internal static Joint Create(JointDef def)
{
Joint result = null;
switch (def.Type)
{
case JointType.RevoluteJoint:
{
result = new RevoluteJoint((RevoluteJointDef)def);
break;
}
case JointType.PrismaticJoint:
{
result = new PrismaticJoint((PrismaticJointDef)def);
break;
}
case JointType.DistanceJoint:
{
result = new DistanceJoint((DistanceJointDef)def);
break;
}
case JointType.PulleyJoint:
{
result = new PulleyJoint((PulleyJointDef)def);
break;
}
case JointType.MouseJoint:
{
result = new MouseJoint((MouseJointDef)def);
break;
}
case JointType.GearJoint:
{
result = new GearJoint((GearJointDef)def);
break;
}
case JointType.LineJoint:
{
result = new LineJoint((LineJointDef)def);
break;
}
default:
{
Box2DXDebug.Assert(false);
break;
}
}
return(result);
}
protected Joint(JointDef def)
{
this._type = def.Type;
this._prev = null;
this._next = null;
this._body1 = def.Body1;
this._body2 = def.Body2;
this._collideConnected = def.CollideConnected;
this._islandFlag = false;
this._userData = def.UserData;
}
protected Joint(JointDef def)
{
_type = def.Type;
_prev = null;
_next = null;
_body1 = def.Body1;
_body2 = def.Body2;
_collideConnected = def.CollideConnected;
_islandFlag = false;
_userData = def.UserData;
}
protected Joint(JointDef def)
{
this._type = def.Type;
this._prev = null;
this._next = null;
this._body1 = def.Body1;
this._body2 = def.Body2;
this._collideConnected = def.CollideConnected;
this._islandFlag = false;
this._userData = def.UserData;
}
internal static Joint Create(JointDef def)
{
Joint joint = null;
switch (def.Type)
{
case JointType.DistanceJoint:
{
joint = new DistanceJoint((DistanceJointDef)def);
}
break;
case JointType.MouseJoint:
{
joint = new MouseJoint((MouseJointDef)def);
}
break;
case JointType.PrismaticJoint:
{
joint = new PrismaticJoint((PrismaticJointDef)def);
}
break;
case JointType.RevoluteJoint:
{
joint = new RevoluteJoint((RevoluteJointDef)def);
}
break;
case JointType.PulleyJoint:
{
joint = new PulleyJoint((PulleyJointDef)def);
}
break;
case JointType.GearJoint:
{
joint = new GearJoint((GearJointDef)def);
}
break;
default:
Box2DXDebug.Assert(false);
break;
}
return(joint);
}
protected Joint(JointDef def)
{
_type = def.Type;
_prev = null;
_next = null;
_bodyA = def.Body1;
_bodyB = def.Body2;
_collideConnected = def.CollideConnected;
_islandFlag = false;
_userData = def.UserData;
_edgeA.Joint = null;
_edgeA.Other = null;
_edgeA.Prev = null;
_edgeA.Next = null;
_edgeB.Joint = null;
_edgeB.Other = null;
_edgeB.Prev = null;
_edgeB.Next = null;
}
internal static Joint Create(JointDef def)
{
Joint result = null;
switch (def.Type)
{
case JointType.RevoluteJoint:
{
result = new RevoluteJoint((RevoluteJointDef)def);
break;
}
case JointType.PrismaticJoint:
{
result = new PrismaticJoint((PrismaticJointDef)def);
break;
}
case JointType.DistanceJoint:
{
result = new DistanceJoint((DistanceJointDef)def);
break;
}
case JointType.PulleyJoint:
{
result = new PulleyJoint((PulleyJointDef)def);
break;
}
case JointType.MouseJoint:
{
result = new MouseJoint((MouseJointDef)def);
break;
}
case JointType.GearJoint:
{
result = new GearJoint((GearJointDef)def);
break;
}
case JointType.LineJoint:
{
result = new LineJoint((LineJointDef)def);
break;
}
default:
{
Box2DXDebug.Assert(false);
break;
}
}
return result;
}
/// <summary>
/// Create a joint to constrain bodies together. No reference to the definition
/// is retained. This may cause the connected bodies to cease colliding.
/// @warning This function is locked during callbacks.
/// </summary>
/// <param name="def"></param>
/// <returns></returns>
public Joint CreateJoint(JointDef def)
{
Box2DXDebug.Assert(_lock == false);
Joint j = Joint.Create(def);
// Connect to the world list.
j._prev = null;
j._next = _jointList;
if (_jointList != null)
{
_jointList._prev = j;
}
_jointList = j;
++_jointCount;
// Connect to the bodies' doubly linked lists.
j._node1.Joint = j;
j._node1.Other = j._body2;
j._node1.Prev = null;
j._node1.Next = j._body1._jointList;
if (j._body1._jointList != null)
j._body1._jointList.Prev = j._node1;
j._body1._jointList = j._node1;
j._node2.Joint = j;
j._node2.Other = j._body1;
j._node2.Prev = null;
j._node2.Next = j._body2._jointList;
if (j._body2._jointList != null)
j._body2._jointList.Prev = j._node2;
j._body2._jointList = j._node2;
// If the joint prevents collisions, then reset collision filtering.
if (def.CollideConnected == false)
{
// Reset the proxies on the body with the minimum number of shapes.
Body b = def.Body1._shapeCount < def.Body2._shapeCount ? def.Body1 : def.Body2;
for (Shape s = b._shapeList; s != null; s = s._next)
{
s.RefilterProxy(_broadPhase, b.GetXForm());
}
}
return j;
}
public Joint CreateJoint(JointDef def)
{
Box2DXDebug.Assert(!this._lock);
Joint joint = Joint.Create(def);
joint._prev = null;
joint._next = this._jointList;
if (this._jointList != null)
{
this._jointList._prev = joint;
}
this._jointList = joint;
this._jointCount++;
joint._node1.Joint = joint;
joint._node1.Other = joint._body2;
joint._node1.Prev = null;
joint._node1.Next = joint._body1._jointList;
if (joint._body1._jointList != null)
{
joint._body1._jointList.Prev = joint._node1;
}
joint._body1._jointList = joint._node1;
joint._node2.Joint = joint;
joint._node2.Other = joint._body1;
joint._node2.Prev = null;
joint._node2.Next = joint._body2._jointList;
if (joint._body2._jointList != null)
{
joint._body2._jointList.Prev = joint._node2;
}
joint._body2._jointList = joint._node2;
if (!def.CollideConnected)
{
Body body = (def.Body1._shapeCount < def.Body2._shapeCount) ? def.Body1 : def.Body2;
for (Shape shape = body._shapeList; shape != null; shape = shape._next)
{
shape.RefilterProxy(this._broadPhase, body.GetXForm());
}
}
return joint;
}
/// <summary>
/// Create a joint to constrain bodies together. No reference to the definition
/// is retained. This may cause the connected bodies to cease colliding.
/// @warning This function is locked during callbacks.
/// </summary>
/// <param name="def"></param>
/// <returns></returns>
public Joint CreateJoint(JointDef def)
{
Box2DXDebug.Assert(IsLocked() == false);
if (IsLocked())
{
return(null);
}
Joint j = Joint.Create(def);
// Connect to the world list.
j._prev = null;
j._next = _jointList;
if (_jointList != null)
{
_jointList._prev = j;
}
_jointList = j;
++_jointCount;
// Connect to the bodies' doubly linked lists.
j._edgeA.Joint = j;
j._edgeA.Other = j._bodyB;
j._edgeA.Prev = null;
j._edgeA.Next = j._bodyA._jointList;
if (j._bodyA._jointList != null)
{
j._bodyA._jointList.Prev = j._edgeA;
}
j._bodyA._jointList = j._edgeA;
j._edgeB.Joint = j;
j._edgeB.Other = j._bodyA;
j._edgeB.Prev = null;
j._edgeB.Next = j._bodyB._jointList;
if (j._bodyB._jointList != null)
{
j._bodyB._jointList.Prev = j._edgeB;
}
j._bodyB._jointList = j._edgeB;
Body bodyA = def.Body1;
Body bodyB = def.Body2;
bool staticA = bodyA.IsStatic();
bool staticB = bodyB.IsStatic();
// If the joint prevents collisions, then flag any contacts for filtering.
if (def.CollideConnected == false && (staticA == false || staticB == false))
{
// Ensure we iterate over contacts on a dynamic body (usually have less contacts
// than a static body). Ideally we will have a contact count on both bodies.
if (staticB)
{
Math.Swap(ref bodyA, ref bodyB);
}
ContactEdge edge = bodyB.GetContactList();
while (edge != null)
{
if (edge.Other == bodyA)
{
// Flag the contact for filtering at the next time step (where either
// body is awake).
edge.Contact.FlagForFiltering();
}
edge = edge.Next;
}
}
// Note: creating a joint doesn't wake the bodies.
return(j);
}
/// <summary>
/// Create a joint to constrain bodies together. No reference to the definition
/// is retained. This may cause the connected bodies to cease colliding.
/// @warning This function is locked during callbacks.
/// </summary>
/// <param name="def"></param>
/// <returns></returns>
public Joint CreateJoint(JointDef def)
{
Box2DXDebug.Assert(IsLocked() == false);
if (IsLocked())
{
return null;
}
Joint j = Joint.Create(def);
// Connect to the world list.
j._prev = null;
j._next = _jointList;
if (_jointList != null)
{
_jointList._prev = j;
}
_jointList = j;
++_jointCount;
// Connect to the bodies' doubly linked lists.
j._edgeA.Joint = j;
j._edgeA.Other = j._bodyB;
j._edgeA.Prev = null;
j._edgeA.Next = j._bodyA._jointList;
if (j._bodyA._jointList != null)
j._bodyA._jointList.Prev = j._edgeA;
j._bodyA._jointList = j._edgeA;
j._edgeB.Joint = j;
j._edgeB.Other = j._bodyA;
j._edgeB.Prev = null;
j._edgeB.Next = j._bodyB._jointList;
if (j._bodyB._jointList != null)
j._bodyB._jointList.Prev = j._edgeB;
j._bodyB._jointList = j._edgeB;
Body bodyA = def.Body1;
Body bodyB = def.Body2;
bool staticA = bodyA.IsStatic();
bool staticB = bodyB.IsStatic();
// If the joint prevents collisions, then flag any contacts for filtering.
if (def.CollideConnected == false && (staticA == false || staticB == false))
{
// Ensure we iterate over contacts on a dynamic body (usually have less contacts
// than a static body). Ideally we will have a contact count on both bodies.
if (staticB)
{
Math.Swap(ref bodyA, ref bodyB);
}
ContactEdge edge = bodyB.GetContactList();
while (edge != null)
{
if (edge.Other == bodyA)
{
// Flag the contact for filtering at the next time step (where either
// body is awake).
edge.Contact.FlagForFiltering();
}
edge = edge.Next;
}
}
// Note: creating a joint doesn't wake the bodies.
return j;
}
protected Joint(JointDef def)
{
_type = def.Type;
_prev = null;
_next = null;
_body1 = def.Body1;
_body2 = def.Body2;
_collideConnected = def.CollideConnected;
_islandFlag = false;
_userData = def.UserData;
}
protected Joint(JointDef def)
{
_type = def.Type;
_prev = null;
_next = null;
_bodyA = def.Body1;
_bodyB = def.Body2;
_collideConnected = def.CollideConnected;
_islandFlag = false;
_userData = def.UserData;
_edgeA.Joint = null;
_edgeA.Other = null;
_edgeA.Prev = null;
_edgeA.Next = null;
_edgeB.Joint = null;
_edgeB.Other = null;
_edgeB.Prev = null;
_edgeB.Next = null;
}
