public void DrawDebugData()
{
if (m_debugDraw == null)
{
return;
}
b2DrawFlags flags = m_debugDraw.GetFlags();
if (flags & b2DrawFlags.e_shapeBit)
{
for (b2Body b = m_bodyList; b; b = b.Next)
{
b2Transform xf = b.Transform;
for (b2Fixture f = b.FixtureList; f != null; f = f.Next)
{
if (b.IsActive() == false)
{
DrawShape(f, xf, new b2Color(0.5f, 0.5f, 0.3f));
}
else if (b.GetType() == b2BodyType.b2_staticBody)
{
DrawShape(f, xf, new b2Color(0.5f, 0.9f, 0.5f));
}
else if (b.GetType() == b2BodyType.b2_kinematicBody)
{
DrawShape(f, xf, new b2Color(0.5f, 0.5f, 0.9f));
}
else if (b.IsAwake() == false)
{
DrawShape(f, xf, new b2Color(0.6f, 0.6f, 0.6f));
}
else
{
DrawShape(f, xf, new b2Color(0.9f, 0.7f, 0.7f));
}
}
}
}
if (flags.HasFlag(b2DrawFlags.e_jointBit))
{
for (b2Joint j = m_jointList; j != null; j = j.GetNext())
{
DrawJoint(j);
}
}
if (flags.HasFlag(b2DrawFlags.e_pairBit))
{
b2Color color = new b2Color(0.3f, 0.9f, 0.9f);
for (b2Contact c = m_contactManager.ContactList; c != null; c = c.Next)
{
//b2Fixture fixtureA = c.GetFixtureA();
//b2Fixture fixtureB = c.GetFixtureB();
//b2Vec2 cA = fixtureA.GetAABB().GetCenter();
//b2Vec2 cB = fixtureB.GetAABB().GetCenter();
//m_debugDraw.DrawSegment(cA, cB, color);
}
}
if (flags.HasFlag(b2DrawFlags.e_aabbBit))
{
b2Color color(0.9f, 0.3f, 0.9f);
b2BroadPhase bp = m_contactManager.BroadPhase;
for (b2Body b = m_bodyList; b != null; b = b.Next)
{
if (b.IsActive() == false)
{
continue;
}
for (b2Fixture f = b.FixtureList; f != null; f = f.Next)
{
for (int i = 0; i < f.ProxyCount; ++i)
{
b2FixtureProxy proxy = f.Proxies[i];
b2AABB aabb = bp.GetFatAABB(proxy.proxyId);
b2Vec2[] vs = new b2Vec2[4];
vs[0].Set(aabb.lowerBound.x, aabb.lowerBound.y);
vs[1].Set(aabb.upperBound.x, aabb.lowerBound.y);
vs[2].Set(aabb.upperBound.x, aabb.upperBound.y);
vs[3].Set(aabb.lowerBound.x, aabb.upperBound.y);
m_debugDraw.DrawPolygon(vs, 4, color);
}
}
}
}
if (flags.HasFlag(b2DrawFlags.e_centerOfMassBit))
{
for (b2Body b = m_bodyList; b != null; b = b.Next)
{
b2Transform xf = b.Transform;
xf.p = b.WorldCenter;
m_debugDraw.DrawTransform(xf);
}
}
}
// Find islands, integrate and solveraints, solve positionraints
public void Solve(b2TimeStep step)
{
m_profile.solveInit = 0.0f;
m_profile.solveVelocity = 0.0f;
m_profile.solvePosition = 0.0f;
// Size the island for the worst case.
b2Island island = new b2Island(m_bodyCount,
m_contactManager.ContactCount,
m_jointCount,
m_contactManager.ContactListener);
// Clear all the island flags.
for (b2Body b = m_bodyList; b != null; b = b.Next)
{
b.BodyFlags &= ~b2BodyFlags.e_islandFlag;
}
for (b2Contact c = m_contactManager.ContactList; c != null; c = c.Next)
{
c.ContactFlags &= ~b2ContactFlags.e_islandFlag;
}
for (b2Joint j = m_jointList; j; j = j.Next)
{
j.m_islandFlag = false;
}
// Build and simulate all awake islands.
int stackSize = m_bodyCount;
b2Body[] stack = new b2Body[stackSize];
for (b2Body seed = m_bodyList; seed != null; seed = seed.Next)
{
if (seed.BodyFlags & b2BodyFlags.e_islandFlag)
{
continue;
}
if (seed.IsAwake() == false || seed.IsActive() == false)
{
continue;
}
// The seed can be dynamic or kinematic.
if (seed.BodyType == b2BodyType.b2_staticBody)
{
continue;
}
// Reset island and stack.
island.Clear();
int stackCount = 0;
stack[stackCount++] = seed;
seed.BodyFlags |= b2BodyFlags.e_islandFlag;
// Perform a depth first search (DFS) on theraint graph.
while (stackCount > 0)
{
// Grab the next body off the stack and add it to the island.
b2Body b = stack[--stackCount];
island.Add(b);
// Make sure the body is awake.
b.SetAwake(true);
// To keep islands as small as possible, we don't
// propagate islands across static bodies.
if (b.BodyType == b2BodyType.b2_staticBody)
{
continue;
}
// Search all contacts connected to this body.
for (b2ContactEdge ce = b.ContactList; ce != null; ce = ce.next)
{
b2Contact contact = ce.contact;
// Has this contact already been added to an island?
if (contact.ContactFlags & b2ContactFlags.e_islandFlag)
{
continue;
}
// Is this contact solid and touching?
if (contact.IsEnabled() == false ||
contact.IsTouching() == false)
{
continue;
}
// Skip sensors.
bool sensorA = contact.m_fixtureA.m_isSensor;
bool sensorB = contact.m_fixtureB.m_isSensor;
if (sensorA || sensorB)
{
continue;
}
island.Add(contact);
contact.ContactFlags |= b2ContactType.e_islandFlag;
b2Body other = ce.other;
// Was the other body already added to this island?
if ((other.BodyFlags & b2BodyFlags.e_islandFlag) > 0)
{
continue;
}
stack[stackCount++] = other;
other.BodyFlags |= b2BodyFlags.e_islandFlag;
}
// Search all joints connect to this body.
for (b2JointEdge je = b.JointList; je; je = je.next)
{
if (je.joint.IslandFlag == true)
{
continue;
}
b2Body other = je.other;
// Don't simulate joints connected to inactive bodies.
if (other.IsActive() == false)
{
continue;
}
island.Add(je.joint);
je.joint.m_islandFlag = true;
if ((other.BodyFlags & b2BodyFlags.e_islandFlag) > 0)
{
continue;
}
stack[stackCount++] = other;
other.BodyFlags |= b2BodyFlags.e_islandFlag;
}
}
b2Profile profile = island.Solve(step, m_gravity, m_allowSleep);
m_profile.solveInit += profile.solveInit;
m_profile.solveVelocity += profile.solveVelocity;
m_profile.solvePosition += profile.solvePosition;
// Post solve cleanup.
for (int i = 0; i < island.m_bodyCount; ++i)
{
// Allow static bodies to participate in other islands.
b2Body b = island.m_bodies[i];
if (b.BodyType == b2BodyType.b2_staticBody)
{
b.BodyFlags &= ~b2BodyFlags.e_islandFlag;
}
}
}
{
b2Timer timer;
// Synchronize fixtures, check for out of range bodies.
for (b2Body b = m_bodyList; b != null; b = b.Next)
{
// If a body was not in an island then it did not move.
if ((b.BodyFlags & b2BodyType.e_islandFlag) == 0)
{
continue;
}
if (b.GetBodyType() == b2BodyType.b2_staticBody)
{
continue;
}
// Update fixtures (for broad-phase).
b.SynchronizeFixtures();
}
// Look for new contacts.
m_contactManager.FindNewContacts();
m_profile.broadphase = timer.GetMilliseconds();
}
}
public JObject B2n(b2Body body)
{
JObject bodyValue = new JObject();
string bodyName = GetBodyName(body);
if (null != bodyName)
bodyValue["name"] = bodyName;
switch (body.BodyType)
{
case b2BodyType.b2_staticBody:
bodyValue["type"] = 0;
break;
case b2BodyType.b2_kinematicBody:
bodyValue["type"] = 1;
break;
case b2BodyType.b2_dynamicBody:
bodyValue["type"] = 2;
break;
}
VecToJson("position", body.Position, bodyValue);
FloatToJson("angle", body.Angle, bodyValue);
VecToJson("linearVelocity", body.LinearVelocity, bodyValue);
FloatToJson("angularVelocity", body.AngularVelocity, bodyValue);
if (body.LinearDamping != 0)
FloatToJson("linearDamping", body.LinearDamping, bodyValue);
if (body.AngularDamping != 0)
FloatToJson("angularDamping", body.AngularDamping, bodyValue);
if (body.GravityScale != 1)
FloatToJson("gravityScale", body.GravityScale, bodyValue);
if (body.IsBullet())
bodyValue["bullet"] = true;
if (!body.IsSleepingAllowed())
bodyValue["allowSleep"] = false;
if (body.IsAwake())
bodyValue["awake"] = true;
if (!body.IsActive())
bodyValue["active"] = false;
if (body.IsFixedRotation())
bodyValue["fixedRotation"] = true;
b2MassData massData = new b2MassData();
massData = body.GetMassData();
if (massData.mass != 0)
FloatToJson("massData-mass", massData.mass, bodyValue);
if (massData.center.x != 0 || massData.center.y != 0)
VecToJson("massData-center", body.LocalCenter, bodyValue);
if (massData.I != 0)
{
FloatToJson("massData-I", massData.I, bodyValue);
}
//int i = 0;
JArray arr = new JArray();
b2Body tmp = body;
while (tmp != null)
{
bodyValue.Add("fixture", B2n(tmp));
tmp = body.Next;
}
bodyValue["fixture"] = arr;
JArray customPropertyValue = WriteCustomPropertiesToJson(body);
if (customPropertyValue.Count > 0)
bodyValue["customProperties"] = customPropertyValue;
return bodyValue;
}
