|
private Synchronize ( |
||
| broadPhase | ||
| Transform1 | Box2DX.Common.Transform | |
| Transform2 | Box2DX.Common.Transform | |
| return | bool | |
internal bool SynchronizeFixtures()
{
Transform xf1 = default(Transform);
xf1.rotation = Box2DX.Common.Math.AngleToRotation(_sweep.A0);
//xf1.R = new Mat22(_sweep.A0);
xf1.position = _sweep.C0 - xf1.TransformDirection(_sweep.LocalCenter);
bool inRange = true;
for (Fixture f = _fixtureList; f != null; f = f.Next)
{
inRange = f.Synchronize(_world._broadPhase, xf1, _xf);
if (inRange == false)
{
break;
}
}
if (inRange == false)
{
_flags |= BodyFlags.Frozen;
_linearVelocity = Vector2.zero;
_angularVelocity = 0.0f;
// Failure
return(false);
}
// Success
return(true);
}
internal bool SynchronizeFixtures()
{
XForm xf1 = new XForm();
xf1.R.Set(_sweep.A0);
xf1.Position = _sweep.C0 - Common.Math.Mul(xf1.R, _sweep.LocalCenter);
bool inRange = true;
for (Fixture f = _fixtureList; f != null; f = f.Next)
{
inRange = f.Synchronize(_world._broadPhase, xf1, _xf);
if (inRange == false)
{
break;
}
}
if (inRange == false)
{
_flags |= BodyFlags.Frozen;
_linearVelocity.SetZero();
_angularVelocity = 0.0f;
// Failure
return(false);
}
// Success
return(true);
}
public bool SetTransform(Vector2 position, Quaternion rotation)
#endif
{
Box2DXDebug.Assert(_world._lock == false);
if (_world._lock == true)
{
return(true);
}
if (IsFrozen())
{
return(false);
}
_xf.rotation = rotation;
//_xf.R = rotation;
_xf.position = position;
_sweep.C0 = _sweep.C = _xf.TransformPoint(_sweep.LocalCenter);
#if USE_MATRIX_FOR_ROTATION
_sweep.A0 = _sweep.A = rotation.GetAngle();
#else
_sweep.A0 = _sweep.A = rotation.eulerAngles.z * Mathf.Deg2Rad;
#endif
bool freeze = false;
for (Fixture f = _fixtureList; f != null; f = f.Next)
{
bool inRange = f.Synchronize(_world._broadPhase, _xf, _xf);
if (inRange == false)
{
freeze = true;
break;
}
}
if (freeze == true)
{
_flags |= BodyFlags.Frozen;
_linearVelocity = Vector2.zero;
_angularVelocity = 0.0f;
// Failure
return(false);
}
// Success
_world._broadPhase.Commit();
return(true);
}
internal void SynchronizeFixtures()
{
Transform xf1 = new Transform();
xf1.R.Set(_sweep.A0);
xf1.Position = _sweep.C0 - Math.Mul(xf1.R, _sweep.LocalCenter);
BroadPhase broadPhase = _world._contactManager._broadPhase;
for (Fixture f = _fixtureList; f != null; f = f._next)
{
f.Synchronize(broadPhase, xf1, _xf);
}
}
/// <summary>
/// Set the position of the body's origin and rotation (radians).
/// This breaks any contacts and wakes the other bodies.
/// </summary>
/// <param name="position">The new world position of the body's origin (not necessarily
/// the center of mass).</param>
/// <param name="angle">The new world rotation angle of the body in radians.</param>
/// <returns>Return false if the movement put a shape outside the world. In this case the
/// body is automatically frozen.</returns>
public bool SetXForm(Vec2 position, float angle)
{
Box2DXDebug.Assert(_world._lock == false);
if (_world._lock == true)
{
return(true);
}
if (IsFrozen())
{
return(false);
}
_xf.R.Set(angle);
_xf.Position = position;
_sweep.C0 = _sweep.C = Common.Math.Mul(_xf, _sweep.LocalCenter);
_sweep.A0 = _sweep.A = angle;
bool freeze = false;
for (Fixture f = _fixtureList; f != null; f = f.Next)
{
bool inRange = f.Synchronize(_world._broadPhase, _xf, _xf);
if (inRange == false)
{
freeze = true;
break;
}
}
if (freeze == true)
{
_flags |= BodyFlags.Frozen;
_linearVelocity.SetZero();
_angularVelocity = 0.0f;
// Failure
return(false);
}
// Success
_world._broadPhase.Commit();
return(true);
}
public void SetTransform(Vec2 position, float angle)
{
Box2DXDebug.Assert(_world.IsLocked() == false);
if (_world.IsLocked() == true)
{
return;
}
_xf.R.Set(angle);
_xf.Position = position;
_sweep.C0 = _sweep.C = Math.Mul(_xf, _sweep.LocalCenter);
_sweep.A0 = _sweep.A = angle;
BroadPhase broadPhase = _world._contactManager._broadPhase;
for (Fixture f = _fixtureList; f != null; f = f._next)
{
f.Synchronize(broadPhase, _xf, _xf);
}
_world._contactManager.FindNewContacts();
}
