public Fixture()
{
m_userData = null;
m_body = null;
m_next = null;
m_proxies = null;
m_proxyCount = 0;
m_shape = null;
m_filter = new Filter();
}
/// <summary>
/// destroy a rigid body given a definition. No reference to the definition is retained. This
/// function is locked during callbacks.
/// </summary>
/// <warning>This automatically deletes all associated shapes and joints.</warning>
/// <warning>This function is locked during callbacks.</warning>
/// <param name="body"></param>
public virtual void destroyBody(Body body)
{
Debug.Assert(m_bodyCount > 0);
Debug.Assert(Locked == false);
if (Locked)
{
return;
}
// Delete the attached joints.
JointEdge je = body.m_jointList;
while (je != null)
{
JointEdge je0 = je;
je = je.next;
if (m_destructionListener != null)
{
m_destructionListener.sayGoodbye(je0.joint);
}
destroyJoint(je0.joint);
body.m_jointList = je;
}
body.m_jointList = null;
// Delete the attached contacts.
ContactEdge ce = body.m_contactList;
while (ce != null)
{
ContactEdge ce0 = ce;
ce = ce.next;
m_contactManager.destroy(ce0.contact);
}
body.m_contactList = null;
Fixture f = body.m_fixtureList;
while (f != null)
{
Fixture f0 = f;
f = f.m_next;
if (m_destructionListener != null)
{
m_destructionListener.sayGoodbye(f0);
}
f0.destroyProxies(m_contactManager.m_broadPhase);
f0.destroy();
// TODO djm recycle fixtures (here or in that destroy method)
body.m_fixtureList = f;
body.m_fixtureCount -= 1;
}
body.m_fixtureList = null;
body.m_fixtureCount = 0;
// Remove world body list.
if (body.m_prev != null)
{
body.m_prev.m_next = body.m_next;
}
if (body.m_next != null)
{
body.m_next.m_prev = body.m_prev;
}
if (body == m_bodyList)
{
m_bodyList = body.m_next;
}
--m_bodyCount;
// TODO djm recycle body
}
/// <summary>
/// create a rigid body given a definition. No reference to the definition is retained.
/// </summary>
/// <warning>This function is locked during callbacks.</warning>
/// <param name="def"></param>
/// <returns></returns>
public virtual Body createBody(BodyDef def)
{
Debug.Assert(Locked == false);
if (Locked)
{
return null;
}
// TODO djm pooling
Body b = new Body(def, this);
// add to world doubly linked list
b.m_prev = null;
b.m_next = m_bodyList;
if (m_bodyList != null)
{
m_bodyList.m_prev = b;
}
m_bodyList = b;
++m_bodyCount;
return b;
}
/// <summary>
/// Construct a world object.
/// </summary>
/// <param name="gravity">the world gravity vector.</param>
/// <param name="doSleep">improve performance by not simulating inactive bodies.</param>
public World(Vec2 gravity, IWorldPool argPool)
{
contactStacks = new ContactRegister[ShapeTypesCount][];
for (int i = 0; i < ShapeTypesCount; i++)
{
contactStacks[i] = new ContactRegister[ShapeTypesCount];
}
pool = argPool;
m_destructionListener = null;
m_debugDraw = null;
m_bodyList = null;
m_jointList = null;
m_bodyCount = 0;
m_jointCount = 0;
m_warmStarting = true;
m_continuousPhysics = true;
m_subStepping = false;
m_stepComplete = true;
m_allowSleep = true;
m_gravity.set_Renamed(gravity);
m_flags = CLEAR_FORCES;
m_inv_dt0 = 0f;
m_contactManager = new ContactManager(this);
m_profile = new Profile();
initializeRegisters();
}
public Body(BodyDef bd, World world)
{
Debug.Assert(bd.position.Valid);
Debug.Assert(bd.linearVelocity.Valid);
Debug.Assert(bd.gravityScale >= 0.0f);
Debug.Assert(bd.angularDamping >= 0.0f);
Debug.Assert(bd.linearDamping >= 0.0f);
m_flags = 0;
if (bd.bullet)
{
m_flags |= e_bulletFlag;
}
if (bd.fixedRotation)
{
m_flags |= e_fixedRotationFlag;
}
if (bd.allowSleep)
{
m_flags |= e_autoSleepFlag;
}
if (bd.awake)
{
m_flags |= e_awakeFlag;
}
if (bd.active)
{
m_flags |= e_activeFlag;
}
m_world = world;
m_xf.p.set_Renamed(bd.position);
m_xf.q.set_Renamed(bd.angle);
m_sweep.localCenter.setZero();
m_sweep.c0.set_Renamed(m_xf.p);
m_sweep.c.set_Renamed(m_xf.p);
m_sweep.a0 = bd.angle;
m_sweep.a = bd.angle;
m_sweep.alpha0 = 0.0f;
m_jointList = null;
m_contactList = null;
m_prev = null;
m_next = null;
m_linearVelocity.set_Renamed(bd.linearVelocity);
m_angularVelocity = bd.angularVelocity;
m_linearDamping = bd.linearDamping;
m_angularDamping = bd.angularDamping;
m_gravityScale = bd.gravityScale;
m_force.setZero();
m_torque = 0.0f;
m_sleepTime = 0.0f;
m_type = bd.type;
if (m_type == BodyType.DYNAMIC)
{
m_mass = 1f;
m_invMass = 1f;
}
else
{
m_mass = 0f;
m_invMass = 0f;
}
m_I = 0.0f;
m_invI = 0.0f;
m_userData = bd.userData;
m_fixtureList = null;
m_fixtureCount = 0;
}
/// <summary>
/// This is used to prevent connected bodies from colliding. It may lie, depending on the
/// collideConnected flag.
/// </summary>
/// <param name="other"></param>
/// <returns></returns>
public virtual bool shouldCollide(Body other)
{
// At least one body should be dynamic.
if (m_type != BodyType.DYNAMIC && other.m_type != BodyType.DYNAMIC)
{
return false;
}
// Does a joint prevent collision?
for (JointEdge jn = m_jointList; jn != null; jn = jn.next)
{
if (jn.other == other)
{
if (jn.joint.m_collideConnected == false)
{
return false;
}
}
}
return true;
}
/// <summary>
/// destroy a rigid body given a definition. No reference to the definition is retained. This
/// function is locked during callbacks.
/// </summary>
/// <warning>This automatically deletes all associated shapes and joints.</warning>
/// <warning>This function is locked during callbacks.</warning>
/// <param name="body"></param>
public void DestroyBody(Body body)
{
Debug.Assert(BodyCount > 0);
Debug.Assert(Locked == false);
if (Locked)
{
return;
}
// Delete the attached joints.
JointEdge je = body.JointList;
while (je != null)
{
JointEdge je0 = je;
je = je.Next;
if (DestructionListener != null)
{
DestructionListener.SayGoodbye(je0.Joint);
}
DestroyJoint(je0.Joint);
body.JointList = je;
}
body.JointList = null;
// Delete the attached contacts.
ContactEdge ce = body.ContactList;
while (ce != null)
{
ContactEdge ce0 = ce;
ce = ce.Next;
ContactManager.Destroy(ce0.Contact);
}
body.ContactList = null;
Fixture f = body.FixtureList;
while (f != null)
{
Fixture f0 = f;
f = f.Next;
if (DestructionListener != null)
{
DestructionListener.SayGoodbye(f0);
}
f0.DestroyProxies(ContactManager.BroadPhase);
f0.Destroy();
// TODO djm recycle fixtures (here or in that destroy method)
body.FixtureList = f;
body.FixtureCount -= 1;
}
body.FixtureList = null;
body.FixtureCount = 0;
// Remove world body list.
if (body.Prev != null)
{
body.Prev.Next = body.Next;
}
if (body.Next != null)
{
body.Next.Prev = body.Prev;
}
if (body == BodyList)
{
BodyList = body.Next;
}
--BodyCount;
// TODO djm recycle body
}
/// <summary>
/// create a rigid body given a definition. No reference to the definition is retained.
/// </summary>
/// <warning>This function is locked during callbacks.</warning>
/// <param name="def"></param>
/// <returns></returns>
public Body CreateBody(BodyDef def)
{
Debug.Assert(Locked == false);
if (Locked)
{
return null;
}
// TODO djm pooling
Body b = new Body(def, this);
// add to world doubly linked list
b.Prev = null;
b.Next = BodyList;
if (BodyList != null)
{
BodyList.Prev = b;
}
BodyList = b;
++BodyCount;
return b;
}
public void Add(Body body)
{
Debug.Assert(BodyCount < BodyCapacity);
body.IslandIndex = BodyCount;
Bodies[BodyCount] = body;
++BodyCount;
}
// We need separation create/destroy functions from the constructor/destructor because
// the destructor cannot access the allocator (no destructor arguments allowed by C++).
public void Create(Body body, FixtureDef def)
{
UserData = def.UserData;
Friction = def.Friction;
Restitution = def.Restitution;
Body = body;
Next = null;
Filter.Set(def.Filter);
IsSensor = def.IsSensor;
Shape = def.Shape.Clone();
// Reserve proxy space
int childCount = Shape.ChildCount;
if (Proxies == null)
{
Proxies = new FixtureProxy[childCount];
for (int i = 0; i < childCount; i++)
{
Proxies[i] = new FixtureProxy {Fixture = null, ProxyId = BroadPhase.NULL_PROXY};
}
}
if (Proxies.Length < childCount)
{
FixtureProxy[] old = Proxies;
int newLen = MathUtils.Max(old.Length * 2, childCount);
Proxies = new FixtureProxy[newLen];
Array.Copy(old, 0, Proxies, 0, old.Length);
for (int i = 0; i < newLen; i++)
{
if (i >= old.Length)
{
Proxies[i] = new FixtureProxy();
}
Proxies[i].Fixture = null;
Proxies[i].ProxyId = BroadPhase.NULL_PROXY;
}
}
ProxyCount = 0;
m_density = def.Density;
}
// We need separation create/destroy functions from the constructor/destructor because
// the destructor cannot access the allocator (no destructor arguments allowed by C++).
public virtual 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.set_Renamed(def.filter);
m_isSensor = def.isSensor;
m_shape = def.shape.Clone();
// Reserve proxy space
int childCount = m_shape.ChildCount;
if (m_proxies == null)
{
m_proxies = new FixtureProxy[childCount];
for (int i = 0; i < childCount; i++)
{
m_proxies[i] = new FixtureProxy();
m_proxies[i].fixture = null;
m_proxies[i].proxyId = BroadPhase.NULL_PROXY;
}
}
if (m_proxies.Length < childCount)
{
FixtureProxy[] old = m_proxies;
int newLen = MathUtils.max(old.Length * 2, childCount);
m_proxies = new FixtureProxy[newLen];
Array.Copy(old, 0, m_proxies, 0, old.Length);
for (int i = 0; i < newLen; i++)
{
if (i >= old.Length)
{
m_proxies[i] = new FixtureProxy();
}
m_proxies[i].fixture = null;
m_proxies[i].proxyId = BroadPhase.NULL_PROXY;
}
}
m_proxyCount = 0;
m_density = def.density;
}
public Body(BodyDef bd, World world)
{
Debug.Assert(bd.Position.Valid);
Debug.Assert(bd.LinearVelocity.Valid);
Debug.Assert(bd.GravityScale >= 0.0f);
Debug.Assert(bd.AngularDamping >= 0.0f);
Debug.Assert(bd.LinearDamping >= 0.0f);
Flags = TypeFlags.None;
if (bd.Bullet)
{
Flags |= TypeFlags.Bullet;
}
if (bd.FixedRotation)
{
Flags |= TypeFlags.FixedRotation;
}
if (bd.AllowSleep)
{
Flags |= TypeFlags.AutoSleep;
}
if (bd.Awake)
{
Flags |= TypeFlags.Awake;
}
if (bd.Active)
{
Flags |= TypeFlags.Active;
}
World = world;
Xf.P.Set(bd.Position);
Xf.Q.Set(bd.Angle);
Sweep.LocalCenter.SetZero();
Sweep.C0.Set(Xf.P);
Sweep.C.Set(Xf.P);
Sweep.A0 = bd.Angle;
Sweep.A = bd.Angle;
Sweep.Alpha0 = 0.0f;
JointList = null;
ContactList = null;
Prev = null;
Next = null;
m_linearVelocity.Set(bd.LinearVelocity);
m_angularVelocity = bd.AngularVelocity;
LinearDamping = bd.LinearDamping;
AngularDamping = bd.AngularDamping;
GravityScale = bd.GravityScale;
Force.SetZero();
Torque = 0.0f;
SleepTime = 0.0f;
m_type = bd.Type;
if (m_type == BodyType.Dynamic)
{
Mass = 1f;
InvMass = 1f;
}
else
{
Mass = 0f;
InvMass = 0f;
}
I = 0.0f;
InvI = 0.0f;
UserData = bd.UserData;
FixtureList = null;
FixtureCount = 0;
}
/// <summary>
/// This is used to prevent connected bodies from colliding. It may lie, depending on the
/// collideConnected flag.
/// </summary>
/// <param name="other"></param>
/// <returns></returns>
public bool ShouldCollide(Body other)
{
// At least one body should be dynamic.
if (m_type != BodyType.Dynamic && other.m_type != BodyType.Dynamic)
{
return false;
}
// Does a joint prevent collision?
for (JointEdge jn = JointList; jn != null; jn = jn.Next)
{
if (jn.Other == other)
{
if (jn.Joint.CollideConnected == false)
{
return false;
}
}
}
return true;
}
public BodyAdapter(Body body)
{
this.body = body;
}
public virtual void add(Body body)
{
Debug.Assert(m_bodyCount < m_bodyCapacity);
body.m_islandIndex = m_bodyCount;
m_bodies[m_bodyCount] = body;
++m_bodyCount;
}
