public Projectile(Player creator, float x, float y, float width, float height)
: base(creator, 0, 0)
{
/* Create New Projectile Body */
BodyDef def = new BodyDef();
def.IsBullet = true;
def.Position = creator.body.GetPosition() + new Vec2(x, y);
projectile = creator.body.GetWorld().CreateBody(def);
/* Create a fixture for the projectile */
PolygonDef fixdef = new PolygonDef();
fixdef.Density = 1.0f;
fixdef.SetAsBox(width / 2, height / 2);
fixdef.Filter.GroupIndex = creator.ID;
fixture = projectile.CreateFixture(fixdef);
fixture.Filter.CategoryBits = 0x0004;
fixture.Filter.MaskBits = 0xFFFF;
/* Made a 2nd fixture, one to observe all collisions */
fixdef.IsSensor = true;
fix2 = projectile.CreateFixture(fixdef);
fix2.UserData = this;
/* Finally, give this projectile some mass */
projectile.SetMassFromShapes();
/* Also, make sure we destroy the projectile when it is time */
this.OnDestroy += Cleanup;
}
public PolygonContact(Fixture fixtureA, Fixture fixtureB)
: base(fixtureA, fixtureB)
{
Box2DXDebug.Assert(fixtureA.ShapeType == ShapeType.PolygonShape);
Box2DXDebug.Assert(fixtureB.ShapeType == ShapeType.PolygonShape);
CollideShapeFunction = CollidePolygons;
}
public CircleContact(Fixture fixtureA, Fixture fixtureB)
: base(fixtureA, fixtureB)
{
Box2DXDebug.Assert(fixtureA.ShapeType == ShapeType.CircleShape);
Box2DXDebug.Assert(fixtureB.ShapeType == ShapeType.CircleShape);
CollideShapeFunction = CollideCircles;
}
public Breakable()
{
// Ground body
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0);
}
// Breakable dynamic body
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 40.0f);
bd.Angle = 0.25f * Box2DX.Common.Settings.PI;
_body1 = _world.CreateBody(bd);
_shape1.SetAsBox(0.5f, 0.5f, new Vec2(-0.5f, 0.0f), 0.0f);
_piece1 = _body1.CreateFixture(_shape1, 1.0f);
_shape2.SetAsBox(0.5f, 0.5f, new Vec2(0.5f, 0.0f), 0.0f);
_piece2 = _body1.CreateFixture(_shape2, 1.0f);
}
_break = false;
_broke = false;
}
public override float ReportFixture(Fixture fixture, Vec2 point, Vec2 normal, float fraction)
{
_fixture = fixture;
_point = point;
_normal = normal;
return fraction;
}
public Fixture()
{
UserData = null;
Body = null;
_next = null;
ProxyId = BroadPhase.NullProxy;
Shape = null;
}
public EdgeAndCircleContact(Fixture fixtureA, Fixture fixtureB)
: base(fixtureA, fixtureB)
{
Box2DXDebug.Assert(fixtureA.ShapeType == ShapeType.EdgeShape);
Box2DXDebug.Assert(fixtureB.ShapeType == ShapeType.CircleShape);
_manifold.PointCount = 0;
_manifold.Points[0].NormalImpulse = 0.0f;
_manifold.Points[0].TangentImpulse = 0.0f;
CollideShapeFunction = CollideEdgeAndCircle;
}
/// <summary>
/// Return true if the given shape should be considered for ray intersection.
/// </summary>
public bool RayCollide(object userData, Fixture fixture)
{
//By default, cast userData as a shape, and then collide if the shapes would collide
if (userData == null)
{
return true;
}
return ShouldCollide((Fixture)userData, fixture);
}
/// <summary>
/// Return true if contact calculations should be performed between these two shapes.
/// If you implement your own collision filter you may want to build from this implementation.
/// @warning for performance reasons this is only called when the AABBs begin to overlap.
/// </summary>
public virtual bool ShouldCollide(Fixture fixtureA, Fixture fixtureB)
{
FilterData filterA = fixtureA.Filter;
FilterData 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 SensorTest()
{
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0);
}
#if false
{
b2FixtureDef sd;
sd.SetAsBox(10.0f, 2.0f, b2Vec2(0.0f, 20.0f), 0.0f);
sd.isSensor = true;
m_sensor = ground->CreateFixture(&sd);
}
#else
{
CircleShape shape = new CircleShape();
shape._radius = 5.0f;
shape._p.Set(0.0f, 10.0f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.IsSensor = true;
_sensor = ground.CreateFixture(fd);
}
#endif
}
{
CircleShape shape = new CircleShape();
shape._radius = 1.0f;
for (int i = 0; i < _count; ++i)
{
BodyDef bd = new BodyDef();
bd.Position.Set(-10.0f + 3.0f * i, 20.0f);
bd.UserData = false;
_bodies[i] = _world.CreateBody(bd);
_bodies[i].CreateFixture(shape, 1.0f);
}
}
}
/// Called for each fixture found in the query AABB. /// @return false to terminate the query. public abstract bool ReportFixture(Fixture fixture);
public void Create(BroadPhase broadPhase, Body body, XForm xf, FixtureDef def)
{
UserData = def.UserData;
Friction = def.Friction;
Restitution = def.Restitution;
Density = def.Density;
_body = body;
_next = null;
Filter = def.Filter;
_isSensor = def.IsSensor;
_type = def.Type;
// Allocate and initialize the child shape.
switch (_type)
{
case ShapeType.CircleShape:
{
CircleShape circle = new CircleShape();
CircleDef circleDef = (CircleDef)def;
circle._position = circleDef.LocalPosition;
circle._radius = circleDef.Radius;
_shape = circle;
}
break;
case ShapeType.PolygonShape:
{
PolygonShape polygon = new PolygonShape();
PolygonDef polygonDef = (PolygonDef)def;
polygon.Set(polygonDef.Vertices, polygonDef.VertexCount);
_shape = polygon;
}
break;
case ShapeType.EdgeShape:
{
EdgeShape edge = new EdgeShape();
EdgeDef edgeDef = (EdgeDef)def;
edge.Set(edgeDef.Vertex1, edgeDef.Vertex2);
_shape = edge;
}
break;
default:
Box2DXDebug.Assert(false);
break;
}
// Create proxy in the broad-phase.
AABB aabb;
_shape.ComputeAABB(out aabb, xf);
bool inRange = broadPhase.InRange(aabb);
// You are creating a shape outside the world box.
Box2DXDebug.Assert(inRange);
if (inRange)
{
_proxyId = broadPhase.CreateProxy(aabb, this);
}
else
{
_proxyId = PairManager.NullProxy;
}
}
private void DrawFixture(Fixture fixture, Transform xf, Color color, bool core)
{
#warning "the core argument is not used, the coreColor variable is also not used"
Color coreColor = new Color(0.9f, 0.6f, 0.6f);
switch (fixture.ShapeType)
{
case ShapeType.CircleShape:
{
CircleShape circle = (CircleShape)fixture.Shape;
Vector2 center = xf.TransformPoint(circle._position);
float radius = circle._radius;
// [CHRISK] FIXME Vector2 axis = xf.R.Col1;
//_debugDraw.DrawSolidCircle(center, radius, axis, color);
}
break;
case ShapeType.PolygonShape:
{
PolygonShape poly = (PolygonShape)fixture.Shape;
int vertexCount = poly._vertexCount;
Vector2[] localVertices = poly._vertices;
Box2DXDebug.Assert(vertexCount <= Settings.MaxPolygonVertices);
Vector2[] vertices = new Vector2[Settings.MaxPolygonVertices];
for (int i = 0; i < vertexCount; ++i)
{
vertices[i] = xf.TransformPoint(localVertices[i]);
}
_debugDraw.DrawSolidPolygon(vertices, vertexCount, color);
}
break;
case ShapeType.EdgeShape:
{
EdgeShape edge = (EdgeShape)fixture.Shape;
_debugDraw.DrawSegment(xf.TransformPoint(edge.Vertex1), xf.TransformPoint(edge.Vertex2), color);
}
break;
}
}
public PolyAndCircleContact(Fixture fixtureA, Fixture fixtureB)
: base(fixtureA, fixtureB)
{
Box2DXDebug.Assert(_fixtureA.GetType() == ShapeType.PolygonShape);
Box2DXDebug.Assert(_fixtureB.GetType() == ShapeType.CircleShape);
}
/// Destroy a fixture. This removes the fixture from the broad-phase and
/// therefore destroys any contacts associated with this fixture. 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(ref Fixture fixture)
{
Box2DXDebug.Assert(_world.IsLocked() == false);
if (_world.IsLocked() == true)
{
return;
}
Box2DXDebug.Assert(fixture.Body == this);
// Remove the fixture from this body's singly linked list.
Box2DXDebug.Assert(_fixtureCount > 0);
Fixture node = _fixtureList;
bool found = false;
while (node != null)
{
if (node == fixture)
{
_fixtureList = fixture._next;
found = true;
break;
}
node = node._next;
}
// You tried to remove a shape that is not attached to this body.
Box2DXDebug.Assert(found);
// Destroy any contacts associated with the fixture.
ContactEdge edge = _contactList;
while (edge != null)
{
Contact c = edge.Contact;
edge = edge.Next;
Fixture fixtureA = c.GetFixtureA();
Fixture fixtureB = c.GetFixtureB();
if (fixture == fixtureA || fixture == fixtureB)
{
// This destroys the contact and removes it from
// this body's contact list.
_world._contactManager.Destroy(c);
}
}
bool needMassUpdate = fixture._massData.Mass > 0.0f || fixture._massData.I > 0.0f;
BroadPhase broadPhase = _world._contactManager._broadPhase;
fixture.Destroy(broadPhase);
fixture.Body = null;
fixture._next = null;
--_fixtureCount;
// Adjust mass properties if needed.
if (needMassUpdate)
{
ResetMass();
}
}
public static Contact Create(Fixture fixtureA, Fixture fixtureB)
{
if (Initialized == false)
{
InitializeRegisters();
Initialized = true;
}
ShapeType type1 = fixtureA.GetType();
ShapeType type2 = fixtureB.GetType();
Box2DXDebug.Assert(ShapeType.UnknownShape < type1 && type1 < ShapeType.ShapeTypeCount);
Box2DXDebug.Assert(ShapeType.UnknownShape < type2 && type2 < ShapeType.ShapeTypeCount);
ContactCreateFcn createFcn = Registers[(int)type1][(int)type2].CreateFcn;
if (createFcn != null)
{
if (Registers[(int)type1][(int)type2].Primary)
{
return createFcn(fixtureA, fixtureB);
}
else
{
return createFcn(fixtureB, fixtureA);
}
}
else
{
return null;
}
}
public void MouseDown(Vec2 p)
{
if (_mouseJoint != null)
{
return;
}
// Make a small box.
AABB aabb = new AABB();
Vec2 d = new Vec2();
d.Set(0.001f, 0.001f);
aabb.LowerBound = p - d;
aabb.UpperBound = p + d;
// Query the world for overlapping shapes.
int k_maxCount = 10;
Fixture[] shapes = new Fixture[k_maxCount];
int count = _world.Query(aabb, shapes, k_maxCount);
Body body = null;
for (int i = 0; i < count; ++i)
{
Body shapeBody = shapes[i].Body;
if (shapeBody.IsStatic() == false && shapeBody.GetMass() > 0.0f)
{
bool inside = shapes[i].TestPoint(p);
if (inside)
{
body = shapes[i].Body;
break;
}
}
}
if (body != null)
{
MouseJointDef md = new MouseJointDef();
md.Body1 = _world.GetGroundBody();
md.Body2 = body;
md.Target = p;
#if TARGET_FLOAT32_IS_FIXED
md.MaxForce = (body.GetMass() < 16.0f)?
(1000.0f * body.GetMass()) : 16000.0f;
#else
md.MaxForce = 1000.0f * body.GetMass();
#endif
_mouseJoint = (MouseJoint)_world.CreateJoint(md);
body.WakeUp();
}
}
// 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++).
public void Create(BroadPhase broadPhase, Body body, Transform xf, 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();
Shape.ComputeMass(out _massData, def.Density);
// Create proxy in the broad-phase.
Shape.ComputeAABB(out Aabb, ref xf);
ProxyId = broadPhase.CreateProxy(Aabb, this);
}
/// <summary> /// Called when any shape is about to be destroyed due /// to the destruction of its parent body. /// </summary> public abstract void SayGoodbye(Fixture fixture);
public override void SayGoodbye(Fixture shape) { ; }
/// Called for each fixture found in the query. You control how the ray proceeds /// by returning a float that indicates the fractional length of the ray. By returning /// 0, you set the ray length to zero. By returning the current fraction, you proceed /// to find the closest point. By returning 1, you continue with the original ray /// clipping. /// @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 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);
void Break()
{
// Create two bodies from one.
Body body1 = _piece1.GetBody();
Vec2 center = body1.GetWorldCenter();
body1.DestroyFixture(ref _piece2);
_piece2 = null;
BodyDef bd = new BodyDef();
bd.Position = body1.GetPosition();
bd.Angle = body1.GetAngle();
Body body2 = _world.CreateBody(bd);
_piece2 = body2.CreateFixture(_shape2, 1.0f);
// Compute consistent velocities for new bodies based on
// cached velocity.
Vec2 center1 = body1.GetWorldCenter();
Vec2 center2 = body2.GetWorldCenter();
Vec2 velocity1 = _velocity + Vec2.Cross(_angularVelocity, center1 - center);
Vec2 velocity2 = _velocity + Vec2.Cross(_angularVelocity, center2 - center);
body1.SetAngularVelocity(_angularVelocity);
body1.SetLinearVelocity(velocity1);
body2.SetAngularVelocity(_angularVelocity);
body2.SetLinearVelocity(velocity2);
}
/// <summary>
/// Return true if contact calculations should be performed between these two shapes.
/// If you implement your own collision filter you may want to build from this implementation.
/// @warning for performance reasons this is only called when the AABBs begin to overlap.
/// </summary>
public virtual bool ShouldCollide(Fixture fixtureA, Fixture fixtureB)
{
Filter filter1 = fixtureA.GetFilterData();
Filter filter2 = fixtureB.GetFilterData();
if (filter1.GroupIndex == filter2.GroupIndex && filter1.GroupIndex != 0)
{
return filter1.GroupIndex > 0;
}
bool collide = (filter1.MaskBits & filter2.CategoryBits) != 0 && (filter1.CategoryBits & filter2.MaskBits) != 0;
return collide;
}
/// 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.
/// This function automatically updates the mass of the body.
/// @param def the fixture definition.
/// @warning This function is locked during callbacks.
public Fixture CreateFixture(FixtureDef def)
{
Box2DXDebug.Assert(_world.IsLocked() == false);
if (_world.IsLocked() == true)
{
return null;
}
BroadPhase broadPhase = _world._contactManager._broadPhase;
Fixture fixture = new Fixture();
fixture.Create(broadPhase, this, _xf, def);
fixture._next = _fixtureList;
_fixtureList = fixture;
++_fixtureCount;
fixture.Body = this;
bool needMassUpdate = fixture._massData.Mass > 0.0f || fixture._massData.I > 0.0f;
// Adjust mass properties if needed.
if (needMassUpdate)
{
ResetMass();
}
// 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.
_world._flags |= World.WorldFlags.NewFixture;
return fixture;
}
/// Query the world for all shapes that potentially overlap the
/// provided AABB. You provide a shape pointer buffer of specified
/// size. The number of shapes found is returned.
/// @param aabb the query box.
/// @param shapes a user allocated shape pointer array of size maxCount (or greater).
/// @param maxCount the capacity of the shapes array.
/// @return the number of shapes found in aabb.
public int Query(AABB aabb, Fixture[] fixtures, int maxCount)
{
//using (object[] results = new object[maxCount])
{
object[] results = new object[maxCount];
int count = _broadPhase.Query(aabb, results, maxCount);
for (int i = 0; i < count; ++i)
{
fixtures[i] = (Fixture)results[i];
}
results = null;
return count;
}
}
private Transform _xf; // the body origin transform
#endregion Fields
#region Constructors
internal Body(BodyDef bd, World world)
{
_flags = 0;
if (bd.IsBullet)
{
_flags |= BodyFlags.Bullet;
}
if (bd.FixedRotation)
{
_flags |= BodyFlags.FixedRotation;
}
if (bd.AllowSleep)
{
_flags |= BodyFlags.AllowSleep;
}
if (bd.IsSleeping)
{
_flags |= BodyFlags.Sleep;
}
_world = world;
_xf.Position = bd.Position;
_xf.R.Set(bd.Angle);
_sweep.LocalCenter.SetZero();
_sweep.T0 = 1.0f;
_sweep.A0 = _sweep.A = bd.Angle;
_sweep.C0 = _sweep.C = Math.Mul(_xf, _sweep.LocalCenter);
_jointList = null;
_contactList = null;
_prev = null;
_next = null;
_linearVelocity = bd.LinearVelocity;
_angularVelocity = bd.AngularVelocity;
_linearDamping = bd.LinearDamping;
_angularDamping = bd.AngularDamping;
_force.Set(0.0f, 0.0f);
_torque = 0.0f;
_sleepTime = 0.0f;
_mass = 0;
_invMass = 0.0f;
_I = 0.0f;
_invI = 0.0f;
_type = BodyType.Static;
_userData = bd.UserData;
_fixtureList = null;
_fixtureCount = 0;
}
/// <summary>
/// Query the world for all shapes that intersect a given segment. You provide a shap
/// pointer buffer of specified size. The number of shapes found is returned, and the buffer
/// is filled in order of intersection.
/// </summary>
/// <param name="segment">Defines the begin and end point of the ray cast, from p1 to p2.
/// Use Segment.Extend to create (semi-)infinite rays.</param>
/// <param name="shapes">A user allocated shape pointer array of size maxCount (or greater).</param>
/// <param name="maxCount">The capacity of the shapes array.</param>
/// <param name="solidShapes">Determines if shapes that the ray starts in are counted as hits.</param>
/// <param name="userData">Passed through the worlds contact filter, with method RayCollide. This can be used to filter valid shapes.</param>
/// <returns>The number of shapes found</returns>
public int Raycast(Segment segment, out Fixture[] fixtures, int maxCount, bool solidShapes, object userData)
{
#warning "PTR"
_raycastSegment = segment;
_raycastUserData = userData;
_raycastSolidShape = solidShapes;
object[] results = new object[maxCount];
fixtures = new Fixture[maxCount];
int count = _broadPhase.QuerySegment(segment, results, maxCount, RaycastSortKey);
for (int i = 0; i < count; ++i)
{
fixtures[i] = (Fixture)results[i];
}
return count;
}
new public static Contact Create(Fixture fixtureA, Fixture fixtureB)
{
return new CircleContact(fixtureA, fixtureB);
}
/// <summary>
/// Re-filter a fixture. This re-runs contact filtering on a fixture.
/// </summary>
public void Refilter(Fixture fixture)
{
Box2DXDebug.Assert(_lock == false);
fixture.RefilterProxy(_broadPhase, fixture.Body.GetTransform());
}
public static new Contact Create(Fixture fixtureA, Fixture fixtureB)
{
return new PolyAndCircleContact(fixtureA, fixtureB);
}
// TODO_ERIN adjust linear velocity and torque to account for movement of center.
/// <summary>
/// Compute the mass properties from the attached shapes. You typically call this
/// after adding all the shapes. If you add or remove shapes later, you may want
/// to call this again. Note that this changes the center of mass position.
/// </summary>
public void SetMassFromShapes()
{
Box2DXDebug.Assert(_world._lock == false);
if (_world._lock == true)
{
return;
}
// Compute mass data from shapes. Each shape has its own density.
_mass = 0.0f;
_invMass = 0.0f;
_I = 0.0f;
_invI = 0.0f;
Vector2 center = Vector2.zero;
for (Fixture f = _fixtureList; f != null; f = f.Next)
{
MassData massData;
f.ComputeMass(out massData);
_mass += massData.Mass;
center += massData.Mass * massData.Center;
_I += massData.I;
}
// Compute center of mass, and shift the origin to the COM.
if (_mass > 0.0f)
{
_invMass = 1.0f / _mass;
center *= _invMass;
}
if (_I > 0.0f && (_flags & BodyFlags.FixedRotation) == 0)
{
// Center the inertia about the center of mass.
_I -= _mass * Vector2.Dot(center, center);
Box2DXDebug.Assert(_I > 0.0f);
_invI = 1.0f / _I;
}
else
{
_I = 0.0f;
_invI = 0.0f;
}
// Move center of mass.
_sweep.LocalCenter = center;
_sweep.C0 = _sweep.C = _xf.TransformPoint(_sweep.LocalCenter);
BodyType oldType = _type;
if (_invMass == 0.0f && _invI == 0.0f)
{
_type = BodyType.Static;
}
else
{
_type = BodyType.Dynamic;
}
// If the body type changed, we need to refilter the broad-phase proxies.
if (oldType != _type)
{
for (Fixture f = _fixtureList; f != null; f = f.Next)
{
f.RefilterProxy(_world._broadPhase, _xf);
}
}
}
