public static FSFrictionJoint CreateFrictionJoint(FSWorld world, FSBody bodyA, FSBody bodyB, FVector2 anchorA,
FVector2 anchorB)
{
FSFrictionJoint frictionJoint = new FSFrictionJoint(bodyA, bodyB, anchorA, anchorB);
world.AddJoint(frictionJoint);
return frictionJoint;
}
public void Add(FSBody body)
{
Debug.Assert(BodyCount < BodyCapacity);
body.IslandIndex = BodyCount;
Bodies[BodyCount] = body;
++BodyCount;
}
/// <summary>
/// Creates an angle joint.
/// </summary>
/// <param name="world">The world.</param>
/// <param name="bodyA">The first body.</param>
/// <param name="bodyB">The second body.</param>
/// <returns></returns>
public static FSAngleJoint CreateAngleJoint(FSWorld world, FSBody bodyA, FSBody bodyB)
{
FSAngleJoint angleJoint = new FSAngleJoint(bodyA, bodyB);
world.AddJoint(angleJoint);
return angleJoint;
}
public static FSDistanceJoint CreateDistanceJoint(FSWorld world, FSBody bodyA, FSBody bodyB, FVector2 anchorA,
FVector2 anchorB)
{
FSDistanceJoint distanceJoint = new FSDistanceJoint(bodyA, bodyB, anchorA, anchorB);
world.AddJoint(distanceJoint);
return distanceJoint;
}
/// <summary>
/// Creates a fixed angle joint.
/// </summary>
/// <param name="world">The world.</param>
/// <param name="body">The body.</param>
/// <returns></returns>
public static FSFixedAngleJoint CreateFixedAngleJoint(FSWorld world, FSBody body)
{
FSFixedAngleJoint angleJoint = new FSFixedAngleJoint(body);
world.AddJoint(angleJoint);
return angleJoint;
}
public FSBreakableBody(IEnumerable<Vertices> vertices, FSWorld world, float density, object userData)
{
_world = world;
_world.ContactManager.PostSolve += PostSolve;
MainBody = new FSBody(_world);
MainBody.BodyType = BodyType.Dynamic;
foreach (Vertices part in vertices)
{
PolygonShape polygonShape = new PolygonShape(part, density);
FSFixture fixture = MainBody.CreateFixture(polygonShape, userData);
Parts.Add(fixture);
}
}
public virtual bool IsActiveOn(FSBody body)
{
if (body == null || !body.Enabled || body.IsStatic)
return false;
if (body.FixtureList == null)
return false;
foreach (FSFixture fixture in body.FixtureList)
{
//Disable
if ((fixture.CollisionGroup == DisabledOnGroup) &&
fixture.CollisionGroup != 0 && DisabledOnGroup != 0)
return false;
if ((fixture.CollisionCategories & DisabledOnCategories) != Category.None)
return false;
if (EnabledOnGroup != 0 || EnabledOnCategories != Category.All)
{
//Enable
if ((fixture.CollisionGroup == EnabledOnGroup) &&
fixture.CollisionGroup != 0 && EnabledOnGroup != 0)
return true;
if ((fixture.CollisionCategories & EnabledOnCategories) != Category.None &&
EnabledOnCategories != Category.All)
return true;
}
else
{
return true;
}
}
return false;
}
/// <summary>
/// Creates a Wheel Joint
/// </summary>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="anchor"></param>
/// <param name="axis"></param>
/// <returns></returns>
public static FSWheelJoint CreateWheelJoint(FSBody bodyA, FSBody bodyB, FVector2 anchor, FVector2 axis)
{
FSWheelJoint joint = new FSWheelJoint(bodyA, bodyB, anchor, axis);
return joint;
}
public FSBody Clone()
{
FSBody body = new FSBody();
body.World = World;
body.UserData = UserData;
body.LinearDamping = LinearDamping;
body.LinearVelocityInternal = LinearVelocityInternal;
body.AngularDamping = AngularDamping;
body.AngularVelocityInternal = AngularVelocityInternal;
body.Position = Position;
body.Rotation = Rotation;
body._bodyType = _bodyType;
body.Flags = Flags;
World.AddBody(body);
return body;
}
public FSFixture Clone(FSBody body) {
FSFixture fixture = new FSFixture();
fixture.Body = body;
if (FSSettings.ConserveMemory)
fixture.Shape = Shape;
else
fixture.Shape = Shape.Clone();
fixture.UserData = UserData;
fixture.UserBits = UserBits;
fixture.Restitution = Restitution;
fixture.Friction = Friction;
fixture.IsSensor = IsSensor;
fixture._collisionGroup = CollisionGroup;
fixture._collisionCategories = CollisionCategories;
fixture._collidesWith = CollidesWith;
if (_collisionIgnores != null) {
fixture._collisionIgnores = new Dictionary<int, bool>();
foreach (KeyValuePair<int, bool> pair in _collisionIgnores)
fixture._collisionIgnores.Add(pair.Key, pair.Value);
}
fixture.RegisterFixture();
return fixture;
}
/// <summary>
/// This is used to prevent connected bodies from colliding.
/// It may lie, depending on the collideConnected flag.
/// </summary>
/// <param name="other">The other body.</param>
/// <returns></returns>
internal bool ShouldCollide(FSBody other)
{
// At least one body should be dynamic.
if (_bodyType != BodyType.Dynamic && other._bodyType != 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 static FSFixedMouseJoint CreateFixedMouseJoint(FSWorld world, FSBody body, FVector2 target)
{
FSFixedMouseJoint joint = new FSFixedMouseJoint(body, target);
world.AddJoint(joint);
return joint;
}
/// <summary>
/// Creates a revolute joint.
/// </summary>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="localAnchorB">The anchor of bodyB in local coordinates</param>
/// <returns></returns>
public static FSRevoluteJoint CreateRevoluteJoint(FSBody bodyA, FSBody bodyB, FVector2 localAnchorB)
{
FVector2 localanchorA = bodyA.GetLocalPoint(bodyB.GetWorldPoint(localAnchorB));
FSRevoluteJoint joint = new FSRevoluteJoint(bodyA, bodyB, localanchorA, localAnchorB);
return joint;
}
public static FSPulleyJoint CreatePulleyJoint(FSWorld world, FSBody bodyA, FSBody bodyB, FVector2 groundAnchorA,
FVector2 groundAnchorB, FVector2 anchorA, FVector2 anchorB, float ratio)
{
FSPulleyJoint pulleyJoint = new FSPulleyJoint(bodyA, bodyB, groundAnchorA, groundAnchorB, anchorA, anchorB,
ratio);
world.AddJoint(pulleyJoint);
return pulleyJoint;
}
public void AddBody(FSBody body)
{
Bodies.Add(body);
}
void SetIsland(FSBody body)
{
#if USE_ISLAND_SET
if (!IslandSet.Contains(body))
{
IslandSet.Add(body);
}
#endif
body.Flags |= BodyFlags.Island;
}
/// <summary>
/// Destroy a rigid body.
/// Warning: This automatically deletes all associated shapes and joints.
/// </summary>
/// <param name="body">The body.</param>
public void RemoveBody(FSBody body)
{
Debug.Assert(!_bodyRemoveList.Contains(body),
"The body is already marked for removal. You are removing the body more than once.");
if (!_bodyRemoveList.Contains(body))
_bodyRemoveList.Add(body);
#if USE_AWAKE_BODY_SET
if (AwakeBodySet.Contains(body))
{
AwakeBodySet.Remove(body);
}
#endif
}
/// <summary>
/// Add a rigid body.
/// </summary>
/// <returns></returns>
internal void AddBody(FSBody body)
{
Debug.Assert(!_bodyAddList.Contains(body), "You are adding the same body more than once.");
if (!_bodyAddList.Contains(body))
_bodyAddList.Add(body);
}
/// <summary>
/// Creates a prsimatic joint
/// </summary>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="localanchorB"></param>
/// <param name="axis"></param>
/// <returns></returns>
public static FSPrismaticJoint CreatePrismaticJoint(FSBody bodyA, FSBody bodyB, FVector2 localanchorB, FVector2 axis)
{
FVector2 localanchorA = bodyA.GetLocalPoint(bodyB.GetWorldPoint(localanchorB));
FSPrismaticJoint joint = new FSPrismaticJoint(bodyA, bodyB, localanchorA, localanchorB, axis);
return joint;
}
public FSFixture(FSBody body, Shape shape)
: this(body, shape, null)
{
}
/// <summary>
/// Creates a revolute joint and adds it to the world
/// </summary>
/// <param name="world"></param>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="anchor"></param>
/// <returns></returns>
public static FSRevoluteJoint CreateRevoluteJoint(FSWorld world, FSBody bodyA, FSBody bodyB, FVector2 anchor)
{
FSRevoluteJoint joint = CreateRevoluteJoint(bodyA, bodyB, anchor);
world.AddJoint(joint);
return joint;
}
public void RestoreCollisionWith(FSBody other)
{
for (int i = 0; i < FixtureList.Count; i++)
{
FSFixture f = FixtureList[i];
for (int j = 0; j < other.FixtureList.Count; j++)
{
FSFixture f2 = other.FixtureList[j];
f.RestoreCollisionWith(f2);
}
}
}
/// <summary>
/// Creates a prismatic joint and adds it to the world
/// </summary>
/// <param name="world"></param>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="localanchorB"></param>
/// <param name="axis"></param>
/// <returns></returns>
public static FSPrismaticJoint CreatePrismaticJoint(FSWorld world, FSBody bodyA, FSBody bodyB, FVector2 localanchorB,
FVector2 axis)
{
FSPrismaticJoint joint = CreatePrismaticJoint(bodyA, bodyB, localanchorB, axis);
world.AddJoint(joint);
return joint;
}
public static FSSliderJoint CreateSliderJoint(FSWorld world, FSBody bodyA, FSBody bodyB, FVector2 anchorA,
FVector2 anchorB, float minLength, float maxLength)
{
FSSliderJoint sliderJoint = new FSSliderJoint(bodyA, bodyB, anchorA, anchorB, minLength, maxLength);
world.AddJoint(sliderJoint);
return sliderJoint;
}
public FSFixture(FSBody body, Shape shape, object userData) {
_collisionCategories = FSSettings.DefaultFixtureCollisionCategories;
_collidesWith = FSSettings.DefaultFixtureCollidesWith;
_collisionGroup = 0;
#if USE_IGNORE_CCD_CATEGORIES
IgnoreCCDWith = FSSettings.DefaultFixtureIgnoreCCDWith;
#endif
//Fixture defaults
Friction = 0.2f;
Restitution = 0;
Body = body;
IsSensor = false;
UserData = userData;
if (FSSettings.ConserveMemory)
Shape = shape;
else
if (shape != null) Shape = shape.Clone();
RegisterFixture();
}
/// <summary>
/// Creates a weld joint
/// </summary>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="worldAnchor">World space coordinates of weld joint</param>
/// <returns></returns>
public static FSWeldJoint CreateWeldJoint(FSBody bodyA, FSBody bodyB, FVector2 worldAnchor)
{
FSWeldJoint joint = new FSWeldJoint(bodyA, bodyB, bodyA.GetLocalPoint(worldAnchor),
bodyB.GetLocalPoint(worldAnchor));
return joint;
}
public override void Start()
{
base.Start();
FSBody body;
tScale = physScale * 2f;
// St position in world space
m_offset = new FVector2(180f/physScale, -200f/physScale);
m_motorSpeed = 2f;
m_motorOn = true;
FVector2 pivot = new FVector2(0f, 24f/tScale);
for(int i = 0; i < 50; i++)
{
body = BodyFactory.CreateCircle(FSWorldComponent.PhysicsWorld, 3.75f / physScale, 1f, new FVector2((Random.value * 620f + 10f)/physScale, -340f/physScale));
body.BodyType = BodyType.Dynamic;
}
// chassis
{
m_chassis = BodyFactory.CreateBody(FSWorldComponent.PhysicsWorld, FVector2.Add(pivot, m_offset));
m_chassis.BodyType = BodyType.Dynamic;
FSFixture m_chassis_f = FixtureFactory.AttachRectangle(150f / tScale, 60f / tScale, 1f, FVector2.Zero, m_chassis);
//m_chassis_f.CollisionGroup = -1;
m_chassis_f.CollisionCategories = Category.Cat10;
m_chassis_f.CollidesWith = Category.Cat1;
}
// wheel
{
m_wheel = BodyFactory.CreateBody(FSWorldComponent.PhysicsWorld, FVector2.Add(pivot, m_offset));
m_wheel.BodyType = BodyType.Dynamic;
FSFixture m_wheel_f = FixtureFactory.AttachCircle(48f / tScale, 1f, m_wheel);
//m_wheel_f.CollisionGroup = -1;
m_wheel_f.CollisionCategories = Category.Cat10;
m_wheel_f.CollidesWith = Category.Cat1;
}
// glue chassis & wheel
{
m_motorJoint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, m_wheel, m_chassis, FVector2.Zero);
m_motorJoint.MotorSpeed = m_motorSpeed;
m_motorJoint.MaxMotorTorque = 400f;
m_motorJoint.CollideConnected = false;
m_motorJoint.MotorEnabled = m_motorOn;
}
FVector2 wheelAnchor;
wheelAnchor = new FVector2(0f, -24f/tScale) + pivot;
CreateLeg(-1f, wheelAnchor);
CreateLeg(1f, wheelAnchor);
m_wheel.Rotation = 120f * Mathf.Deg2Rad;
CreateLeg(-1f, wheelAnchor);
CreateLeg(1f, wheelAnchor);
m_wheel.Rotation = -120f * Mathf.Deg2Rad;
CreateLeg(-1f, wheelAnchor);
CreateLeg(1f, wheelAnchor);
}
/// <summary>
/// Creates a weld joint and adds it to the world
/// </summary>
/// <param name="world"></param>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="worldAnchor">World space coordinates of weld joint</param>
/// <returns></returns>
public static FSWeldJoint CreateWeldJoint(FSWorld world, FSBody bodyA, FSBody bodyB, FVector2 worldAnchor)
{
FSWeldJoint joint = CreateWeldJoint(bodyA, bodyB, worldAnchor);
world.AddJoint(joint);
return joint;
}
public override void Start()
{
base.Start();
AABB waterBounds = new AABB(new FVector2(0f, -360f / physScale), new FVector2(640f / physScale, -200f / physScale));
controller = new BuoyancyController(waterBounds, 2.0f, 5f, 2f, FSWorldComponent.PhysicsWorld.Gravity);
// add the controller
FSWorldComponent.PhysicsWorld.AddController(controller);
bodies = new List<FSBody>();
FSBody tbody;
// Spawn in a bunch of crap
for(int i = 0; i < 5; i++)
{
tbody = BodyFactory.CreateRectangle(FSWorldComponent.PhysicsWorld, (Random.value * 5f + 10f) / physScale, (Random.value * 5f + 10f) / physScale, 1f, new FVector2((Random.value * 400f + 120f) / physScale, (Random.value * -150f - 50f) / physScale));
tbody.Rotation = Random.value * Mathf.PI;
tbody.BodyType = BodyType.Dynamic;
bodies.Add(tbody);
}
for(int i = 0; i < 5; i++)
{
tbody = BodyFactory.CreateCircle(FSWorldComponent.PhysicsWorld, (Random.value * 5f + 10f) / physScale, 0.5f, new FVector2((Random.value * 400f + 120f) / physScale, (Random.value * -150f - 50f) / physScale));
tbody.Rotation = Random.value * Mathf.PI;
tbody.BodyType = BodyType.Dynamic;
bodies.Add(tbody);
}
for(int i = 0; i < 15; i++)
{
Vertices vlist = new Vertices();
if(Random.value > 0.66f)
{
vlist.Add(new FVector2((10f + Random.value * 10f) / physScale, (-10f - Random.value * 10f) / physScale));
vlist.Add(new FVector2((5f + Random.value * 10f) / physScale, (10f + Random.value * 10f) / physScale));
vlist.Add(new FVector2((-5f - Random.value * 10f) / physScale, (10f + Random.value * 10f) / physScale));
vlist.Add(new FVector2((-10f - Random.value * 10f) / physScale, (-10f - Random.value * 10f) / physScale));
}
else if(Random.value > 0.5f)
{
FVector2 v00 = new FVector2(0f, (-10f - Random.value * 10f) / physScale);
FVector2 v02 = new FVector2((-5f - Random.value * 10f) / physScale, (10f + Random.value * 10f) / physScale);
FVector2 v03 = new FVector2((5f + Random.value * 10f) / physScale, (10f + Random.value * 10f) / physScale);
FVector2 v01 = new FVector2(v00.X + v02.X, v00.Y + v02.Y);
v01 *= Random.value / 2f + 0.8f;
FVector2 v04 = new FVector2(v03.X + v00.X, v03.Y + v00.Y);
v04 *= Random.value / 2f + 0.8f;
vlist.Add(v04); vlist.Add(v03); vlist.Add(v02); vlist.Add(v01); vlist.Add(v00);
}
else
{
vlist.Add(new FVector2((5f + Random.value * 10f) / physScale, (10f + Random.value * 10f) / physScale));
vlist.Add(new FVector2((-5f - Random.value * 10f) / physScale, (10f + Random.value * 10f) / physScale));
vlist.Add(new FVector2(0f, (-10f - Random.value * 10f) / physScale));
}
tbody = BodyFactory.CreateCompoundPolygon(FSWorldComponent.PhysicsWorld, new List<Vertices>{vlist}, 1f, new FVector2((Random.value * 400f + 120f) / physScale, (Random.value * -150f - 50f) / physScale));
tbody.Rotation = Random.value * Mathf.PI;
tbody.BodyType = BodyType.Dynamic;
bodies.Add(tbody);
}
//Add some exciting bath toys
tbody = new FSBody(FSWorldComponent.PhysicsWorld);
tbody.Position = new FVector2(50f / physScale, -300f / physScale);
tbody.BodyType = BodyType.Dynamic;
FixtureFactory.AttachRectangle(80f / physScale, 20f / physScale, 3f, FVector2.Zero, tbody);
bodies.Add(tbody);
tbody = new FSBody(FSWorldComponent.PhysicsWorld);
tbody.Position = new FVector2(300f / physScale, -300f / physScale);
tbody.BodyType = BodyType.Dynamic;
FixtureFactory.AttachSolidArc(2f, Mathf.PI * 2f, 8, 7f / physScale,
new FVector2(30f / physScale, 0f), 0f, tbody);
FixtureFactory.AttachSolidArc(2f, Mathf.PI * 2f, 8, 7f / physScale,
new FVector2(-30f / physScale, 0f), 0f, tbody);
FixtureFactory.AttachRectangle(60f / physScale, 4f / physScale, 2f, FVector2.Zero, tbody);
FixtureFactory.AttachSolidArc(2f, Mathf.PI * 2f, 8, 7f / physScale,
new FVector2(0f, 30f / physScale), 0f, tbody);
FixtureFactory.AttachSolidArc(2f, Mathf.PI * 2f, 8, 7f / physScale,
new FVector2(0f, -30f / physScale), 0f, tbody);
FixtureFactory.AttachRectangle(4f / physScale, 60f / physScale, 2f, FVector2.Zero, tbody);
}
public static FSWeldJoint CreateWeldJoint(FSWorld world, FSBody bodyA, FSBody bodyB, FVector2 localAnchorA,
FVector2 localAnchorB)
{
FSWeldJoint weldJoint = new FSWeldJoint(bodyA, bodyB, localAnchorA, localAnchorB);
world.AddJoint(weldJoint);
return weldJoint;
}
