
m_normals[m_count] = normal;
++m_count;
if (m_count == e_maxCount)
{
// At this point the buffer is full.
// By returning 0, we instruct the calling code to terminate the ray-cast.
return 0.0f;
}
// By returning 1, we instruct the caller to continue without clipping the ray.
return 1.0f;
}
public static Contact Create(Fixture fixtureA, int indexA, Fixture fixtureB, int indexB){
return new PolygonContact(fixtureA, fixtureB);
}
public PolygonContact(Fixture fixtureA, Fixture fixtureB): base(fixtureA, 0, fixtureB, 0)
{
Utilities.Assert(m_fixtureA.GetShapeType() == ShapeType.Polygon);
Utilities.Assert(m_fixtureB.GetShapeType() == ShapeType.Polygon);
}
// We need separation create/destroy functions from the constructor/destructor because
// the destructor cannot access the allocator (no destructor arguments allowed by C++).
internal void Create(Body body, FixtureDef def){
m_userData = def.UserData;
m_friction = def.friction;
m_restitution = def.restitution;
m_body = body;
m_next = null;
m_filter = def.Filter;
m_isSensor = def.IsSensor;
m_shape = def.shape.Clone();
// Reserve proxy space
int childCount = m_shape.GetChildCount();
m_proxies = new List<FixtureProxy>();
m_Density = def.Density;
}
/// Called for each fixture found in the query AABB. /// @return false to terminate the query. public abstract bool ReportFixture(Fixture fixture); //fixture was pointer
public EdgeAndCircleContact(Fixture fixtureA, Fixture fixtureB) : base(fixtureA, 0, fixtureB, 0)
{
Utilities.Assert(m_fixtureA.GetShapeType() == ShapeType.Edge);
Utilities.Assert(m_fixtureB.GetShapeType() == ShapeType.Circle);
}
internal Fixture(){
m_userData = null;
m_body = null;
m_next = null;
m_proxies = new List<FixtureProxy>();
m_shape = null;
m_Density = 0.0f;
}
public override void SayGoodbye(Fixture fixture) { }
private void DrawShape(Fixture fixture, Transform xf, Color color){
switch (fixture.GetShapeType())
{
case ShapeType.Circle:
{
CircleShape circle = (CircleShape)fixture.GetShape();
Vec2 center = Utilities.Mul(xf, circle.m_p);
float radius = circle.m_radius;
Vec2 axis = Utilities.Mul(xf.q, new Vec2(1.0f, 0.0f));
m_debugDraw.DrawSolidCircle(center, radius, axis, color);
}
break;
case ShapeType.Edge:
{
EdgeShape edge = (EdgeShape)fixture.GetShape();
Vec2 v1 = Utilities.Mul(xf, edge.m_vertex1);
Vec2 v2 = Utilities.Mul(xf, edge.m_vertex2);
m_debugDraw.DrawSegment(v1, v2, color);
}
break;
case ShapeType.Chain:
{
ChainShape chain = (ChainShape)fixture.GetShape();
int count = chain.m_count;
List<Vec2> vertices = chain.m_vertices;
Vec2 v1 = Utilities.Mul(xf, vertices[0]);
for (int i = 1; i < count; ++i)
{
Vec2 v2 = Utilities.Mul(xf, vertices[i]);
m_debugDraw.DrawSegment(v1, v2, color);
m_debugDraw.DrawCircle(v1, 0.05f, color);
v1 = v2;
}
}
break;
case ShapeType.Polygon:
{
PolygonShape poly = (PolygonShape)fixture.GetShape();
int vertexCount = poly.m_count;
Utilities.Assert(vertexCount <= Settings._maxPolygonVertices);
Vec2[] vertices = new Vec2[Settings._maxPolygonVertices];
for (int i = 0; i < vertexCount; ++i)
{
vertices[i] = Utilities.Mul(xf, poly.m_vertices[i]);
}
m_debugDraw.DrawSolidPolygon(vertices, vertexCount, color);
}
break;
default:
break;
}
}
public ChainAndCircleContact(Fixture fixtureA, int indexA, Fixture fixtureB, int indexB) : base(fixtureA, indexA, fixtureB, indexB)
{
Utilities.Assert(m_fixtureA.GetShapeType() == ShapeType.Chain);
Utilities.Assert(m_fixtureB.GetShapeType() == ShapeType.Circle);
}
protected Contact(Fixture fA, int indexA, Fixture fB, int indexB) {
m_flags = ContactFlags.e_enabledFlag;
m_fixtureA = fA;
m_fixtureB = fB;
m_indexA = indexA;
m_indexB = indexB;
m_manifold = new Manifold();
m_manifold.points.Clear();
m_nodeA.contact = null;
m_nodeA.other = null;
m_nodeB.contact = null;
m_nodeB.other = null;
m_toiCount = 0;
m_friction = MixFriction(m_fixtureA.m_friction, m_fixtureB.m_friction);
m_restitution = MixRestitution(m_fixtureA.m_restitution, m_fixtureB.m_restitution);
m_tangentSpeed = 0.0f;
}
protected Contact(){
m_fixtureA = null;
m_fixtureB = null;
}
internal static Contact Create(Fixture fixtureA, int indexA, Fixture fixtureB, int indexB){
if (s_initialized == false)
{
InitializeRegisters();
s_initialized = true;
}
ShapeType type1 = fixtureA.GetShapeType();
ShapeType type2 = fixtureB.GetShapeType();
Utilities.Assert(0 <= type1 && type1 < ShapeType.Count);
Utilities.Assert(0 <= type2 && type2 < ShapeType.Count);
ContactCreateFcn createFcn = s_registers[(int)type1, (int)type2].createFcn;
if (createFcn != null)
{
if (s_registers[(int)type1, (int)type2].primary)
{
return createFcn(fixtureA, indexA, fixtureB, indexB);
}
else
{
return createFcn(fixtureB, indexB, fixtureA, indexA);
}
}
else
{
return null;
}
}
/// Called when any fixture is about to be destroyed due /// to the destruction of its parent body. public abstract void SayGoodbye(Fixture fixture);
public static Contact Create(Fixture fixtureA, int indexA, Fixture fixtureB, int indexB){
return new ChainAndCircleContact(fixtureA, indexA, fixtureB, indexB);
}
/// Called for each fixture found in the query. You control how the ray cast /// proceeds by returning a float: /// return -1: ignore this fixture and continue /// return 0: terminate the ray cast /// return fraction: clip the ray to this point /// return 1: don't clip the ray and continue /// @param fixture the fixture hit by the ray /// @param point the point of initial intersection /// @param normal the normal vector at the point of intersection /// @return -1 to filter, 0 to terminate, fraction to clip the ray for /// closest hit, 1 to continue public abstract float ReportFixture(Fixture fixture, Vec2 point, Vec2 normal, float fraction);
