public GearJointDef()
{
this.Type = JointType.GearJoint;
this.Joint1 = null;
this.Joint2 = null;
this.Ratio = 1f;
}
public World(AABB worldAABB, Vec2 gravity, bool doSleep)
{
this._destructionListener = null;
this._boundaryListener = null;
this._contactFilter = WorldCallback.DefaultFilter;
this._contactListener = null;
this._debugDraw = null;
this._bodyList = null;
this._contactList = null;
this._jointList = null;
this._bodyCount = 0;
this._contactCount = 0;
this._jointCount = 0;
this._warmStarting = true;
this._continuousPhysics = true;
this._allowSleep = doSleep;
this._gravity = gravity;
this._lock = false;
this._inv_dt0 = 0f;
this._contactManager = new ContactManager();
this._contactManager._world = this;
this._broadPhase = new BroadPhase(worldAABB, this._contactManager);
BodyDef def = new BodyDef();
this._groundBody = this.CreateBody(def);
}
// Message responders
void DestroyJoint(Joint joint)
{
if (_world != null && joint != null)
{
_world.DestroyJoint(joint);
}
}
public void DestroyJoint(Joint joint)
{
if (joint == null)
{
return;
}
world.DestroyJoint(joint);
}
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;
}
public override void SayGoodbye(Joint joint)
{
if (test._mouseJoint == joint)
{
test._mouseJoint = null;
}
else
{
test.JointDestroyed(joint);
}
}
/// <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, bool doSleep)
{
_destructionListener = null;
_debugDraw = null;
_bodyList = null;
_jointList = null;
_bodyCount = 0;
_jointCount = 0;
_warmStarting = true;
_continuousPhysics = true;
_allowSleep = doSleep;
_gravity = gravity;
_flags = 0;
_inv_dt0 = 0.0f;
_contactManager = new ContactManager();
}
public GearJointDef()
{
Type = JointType.GearJoint;
Joint1 = null;
Joint2 = null;
Ratio = 1.0f;
}
public void Add(Joint joint)
{
Box2DXDebug.Assert(_jointCount < _jointCapacity);
_joints[_jointCount++] = joint;
}
private void DrawJoint(Joint joint)
{
Body body = joint.GetBody1();
Body body2 = joint.GetBody2();
XForm xForm = body.GetXForm();
XForm xForm2 = body2.GetXForm();
Vec2 position = xForm.Position;
Vec2 position2 = xForm2.Position;
Vec2 anchor = joint.Anchor1;
Vec2 anchor2 = joint.Anchor2;
Color color = new Color(0.5f, 0.8f, 0.8f);
switch (joint.GetType())
{
case JointType.DistanceJoint:
{
this._debugDraw.DrawSegment(anchor, anchor2, color);
break;
}
case JointType.PulleyJoint:
{
PulleyJoint pulleyJoint = (PulleyJoint)joint;
Vec2 groundAnchor = pulleyJoint.GroundAnchor1;
Vec2 groundAnchor2 = pulleyJoint.GroundAnchor2;
this._debugDraw.DrawSegment(groundAnchor, anchor, color);
this._debugDraw.DrawSegment(groundAnchor2, anchor2, color);
this._debugDraw.DrawSegment(groundAnchor, groundAnchor2, color);
break;
}
case JointType.MouseJoint:
{
break;
}
default:
{
this._debugDraw.DrawSegment(position, anchor, color);
this._debugDraw.DrawSegment(anchor, anchor2, color);
this._debugDraw.DrawSegment(position2, anchor2, color);
break;
}
}
}
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 void Destroy(Joint joint)
{
joint = null;
}
/// <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;
}
internal static void Destroy(Joint joint)
{
joint = null;
}
/// <summary>
/// Destroy a joint. This may cause the connected bodies to begin colliding.
/// @warning This function is locked during callbacks.
/// </summary>
/// <param name="j"></param>
public void DestroyJoint(Joint j)
{
Box2DXDebug.Assert(IsLocked() == false);
if (IsLocked())
{
return;
}
bool collideConnected = j._collideConnected;
// Remove from the doubly linked list.
if (j._prev != null)
{
j._prev._next = j._next;
}
if (j._next != null)
{
j._next._prev = j._prev;
}
if (j == _jointList)
{
_jointList = j._next;
}
// Disconnect from island graph.
Body bodyA = j._bodyA;
Body bodyB = j._bodyB;
// Wake up connected bodies.
bodyA.WakeUp();
bodyB.WakeUp();
// Remove from body 1.
if (j._edgeA.Prev != null)
{
j._edgeA.Prev.Next = j._edgeA.Next;
}
if (j._edgeA.Next != null)
{
j._edgeA.Next.Prev = j._edgeA.Prev;
}
if (j._edgeA == bodyA._jointList)
{
bodyA._jointList = j._edgeA.Next;
}
j._edgeA.Prev = null;
j._edgeA.Next = null;
// Remove from body 2
if (j._edgeB.Prev != null)
{
j._edgeB.Prev.Next = j._edgeB.Next;
}
if (j._edgeB.Next != null)
{
j._edgeB.Next.Prev = j._edgeB.Prev;
}
if (j._edgeB == bodyB._jointList)
{
bodyB._jointList = j._edgeB.Next;
}
j._edgeB.Prev = null;
j._edgeB.Next = null;
Joint.Destroy(j);
Box2DXDebug.Assert(_jointCount > 0);
--_jointCount;
// If the joint prevents collisions, then flag any contacts for filtering.
if (collideConnected == false)
{
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;
}
}
}
/// <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;
}
public override void JointDestroyed(Joint joint)
{
for (int i = 0; i < 8; ++i)
{
if (_joints[i] == joint)
{
_joints[i] = null;
break;
}
}
}
/// <summary>
/// Construct a world object.
/// </summary>
/// <param name="worldAABB">A bounding box that completely encompasses all your shapes.</param>
/// <param name="gravity">The world gravity vector.</param>
/// <param name="doSleep">Improve performance by not simulating inactive bodies.</param>
public World(AABB worldAABB, Vec2 gravity, bool doSleep)
{
_destructionListener = null;
_boundaryListener = null;
_contactFilter = WorldCallback.DefaultFilter;
_contactListener = null;
_debugDraw = null;
_bodyList = null;
_contactList = null;
_jointList = null;
_bodyCount = 0;
_contactCount = 0;
_jointCount = 0;
_warmStarting = true;
_continuousPhysics = true;
_allowSleep = doSleep;
_gravity = gravity;
_lock = false;
_inv_dt0 = 0.0f;
_contactManager = new ContactManager();
_contactManager._world = this;
_broadPhase = new BroadPhase(worldAABB, _contactManager);
BodyDef bd = new BodyDef();
_groundBody = CreateBody(bd);
}
private void DrawJoint(Joint joint)
{
Body b1 = joint.GetBody1();
Body b2 = joint.GetBody2();
XForm xf1 = b1.GetXForm();
XForm xf2 = b2.GetXForm();
Vec2 x1 = xf1.Position;
Vec2 x2 = xf2.Position;
Vec2 p1 = joint.Anchor1;
Vec2 p2 = joint.Anchor2;
Color color = new Color(0.5f, 0.8f, 0.8f);
switch (joint.GetType())
{
case JointType.DistanceJoint:
_debugDraw.DrawSegment(p1, p2, color);
break;
case JointType.PulleyJoint:
{
PulleyJoint pulley = (PulleyJoint)joint;
Vec2 s1 = pulley.GroundAnchor1;
Vec2 s2 = pulley.GroundAnchor2;
_debugDraw.DrawSegment(s1, p1, color);
_debugDraw.DrawSegment(s2, p2, color);
_debugDraw.DrawSegment(s1, s2, color);
}
break;
case JointType.MouseJoint:
// don't draw this
break;
default:
_debugDraw.DrawSegment(x1, p1, color);
_debugDraw.DrawSegment(p1, p2, color);
_debugDraw.DrawSegment(x2, p2, color);
break;
}
}
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;
}
/// <summary>
/// Destroy a joint. This may cause the connected bodies to begin colliding.
/// @warning This function is locked during callbacks.
/// </summary>
/// <param name="j"></param>
public void DestroyJoint(Joint j)
{
Box2DXDebug.Assert(_lock == false);
bool collideConnected = j._collideConnected;
// Remove from the doubly linked list.
if (j._prev != null)
{
j._prev._next = j._next;
}
if (j._next != null)
{
j._next._prev = j._prev;
}
if (j == _jointList)
{
_jointList = j._next;
}
// Disconnect from island graph.
Body body1 = j._body1;
Body body2 = j._body2;
// Wake up connected bodies.
body1.WakeUp();
body2.WakeUp();
// Remove from body 1.
if (j._node1.Prev != null)
{
j._node1.Prev.Next = j._node1.Next;
}
if (j._node1.Next != null)
{
j._node1.Next.Prev = j._node1.Prev;
}
if (j._node1 == body1._jointList)
{
body1._jointList = j._node1.Next;
}
j._node1.Prev = null;
j._node1.Next = null;
// Remove from body 2
if (j._node2.Prev != null)
{
j._node2.Prev.Next = j._node2.Next;
}
if (j._node2.Next != null)
{
j._node2.Next.Prev = j._node2.Prev;
}
if (j._node2 == body2._jointList)
{
body2._jointList = j._node2.Next;
}
j._node2.Prev = null;
j._node2.Next = null;
Joint.Destroy(j);
Box2DXDebug.Assert(_jointCount > 0);
--_jointCount;
// If the joint prevents collisions, then reset collision filtering.
if (collideConnected == false)
{
// Reset the proxies on the body with the minimum number of shapes.
Body b = body1._shapeCount < body2._shapeCount ? body1 : body2;
for (Shape s = b._shapeList; s != null; s = s._next)
{
s.RefilterProxy(_broadPhase, b.GetXForm());
}
}
}
private void Events_MouseButtonDown(object sender, MouseButtonEventArgs e)
{
foreach (var worldObject in worldObjects)
{
var vec3 = Helper.Foo(e.X, e.Y);
if (worldObject.HitTest(vec3.X, vec3.Y))
{
MouseJointDef mouseJointDef = new MouseJointDef();
mouseJointDef.Body1 = ((Box)worldObject).Body;
this.mouseJoint = this.world.CreateJoint(mouseJointDef);
}
}
}
// Let derived tests know that a joint was destroyed.
public virtual void JointDestroyed(Joint joint) { ; }
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;
}
internal static void Destroy(Joint joint)
{
}
public void DestroyJoint(Joint j)
{
Box2DXDebug.Assert(!this._lock);
bool collideConnected = j._collideConnected;
if (j._prev != null)
{
j._prev._next = j._next;
}
if (j._next != null)
{
j._next._prev = j._prev;
}
if (j == this._jointList)
{
this._jointList = j._next;
}
Body body = j._body1;
Body body2 = j._body2;
body.WakeUp();
body2.WakeUp();
if (j._node1.Prev != null)
{
j._node1.Prev.Next = j._node1.Next;
}
if (j._node1.Next != null)
{
j._node1.Next.Prev = j._node1.Prev;
}
if (j._node1 == body._jointList)
{
body._jointList = j._node1.Next;
}
j._node1.Prev = null;
j._node1.Next = null;
if (j._node2.Prev != null)
{
j._node2.Prev.Next = j._node2.Next;
}
if (j._node2.Next != null)
{
j._node2.Next.Prev = j._node2.Prev;
}
if (j._node2 == body2._jointList)
{
body2._jointList = j._node2.Next;
}
j._node2.Prev = null;
j._node2.Next = null;
Joint.Destroy(j);
Box2DXDebug.Assert(this._jointCount > 0);
this._jointCount--;
if (!collideConnected)
{
Body body3 = (body._shapeCount < body2._shapeCount) ? body : body2;
for (Shape shape = body3._shapeList; shape != null; shape = shape._next)
{
shape.RefilterProxy(this._broadPhase, body3.GetXForm());
}
}
}
/// <summary> /// Called when any joint is about to be destroyed due /// to the destruction of one of its attached bodies. /// </summary> public abstract void SayGoodbye(Joint joint);
public void Add(Joint joint)
{
Box2DXDebug.Assert(this._jointCount < this._jointCapacity);
this._joints[this._jointCount++] = joint;
}
