private void ConstructPhysicsSimulator(Vector2 gravity)
{
geomList = new GeomList();
geomAddList = new List <Geom>();
geomRemoveList = new List <Geom>();
bodyList = new BodyList();
bodyAddList = new List <Body>();
bodyRemoveList = new List <Body>();
controllerList = new ControllerList();
controllerAddList = new List <Controller>();
controllerRemoveList = new List <Controller>();
jointList = new JointList();
jointAddList = new List <Joint>();
jointRemoveList = new List <Joint>();
_broadPhaseCollider = new SelectiveSweepCollider(this);
arbiterList = new ArbiterList();
_gravity = gravity;
arbiterPool = new Pool <Arbiter>(_arbiterPoolSize);
#region Added by Daniel Pramel 08/17/08
_inactivityController = new InactivityController(this);
_scaling = new Scaling(0.001f, 0.01f);
#endregion
}
public XnaBoneWeightChannel(MeshBuilder mb, VertexContainer vc, JointList joints)
: base(mb)
{
try
{
_indicesChannel = (from c in vc.VertexChannels
where c.Contains(VertexElementUsage.BlendIndices)
select c).First();
_weightChannel = (from c in vc.VertexChannels
where c.Contains(VertexElementUsage.BlendWeight)
select c).First();
}
catch (Exception)
{
throw new Exception("Missing blend indices or weights");
}
_joints = joints;
_vertexSize = vc.VertexSize;
_indicesOffset = _indicesChannel.Source.Offset;
_weightOffset = _weightChannel.Source.Offset;
this.Create();
}
/// <summary>
/// Processes the disposed controllers, joints, springs, bodies and cleans up the arbiter list.
/// </summary>
private void ProcessDisposedItems()
{
//Allow each controller to validate itself. this is where a controller can Dispose of itself if need be.
for (int i = 0; i < ControllerList.Count; i++)
{
ControllerList[i].Validate();
}
//Allow each joint to validate itself. this is where a joint can Dispose of itself if need be.
for (int i = 0; i < JointList.Count; i++)
{
JointList[i].Validate();
}
//Allow each spring to validate itself. this is where a spring can Dispose of itself if need be.
for (int i = 0; i < SpringList.Count; i++)
{
SpringList[i].Validate();
}
_tempCount = GeomList.RemoveDisposed();
if (_tempCount > 0)
{
_broadPhaseCollider.ProcessDisposedGeoms();
}
BodyList.RemoveDisposed();
ControllerList.RemoveDisposed();
SpringList.RemoveDisposed();
JointList.RemoveDisposed();
//Clean up the arbiterlist
ArbiterList.CleanArbiterList(arbiterPool);
}
private void PhysicsConstructor(Vector2 gravity)
{
_rigidBodyList = new RigidBodyList();
_arbiterList = new ArbiterList();
_springList = new SpringList();
_jointList = new JointList();
_gravity = gravity;
}
private void Awake()
{
FixedJoint[] componentsInChildren = GetComponentsInChildren <FixedJoint>();
jointLists = new JointList[componentsInChildren.Length];
for (int i = 0; i < componentsInChildren.Length; i++)
{
FixedJoint fixedJoint = componentsInChildren[i];
jointLists[i] = new JointList(fixedJoint.gameObject, fixedJoint.connectedBody, fixedJoint.breakForce);
}
}
/// <summary>
/// select/deselect all joints under `startJoint'
/// </summary>
public void RecurSelect(Transform startJoint, bool select)
{
JointList extendedJoints = SMREditor.GetExtendedJoints();
if (!extendedJoints.Contains(startJoint))
{
return;
}
_Recur_SelectJointAndAllDescendants(startJoint, select);
}
private float _width; // width and height of bodies to create
/// <summary>
/// Initializes a new instance of the <see cref="Path"/> class.
/// </summary>
/// <param name="width">The width.</param>
/// <param name="height">The height.</param>
/// <param name="mass">The mass.</param>
/// <param name="endless">if set to <c>true</c> [endless].</param>
public Path(float width, float height, float mass, bool endless)
{
_width = width;
_height = height;
_loop = endless;
_mass = mass;
_geoms = new GeomList();
_bodies = new BodyList();
_joints = new JointList();
_springs = new SpringList();
_controlPoints = new Vertices();
}
private float _width; // width and height of bodies to create
/// <summary>
/// Initializes a new instance of the <see cref="Path"/> class.
/// </summary>
/// <param name="width">The width.</param>
/// <param name="height">The height.</param>
/// <param name="mass">The mass.</param>
/// <param name="endless">if set to <c>true</c> [endless].</param>
public Path(float width, float height, float mass, bool endless)
{
_width = width;
_height = height;
_loop = endless;
_mass = mass;
_geoms = new GeomList();
_bodies = new BodyList();
_joints = new JointList();
_springs = new SpringList();
_controlPoints = new Vertices();
}
private void ProcessAddedJoints()
{
if (_jointAddList.Count > 0)
{
foreach (Joint joint in _jointAddList)
{
// Connect to the world list.
JointList.Add(joint);
// Connect to the bodies' doubly linked lists.
joint.BodyA.JointList.Add(joint);
// WIP David
if (!joint.IsFixedType())
{
joint.BodyB.JointList.Add(joint);
Body bodyA = joint.BodyA;
Body bodyB = joint.BodyB;
// If the joint prevents collisions, then flag any contacts for filtering.
if (joint.CollideConnected == false)
{
ContactEdge edge = bodyB.ContactList;
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;
}
}
}
if (JointAdded != null)
{
JointAdded(joint);
}
// Note: creating a joint doesn't wake the bodies.
}
_jointAddList.Clear();
}
}
/// <summary>
/// Samples this animation and applies the result to the target joint list
/// </summary>
/// <param name="time"></param>
/// <param name="targetJoints"></param>
public void Sample(float time, JointList targetJoints)
{
if (_channels.Length == 0)
{
throw new ApplicationException("Animation contains no channels!");
}
foreach (var channel in _channels)
{
Joint target = targetJoints[channel.Target.Index];
var keyframe = channel.Sampler.GetInterpolatedKeyframe(time);
// TODO: Might be necessary to multiply keyframe transform rather than assign
target.Transform = keyframe.Transform;
}
}
public virtual void Clear()
{
Header.ElementFormat.Ver = 2.1f;
Header.ElementFormat.UVACount = 0;
ModelInfo.Clear();
VertexList.Clear();
FaceList.Clear();
MaterialList.Clear();
BoneList.Clear();
MorphList.Clear();
BodyList.Clear();
JointList.Clear();
SoftBodyList.Clear();
InitializeSystemNode();
FilePath = "";
LoadErrCount = 0;
}
private void _Recur_SelectJointAndAllDescendants(Transform joint, bool select)
{
JointList extendedJoints = SMREditor.GetExtendedJoints();
if (!extendedJoints.Contains(joint))
{
return;
}
if (select)
{
IncSelect(joint);
}
else
{
DecSelect(joint);
}
for (int idx = 0; idx < joint.childCount; ++idx)
{
Transform j = joint.GetChild(idx);
_Recur_SelectJointAndAllDescendants(j, select);
}
}
/// <summary>
/// Create a joint to constrain bodies together. This may cause the connected bodies to cease colliding.
/// Warning: This function is locked during callbacks.
/// </summary>
/// <param name="joint">The joint.</param>
public void AddJoint(Joint joint)
{
Debug.Assert(!IsLocked);
if (IsLocked)
{
return;
}
// Connect to the world list.
JointList.Add(joint);
// Connect to the bodies' doubly linked lists.
joint.EdgeA.Joint = joint;
joint.EdgeA.Other = joint.BodyB;
joint.EdgeA.Prev = null;
joint.EdgeA.Next = joint.BodyA.JointList;
if (joint.BodyA.JointList != null)
{
joint.BodyA.JointList.Prev = joint.EdgeA;
}
joint.BodyA.JointList = joint.EdgeA;
// WIP David
if (!joint.IsFixedType())
{
joint.EdgeB.Joint = joint;
joint.EdgeB.Other = joint.BodyA;
joint.EdgeB.Prev = null;
joint.EdgeB.Next = joint.BodyB.JointList;
if (joint.BodyB.JointList != null)
{
joint.BodyB.JointList.Prev = joint.EdgeB;
}
joint.BodyB.JointList = joint.EdgeB;
}
// WIP David
if (!joint.IsFixedType())
{
Body bodyA = joint.BodyA;
Body bodyB = joint.BodyB;
// If the joint prevents collisions, then flag any contacts for filtering.
if (joint.CollideConnected == false)
{
ContactEdge edge = bodyB.ContactList;
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;
}
}
}
if (JointAdded != null)
{
JointAdded(joint);
}
// Note: creating a joint doesn't wake the bodies.
}
private void ProcessRemovedJoints()
{
if (_jointRemoveList.Count > 0)
{
foreach (Joint joint in _jointRemoveList)
{
bool collideConnected = joint.CollideConnected;
// Remove from the world list.
JointList.Remove(joint);
// Disconnect from island graph.
Body bodyA = joint.BodyA;
Body bodyB = joint.BodyB;
// Wake up connected bodies.
bodyA.Awake = true;
// WIP David
if (!joint.IsFixedType())
{
bodyB.Awake = true;
}
// Remove from body 1.
bodyA.JointList.Remove(joint);
// WIP David
if (!joint.IsFixedType())
{
// Remove from body 2
bodyB.JointList.Remove(joint);
}
// WIP David
if (!joint.IsFixedType())
{
// If the joint prevents collisions, then flag any contacts for filtering.
if (collideConnected == false)
{
ContactEdge edge = bodyB.ContactList;
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;
}
}
}
if (JointRemoved != null)
{
JointRemoved(joint);
}
}
_jointRemoveList.Clear();
}
}
private void PhysicsConstructor(Vector2 gravity)
{
_rigidBodyList = new RigidBodyList();
_arbiterList = new ArbiterList();
_springList = new SpringList();
_jointList = new JointList();
_gravity = gravity;
}
public virtual void FromStream(Stream s, bool id)
{
Action <Action> action = delegate(Action a)
{
try
{
a();
}
catch (Exception)
{
LoadErrCount++;
}
};
PmxHeader head = new PmxHeader();
head.FromStreamEx(s);
Header.FromHeader(head);
head.ElementFormat.WithID = id;
action(delegate
{
ModelInfo.FromStreamEx(s, head.ElementFormat);
});
int count = 0;
action(delegate
{
count = PmxStreamHelper.ReadElement_Int32(s);
});
VertexList.Clear();
VertexList.Capacity = count;
for (int k = 0; k < count; k++)
{
PmxVertex v = new PmxVertex();
action(delegate
{
v.FromStreamEx(s, head.ElementFormat);
});
VertexList.Add(v);
}
action(delegate
{
count = PmxStreamHelper.ReadElement_Int32(s);
});
FaceList.Clear();
FaceList.Capacity = count;
for (int l = 0; l < count; l++)
{
int ix = 0;
action(delegate
{
ix = PmxStreamHelper.ReadElement_Int32(s, head.ElementFormat.VertexSize, signed: false);
});
FaceList.Add(ix);
}
PmxTextureTable tx = new PmxTextureTable();
action(delegate
{
tx.FromStreamEx(s, head.ElementFormat);
});
action(delegate
{
count = PmxStreamHelper.ReadElement_Int32(s);
});
MaterialList.Clear();
MaterialList.Capacity = count;
for (int m = 0; m < count; m++)
{
PmxMaterial j = new PmxMaterial();
action(delegate
{
j.FromStreamEx_TexTable(s, tx, head.ElementFormat);
});
MaterialList.Add(j);
}
action(delegate
{
count = PmxStreamHelper.ReadElement_Int32(s);
});
BoneList.Clear();
BoneList.Capacity = count;
for (int n = 0; n < count; n++)
{
PmxBone b = new PmxBone();
action(delegate
{
b.FromStreamEx(s, head.ElementFormat);
});
BoneList.Add(b);
}
action(delegate
{
count = PmxStreamHelper.ReadElement_Int32(s);
});
MorphList.Clear();
MorphList.Capacity = count;
for (int num = 0; num < count; num++)
{
PmxMorph morph = new PmxMorph();
action(delegate
{
morph.FromStreamEx(s, head.ElementFormat);
});
MorphList.Add(morph);
}
action(delegate
{
count = PmxStreamHelper.ReadElement_Int32(s);
});
NodeList.Clear();
NodeList.Capacity = count;
for (int num2 = 0; num2 < count; num2++)
{
PmxNode node = new PmxNode();
action(delegate
{
node.FromStreamEx(s, head.ElementFormat);
});
NodeList.Add(node);
if (NodeList[num2].SystemNode)
{
if (NodeList[num2].Name == "Root")
{
RootNode = NodeList[num2];
}
else if (NodeList[num2].Name == "表情")
{
ExpNode = NodeList[num2];
}
}
}
action(delegate
{
count = PmxStreamHelper.ReadElement_Int32(s);
});
BodyList.Clear();
BodyList.Capacity = count;
for (int num3 = 0; num3 < count; num3++)
{
PmxBody b2 = new PmxBody();
action(delegate
{
b2.FromStreamEx(s, head.ElementFormat);
});
BodyList.Add(b2);
}
action(delegate
{
count = PmxStreamHelper.ReadElement_Int32(s);
});
JointList.Clear();
JointList.Capacity = count;
for (int num4 = 0; num4 < count; num4++)
{
PmxJoint i = new PmxJoint();
action(delegate
{
i.FromStreamEx(s, head.ElementFormat);
});
JointList.Add(i);
}
if (head.Ver >= 2.1f)
{
action(delegate
{
count = PmxStreamHelper.ReadElement_Int32(s);
});
SoftBodyList.Clear();
SoftBodyList.Capacity = count;
for (int num5 = 0; num5 < count; num5++)
{
PmxSoftBody b3 = new PmxSoftBody();
action(delegate
{
b3.FromStreamEx(s, head.ElementFormat);
});
SoftBodyList.Add(b3);
}
}
if (id)
{
action(delegate
{
FilePath = PmxStreamHelper.ReadString(s, head.ElementFormat);
});
}
head.ElementFormat.WithID = false;
}
public void FromPmx(Pmx pmx)
{
Clear();
FilePath = pmx.FilePath;
LoadErrCount = pmx.LoadErrCount;
Header = pmx.Header.Clone();
ModelInfo = pmx.ModelInfo.Clone();
int count = pmx.VertexList.Count;
VertexList.Capacity = count;
for (int i = 0; i < count; i++)
{
VertexList.Add(pmx.VertexList[i].Clone());
}
count = pmx.FaceList.Count;
FaceList.Capacity = count;
for (int j = 0; j < count; j++)
{
FaceList.Add(pmx.FaceList[j]);
}
count = pmx.MaterialList.Count;
MaterialList.Capacity = count;
for (int k = 0; k < count; k++)
{
MaterialList.Add(pmx.MaterialList[k].Clone());
}
count = pmx.BoneList.Count;
BoneList.Capacity = count;
for (int l = 0; l < count; l++)
{
BoneList.Add(pmx.BoneList[l].Clone());
}
count = pmx.MorphList.Count;
MorphList.Capacity = count;
for (int m = 0; m < count; m++)
{
MorphList.Add(pmx.MorphList[m].Clone());
}
count = pmx.NodeList.Count;
NodeList.Clear();
NodeList.Capacity = count;
for (int n = 0; n < count; n++)
{
NodeList.Add(pmx.NodeList[n].Clone());
if (NodeList[n].SystemNode)
{
if (NodeList[n].Name == "Root")
{
RootNode = NodeList[n];
}
else if (NodeList[n].Name == "表情")
{
ExpNode = NodeList[n];
}
}
}
count = pmx.BodyList.Count;
BodyList.Capacity = count;
for (int num = 0; num < count; num++)
{
BodyList.Add(pmx.BodyList[num].Clone());
}
count = pmx.JointList.Count;
JointList.Capacity = count;
for (int num2 = 0; num2 < count; num2++)
{
JointList.Add(pmx.JointList[num2].Clone());
}
count = pmx.SoftBodyList.Count;
SoftBodyList.Capacity = count;
for (int num3 = 0; num3 < count; num3++)
{
SoftBodyList.Add(pmx.SoftBodyList[num3].Clone());
}
}
private void ConstructPhysicsSimulator(Vector2 gravity)
{
geomList = new GeomList();
geomAddList = new List<Geom>();
geomRemoveList = new List<Geom>();
bodyList = new BodyList();
bodyAddList = new List<Body>();
bodyRemoveList = new List<Body>();
controllerList = new ControllerList();
controllerAddList = new List<Controller>();
controllerRemoveList = new List<Controller>();
jointList = new JointList();
jointAddList = new List<Joint>();
jointRemoveList = new List<Joint>();
springList = new SpringList();
springAddList = new List<Spring>();
springRemoveList = new List<Spring>();
_broadPhaseCollider = new SelectiveSweepCollider(this);
arbiterList = new ArbiterList();
_gravity = gravity;
arbiterPool = new Pool<Arbiter>(_arbiterPoolSize);
#region Added by Daniel Pramel 08/17/08
_inactivityController = new InactivityController(this);
_scaling = new Scaling(0.001f, 0.01f);
#endregion
}
private void ProcessRemovedJoints()
{
if (_jointRemoveList.Count > 0)
{
foreach (var joint in _jointRemoveList)
{
var collideConnected = joint.CollideConnected;
// Remove from the world list.
JointList.Remove(joint);
// Disconnect from island graph.
var bodyA = joint.BodyA;
var bodyB = joint.BodyB;
// Wake up connected bodies.
bodyA.Awake = true;
// WIP David
if (!joint.IsFixedType())
{
bodyB.Awake = true;
}
// Remove from body 1.
if (joint.EdgeA.Prev != null)
{
joint.EdgeA.Prev.Next = joint.EdgeA.Next;
}
if (joint.EdgeA.Next != null)
{
joint.EdgeA.Next.Prev = joint.EdgeA.Prev;
}
if (joint.EdgeA == bodyA.JointList)
{
bodyA.JointList = joint.EdgeA.Next;
}
joint.EdgeA.Prev = null;
joint.EdgeA.Next = null;
// WIP David
if (!joint.IsFixedType())
{
// Remove from body 2
if (joint.EdgeB.Prev != null)
{
joint.EdgeB.Prev.Next = joint.EdgeB.Next;
}
if (joint.EdgeB.Next != null)
{
joint.EdgeB.Next.Prev = joint.EdgeB.Prev;
}
if (joint.EdgeB == bodyB.JointList)
{
bodyB.JointList = joint.EdgeB.Next;
}
joint.EdgeB.Prev = null;
joint.EdgeB.Next = null;
// If the joint prevents collisions, then flag any contacts for filtering.
if (collideConnected == false)
{
var edge = bodyB.ContactList;
while (edge != null)
{
if (edge.Other == bodyA)
{
// Flag the contact for filtering at the next time step (where either
// body is awake).
edge.Contact._flags |= ContactFlags.FilterFlag;
}
edge = edge.Next;
}
}
}
JointRemoved?.Invoke(joint);
}
_jointRemoveList.Clear();
}
}
/// <summary>
/// Processes the added geometries, springs, joints, bodies and controllers.
/// </summary>
private void ProcessAddedItems()
{
//Add any new geometries
_tempCount = _geomAddList.Count;
for (int i = 0; i < _tempCount; i++)
{
if (!GeomList.Contains(_geomAddList[i]))
{
_geomAddList[i].InSimulation = true;
GeomList.Add(_geomAddList[i]);
//Add the new geometry to the broad phase collider.
_broadPhaseCollider.Add(_geomAddList[i]);
}
}
_geomAddList.Clear();
//Add any new bodies
_tempCount = _bodyAddList.Count;
for (int i = 0; i < _tempCount; i++)
{
if (!BodyList.Contains(_bodyAddList[i]))
{
BodyList.Add(_bodyAddList[i]);
}
}
_bodyAddList.Clear();
//Add any new controllers
_tempCount = _controllerAddList.Count;
for (int i = 0; i < _tempCount; i++)
{
if (!ControllerList.Contains(_controllerAddList[i]))
{
ControllerList.Add(_controllerAddList[i]);
}
}
_controllerAddList.Clear();
//Add any new joints
_tempCount = _jointAddList.Count;
for (int i = 0; i < _tempCount; i++)
{
if (!JointList.Contains(_jointAddList[i]))
{
JointList.Add(_jointAddList[i]);
}
}
_jointAddList.Clear();
//Add any new springs
_tempCount = _springAddList.Count;
for (int i = 0; i < _tempCount; i++)
{
if (!SpringList.Contains(_springAddList[i]))
{
SpringList.Add(_springAddList[i]);
}
}
_springAddList.Clear();
}
/// <summary>
/// Processes the removed geometries (and their arbiters), bodies, controllers, joints and springs.
/// </summary>
private void ProcessRemovedItems()
{
//Remove any new geometries
_tempCount = _geomRemoveList.Count;
for (int i = 0; i < _tempCount; i++)
{
_geomRemoveList[i].InSimulation = false;
GeomList.Remove(_geomRemoveList[i]);
//Remove any arbiters associated with the geometries being removed
for (int j = ArbiterList.Count; j > 0; j--)
{
if (ArbiterList[j - 1].GeometryA == _geomRemoveList[i] ||
ArbiterList[j - 1].GeometryB == _geomRemoveList[i])
{
//TODO: Should we create a RemoveComplete method and remove all Contacts associated
//with the arbiter?
arbiterPool.Insert(ArbiterList[j - 1]);
ArbiterList.Remove(ArbiterList[j - 1]);
}
}
}
if (_geomRemoveList.Count > 0)
{
_broadPhaseCollider.ProcessRemovedGeoms();
}
_geomRemoveList.Clear();
//Remove any new bodies
_tempCount = _bodyRemoveList.Count;
for (int i = 0; i < _tempCount; i++)
{
BodyList.Remove(_bodyRemoveList[i]);
}
_bodyRemoveList.Clear();
//Remove any new controllers
_tempCount = _controllerRemoveList.Count;
for (int i = 0; i < _tempCount; i++)
{
ControllerList.Remove(_controllerRemoveList[i]);
}
_controllerRemoveList.Clear();
//Remove any new joints
int jointRemoveCount = _jointRemoveList.Count;
for (int i = 0; i < jointRemoveCount; i++)
{
JointList.Remove(_jointRemoveList[i]);
}
_jointRemoveList.Clear();
//Remove any new springs
_tempCount = _springRemoveList.Count;
for (int i = 0; i < _tempCount; i++)
{
SpringList.Remove(_springRemoveList[i]);
}
_springRemoveList.Clear();
}
private void ProcessAddedJoints()
{
if (_jointAddList.Count > 0)
{
foreach (var joint in _jointAddList)
{
// Connect to the world list.
JointList.Add(joint);
// Connect to the bodies' doubly linked lists.
joint.EdgeA.Joint = joint;
joint.EdgeA.Other = joint.BodyB;
joint.EdgeA.Prev = null;
joint.EdgeA.Next = joint.BodyA.JointList;
if (joint.BodyA.JointList != null)
{
joint.BodyA.JointList.Prev = joint.EdgeA;
}
joint.BodyA.JointList = joint.EdgeA;
// WIP David
if (!joint.IsFixedType())
{
joint.EdgeB.Joint = joint;
joint.EdgeB.Other = joint.BodyA;
joint.EdgeB.Prev = null;
joint.EdgeB.Next = joint.BodyB.JointList;
if (joint.BodyB.JointList != null)
{
joint.BodyB.JointList.Prev = joint.EdgeB;
}
joint.BodyB.JointList = joint.EdgeB;
var bodyA = joint.BodyA;
var bodyB = joint.BodyB;
// If the joint prevents collisions, then flag any contacts for filtering.
if (joint.CollideConnected == false)
{
var edge = bodyB.ContactList;
while (edge != null)
{
if (edge.Other == bodyA)
{
// Flag the contact for filtering at the next time step (where either
// body is awake).
edge.Contact._flags |= ContactFlags.FilterFlag;
}
edge = edge.Next;
}
}
}
JointAdded?.Invoke(joint);
// Note: creating a joint doesn't wake the bodies.
}
_jointAddList.Clear();
}
}
/// <summary>
/// Destroy a joint. This may cause the connected bodies to begin colliding.
/// Warning: This function is locked during callbacks.
/// </summary>
/// <param name="joint">The joint.</param>
public void RemoveJoint(Joint joint)
{
Debug.Assert(!IsLocked);
if (IsLocked)
{
return;
}
bool collideConnected = joint.CollideConnected;
// Remove from the world list.
JointList.Remove(joint);
// Disconnect from island graph.
Body bodyA = joint.BodyA;
Body bodyB = joint.BodyB;
// Wake up connected bodies.
bodyA.Awake = true;
// WIP David
if (!joint.IsFixedType())
{
bodyB.Awake = true;
}
// Remove from body 1.
if (joint.EdgeA.Prev != null)
{
joint.EdgeA.Prev.Next = joint.EdgeA.Next;
}
if (joint.EdgeA.Next != null)
{
joint.EdgeA.Next.Prev = joint.EdgeA.Prev;
}
if (joint.EdgeA == bodyA.JointList)
{
bodyA.JointList = joint.EdgeA.Next;
}
joint.EdgeA.Prev = null;
joint.EdgeA.Next = null;
// WIP David
if (!joint.IsFixedType())
{
// Remove from body 2
if (joint.EdgeB.Prev != null)
{
joint.EdgeB.Prev.Next = joint.EdgeB.Next;
}
if (joint.EdgeB.Next != null)
{
joint.EdgeB.Next.Prev = joint.EdgeB.Prev;
}
if (joint.EdgeB == bodyB.JointList)
{
bodyB.JointList = joint.EdgeB.Next;
}
joint.EdgeB.Prev = null;
joint.EdgeB.Next = null;
}
// WIP David
if (!joint.IsFixedType())
{
// If the joint prevents collisions, then flag any contacts for filtering.
if (collideConnected == false)
{
ContactEdge edge = bodyB.ContactList;
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;
}
}
}
if (JointRemoved != null)
{
JointRemoved(joint);
}
}
