juicysfplugin/modules/juce_box2d/box2d/Dynamics/b2World.cpp

1317 lines
30 KiB
C++

/*
* Copyright (c) 2006-2011 Erin Catto http://www.box2d.org
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
#include "b2World.h"
#include "b2Body.h"
#include "b2Fixture.h"
#include "b2Island.h"
#include "Joints/b2PulleyJoint.h"
#include "Contacts/b2Contact.h"
#include "Contacts/b2ContactSolver.h"
#include "../Collision/b2Collision.h"
#include "../Collision/b2BroadPhase.h"
#include "../Collision/Shapes/b2CircleShape.h"
#include "../Collision/Shapes/b2EdgeShape.h"
#include "../Collision/Shapes/b2ChainShape.h"
#include "../Collision/Shapes/b2PolygonShape.h"
#include "../Collision/b2TimeOfImpact.h"
#include "../Common/b2Draw.h"
#include "../Common/b2Timer.h"
#include <new>
b2World::b2World(const b2Vec2& gravity)
{
m_destructionListener = NULL;
m_debugDraw = NULL;
m_bodyList = NULL;
m_jointList = NULL;
m_bodyCount = 0;
m_jointCount = 0;
m_warmStarting = true;
m_continuousPhysics = true;
m_subStepping = false;
m_stepComplete = true;
m_allowSleep = true;
m_gravity = gravity;
m_flags = e_clearForces;
m_inv_dt0 = 0.0f;
m_contactManager.m_allocator = &m_blockAllocator;
memset(&m_profile, 0, sizeof(b2Profile));
}
b2World::~b2World()
{
// Some shapes allocate using b2Alloc.
b2Body* b = m_bodyList;
while (b)
{
b2Body* bNext = b->m_next;
b2Fixture* f = b->m_fixtureList;
while (f)
{
b2Fixture* fNext = f->m_next;
f->m_proxyCount = 0;
f->Destroy(&m_blockAllocator);
f = fNext;
}
b = bNext;
}
}
void b2World::SetDestructionListener(b2DestructionListener* listener)
{
m_destructionListener = listener;
}
void b2World::SetContactFilter(b2ContactFilter* filter)
{
m_contactManager.m_contactFilter = filter;
}
void b2World::SetContactListener(b2ContactListener* listener)
{
m_contactManager.m_contactListener = listener;
}
void b2World::SetDebugDraw(b2Draw* debugDraw)
{
m_debugDraw = debugDraw;
}
b2Body* b2World::CreateBody(const b2BodyDef* def)
{
b2Assert(IsLocked() == false);
if (IsLocked())
{
return NULL;
}
void* mem = m_blockAllocator.Allocate(sizeof(b2Body));
b2Body* b = new (mem) b2Body(def, this);
// Add to world doubly linked list.
b->m_prev = NULL;
b->m_next = m_bodyList;
if (m_bodyList)
{
m_bodyList->m_prev = b;
}
m_bodyList = b;
++m_bodyCount;
return b;
}
void b2World::DestroyBody(b2Body* b)
{
b2Assert(m_bodyCount > 0);
b2Assert(IsLocked() == false);
if (IsLocked())
{
return;
}
// Delete the attached joints.
b2JointEdge* je = b->m_jointList;
while (je)
{
b2JointEdge* je0 = je;
je = je->next;
if (m_destructionListener)
{
m_destructionListener->SayGoodbye(je0->joint);
}
DestroyJoint(je0->joint);
b->m_jointList = je;
}
b->m_jointList = NULL;
// Delete the attached contacts.
b2ContactEdge* ce = b->m_contactList;
while (ce)
{
b2ContactEdge* ce0 = ce;
ce = ce->next;
m_contactManager.Destroy(ce0->contact);
}
b->m_contactList = NULL;
// Delete the attached fixtures. This destroys broad-phase proxies.
b2Fixture* f = b->m_fixtureList;
while (f)
{
b2Fixture* f0 = f;
f = f->m_next;
if (m_destructionListener)
{
m_destructionListener->SayGoodbye(f0);
}
f0->DestroyProxies(&m_contactManager.m_broadPhase);
f0->Destroy(&m_blockAllocator);
f0->~b2Fixture();
m_blockAllocator.Free(f0, sizeof(b2Fixture));
b->m_fixtureList = f;
b->m_fixtureCount -= 1;
}
b->m_fixtureList = NULL;
b->m_fixtureCount = 0;
// Remove world body list.
if (b->m_prev)
{
b->m_prev->m_next = b->m_next;
}
if (b->m_next)
{
b->m_next->m_prev = b->m_prev;
}
if (b == m_bodyList)
{
m_bodyList = b->m_next;
}
--m_bodyCount;
b->~b2Body();
m_blockAllocator.Free(b, sizeof(b2Body));
}
b2Joint* b2World::CreateJoint(const b2JointDef* def)
{
b2Assert(IsLocked() == false);
if (IsLocked())
{
return NULL;
}
b2Joint* j = b2Joint::Create(def, &m_blockAllocator);
// Connect to the world list.
j->m_prev = NULL;
j->m_next = m_jointList;
if (m_jointList)
{
m_jointList->m_prev = j;
}
m_jointList = j;
++m_jointCount;
// Connect to the bodies' doubly linked lists.
j->m_edgeA.joint = j;
j->m_edgeA.other = j->m_bodyB;
j->m_edgeA.prev = NULL;
j->m_edgeA.next = j->m_bodyA->m_jointList;
if (j->m_bodyA->m_jointList) j->m_bodyA->m_jointList->prev = &j->m_edgeA;
j->m_bodyA->m_jointList = &j->m_edgeA;
j->m_edgeB.joint = j;
j->m_edgeB.other = j->m_bodyA;
j->m_edgeB.prev = NULL;
j->m_edgeB.next = j->m_bodyB->m_jointList;
if (j->m_bodyB->m_jointList) j->m_bodyB->m_jointList->prev = &j->m_edgeB;
j->m_bodyB->m_jointList = &j->m_edgeB;
b2Body* bodyA = def->bodyA;
b2Body* bodyB = def->bodyB;
// If the joint prevents collisions, then flag any contacts for filtering.
if (def->collideConnected == false)
{
b2ContactEdge* edge = bodyB->GetContactList();
while (edge)
{
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;
}
void b2World::DestroyJoint(b2Joint* j)
{
b2Assert(IsLocked() == false);
if (IsLocked())
{
return;
}
bool collideConnected = j->m_collideConnected;
// Remove from the doubly linked list.
if (j->m_prev)
{
j->m_prev->m_next = j->m_next;
}
if (j->m_next)
{
j->m_next->m_prev = j->m_prev;
}
if (j == m_jointList)
{
m_jointList = j->m_next;
}
// Disconnect from island graph.
b2Body* bodyA = j->m_bodyA;
b2Body* bodyB = j->m_bodyB;
// Wake up connected bodies.
bodyA->SetAwake(true);
bodyB->SetAwake(true);
// Remove from body 1.
if (j->m_edgeA.prev)
{
j->m_edgeA.prev->next = j->m_edgeA.next;
}
if (j->m_edgeA.next)
{
j->m_edgeA.next->prev = j->m_edgeA.prev;
}
if (&j->m_edgeA == bodyA->m_jointList)
{
bodyA->m_jointList = j->m_edgeA.next;
}
j->m_edgeA.prev = NULL;
j->m_edgeA.next = NULL;
// Remove from body 2
if (j->m_edgeB.prev)
{
j->m_edgeB.prev->next = j->m_edgeB.next;
}
if (j->m_edgeB.next)
{
j->m_edgeB.next->prev = j->m_edgeB.prev;
}
if (&j->m_edgeB == bodyB->m_jointList)
{
bodyB->m_jointList = j->m_edgeB.next;
}
j->m_edgeB.prev = NULL;
j->m_edgeB.next = NULL;
b2Joint::Destroy(j, &m_blockAllocator);
b2Assert(m_jointCount > 0);
--m_jointCount;
// If the joint prevents collisions, then flag any contacts for filtering.
if (collideConnected == false)
{
b2ContactEdge* edge = bodyB->GetContactList();
while (edge)
{
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;
}
}
}
//
void b2World::SetAllowSleeping(bool flag)
{
if (flag == m_allowSleep)
{
return;
}
m_allowSleep = flag;
if (m_allowSleep == false)
{
for (b2Body* b = m_bodyList; b; b = b->m_next)
{
b->SetAwake(true);
}
}
}
// Find islands, integrate and solve constraints, solve position constraints
void b2World::Solve(const 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(m_bodyCount,
m_contactManager.m_contactCount,
m_jointCount,
&m_stackAllocator,
m_contactManager.m_contactListener);
// Clear all the island flags.
for (b2Body* b = m_bodyList; b; b = b->m_next)
{
b->m_flags &= ~b2Body::e_islandFlag;
}
for (b2Contact* c = m_contactManager.m_contactList; c; c = c->m_next)
{
c->m_flags &= ~b2Contact::e_islandFlag;
}
for (b2Joint* j = m_jointList; j; j = j->m_next)
{
j->m_islandFlag = false;
}
// Build and simulate all awake islands.
int32 stackSize = m_bodyCount;
b2Body** stack = (b2Body**)m_stackAllocator.Allocate(stackSize * sizeof(b2Body*));
for (b2Body* seed = m_bodyList; seed; seed = seed->m_next)
{
if (seed->m_flags & b2Body::e_islandFlag)
{
continue;
}
if (seed->IsAwake() == false || seed->IsActive() == false)
{
continue;
}
// The seed can be dynamic or kinematic.
if (seed->GetType() == b2_staticBody)
{
continue;
}
// Reset island and stack.
island.Clear();
int32 stackCount = 0;
stack[stackCount++] = seed;
seed->m_flags |= b2Body::e_islandFlag;
// Perform a depth first search (DFS) on the constraint graph.
while (stackCount > 0)
{
// Grab the next body off the stack and add it to the island.
b2Body* b = stack[--stackCount];
b2Assert(b->IsActive() == true);
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->GetType() == b2_staticBody)
{
continue;
}
// Search all contacts connected to this body.
for (b2ContactEdge* ce = b->m_contactList; ce; ce = ce->next)
{
b2Contact* contact = ce->contact;
// Has this contact already been added to an island?
if (contact->m_flags & b2Contact::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->m_flags |= b2Contact::e_islandFlag;
b2Body* other = ce->other;
// Was the other body already added to this island?
if (other->m_flags & b2Body::e_islandFlag)
{
continue;
}
b2Assert(stackCount < stackSize);
stack[stackCount++] = other;
other->m_flags |= b2Body::e_islandFlag;
}
// Search all joints connect to this body.
for (b2JointEdge* je = b->m_jointList; je; je = je->next)
{
if (je->joint->m_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->m_flags & b2Body::e_islandFlag)
{
continue;
}
b2Assert(stackCount < stackSize);
stack[stackCount++] = other;
other->m_flags |= b2Body::e_islandFlag;
}
}
b2Profile profile;
island.Solve(&profile, step, m_gravity, m_allowSleep);
m_profile.solveInit += profile.solveInit;
m_profile.solveVelocity += profile.solveVelocity;
m_profile.solvePosition += profile.solvePosition;
// Post solve cleanup.
for (int32 i = 0; i < island.m_bodyCount; ++i)
{
// Allow static bodies to participate in other islands.
b2Body* b = island.m_bodies[i];
if (b->GetType() == b2_staticBody)
{
b->m_flags &= ~b2Body::e_islandFlag;
}
}
}
m_stackAllocator.Free(stack);
{
b2Timer timer;
// Synchronize fixtures, check for out of range bodies.
for (b2Body* b = m_bodyList; b; b = b->GetNext())
{
// If a body was not in an island then it did not move.
if ((b->m_flags & b2Body::e_islandFlag) == 0)
{
continue;
}
if (b->GetType() == b2_staticBody)
{
continue;
}
// Update fixtures (for broad-phase).
b->SynchronizeFixtures();
}
// Look for new contacts.
m_contactManager.FindNewContacts();
m_profile.broadphase = timer.GetMilliseconds();
}
}
// Find TOI contacts and solve them.
void b2World::SolveTOI(const b2TimeStep& step)
{
b2Island island(2 * b2_maxTOIContacts, b2_maxTOIContacts, 0, &m_stackAllocator, m_contactManager.m_contactListener);
if (m_stepComplete)
{
for (b2Body* b = m_bodyList; b; b = b->m_next)
{
b->m_flags &= ~b2Body::e_islandFlag;
b->m_sweep.alpha0 = 0.0f;
}
for (b2Contact* c = m_contactManager.m_contactList; c; c = c->m_next)
{
// Invalidate TOI
c->m_flags &= ~(b2Contact::e_toiFlag | b2Contact::e_islandFlag);
c->m_toiCount = 0;
c->m_toi = 1.0f;
}
}
// Find TOI events and solve them.
for (;;)
{
// Find the first TOI.
b2Contact* minContact = NULL;
float32 minAlpha = 1.0f;
for (b2Contact* c = m_contactManager.m_contactList; c; c = c->m_next)
{
// Is this contact disabled?
if (c->IsEnabled() == false)
{
continue;
}
// Prevent excessive sub-stepping.
if (c->m_toiCount > b2_maxSubSteps)
{
continue;
}
float32 alpha = 1.0f;
if (c->m_flags & b2Contact::e_toiFlag)
{
// This contact has a valid cached TOI.
alpha = c->m_toi;
}
else
{
b2Fixture* fA = c->GetFixtureA();
b2Fixture* fB = c->GetFixtureB();
// Is there a sensor?
if (fA->IsSensor() || fB->IsSensor())
{
continue;
}
b2Body* bA = fA->GetBody();
b2Body* bB = fB->GetBody();
b2BodyType typeA = bA->m_type;
b2BodyType typeB = bB->m_type;
b2Assert(typeA == b2_dynamicBody || typeB == b2_dynamicBody);
bool activeA = bA->IsAwake() && typeA != b2_staticBody;
bool activeB = bB->IsAwake() && typeB != b2_staticBody;
// Is at least one body active (awake and dynamic or kinematic)?
if (activeA == false && activeB == false)
{
continue;
}
bool collideA = bA->IsBullet() || typeA != b2_dynamicBody;
bool collideB = bB->IsBullet() || typeB != b2_dynamicBody;
// Are these two non-bullet dynamic bodies?
if (collideA == false && collideB == false)
{
continue;
}
// Compute the TOI for this contact.
// Put the sweeps onto the same time interval.
float32 alpha0 = bA->m_sweep.alpha0;
if (bA->m_sweep.alpha0 < bB->m_sweep.alpha0)
{
alpha0 = bB->m_sweep.alpha0;
bA->m_sweep.Advance(alpha0);
}
else if (bB->m_sweep.alpha0 < bA->m_sweep.alpha0)
{
alpha0 = bA->m_sweep.alpha0;
bB->m_sweep.Advance(alpha0);
}
b2Assert(alpha0 < 1.0f);
int32 indexA = c->GetChildIndexA();
int32 indexB = c->GetChildIndexB();
// Compute the time of impact in interval [0, minTOI]
b2TOIInput input;
input.proxyA.Set(fA->GetShape(), indexA);
input.proxyB.Set(fB->GetShape(), indexB);
input.sweepA = bA->m_sweep;
input.sweepB = bB->m_sweep;
input.tMax = 1.0f;
b2TOIOutput output;
b2TimeOfImpact(&output, &input);
// Beta is the fraction of the remaining portion of the .
float32 beta = output.t;
if (output.state == b2TOIOutput::e_touching)
{
alpha = b2Min(alpha0 + (1.0f - alpha0) * beta, 1.0f);
}
else
{
alpha = 1.0f;
}
c->m_toi = alpha;
c->m_flags |= b2Contact::e_toiFlag;
}
if (alpha < minAlpha)
{
// This is the minimum TOI found so far.
minContact = c;
minAlpha = alpha;
}
}
if (minContact == NULL || 1.0f - 10.0f * b2_epsilon < minAlpha)
{
// No more TOI events. Done!
m_stepComplete = true;
break;
}
// Advance the bodies to the TOI.
b2Fixture* fA = minContact->GetFixtureA();
b2Fixture* fB = minContact->GetFixtureB();
b2Body* bA = fA->GetBody();
b2Body* bB = fB->GetBody();
b2Sweep backup1 = bA->m_sweep;
b2Sweep backup2 = bB->m_sweep;
bA->Advance(minAlpha);
bB->Advance(minAlpha);
// The TOI contact likely has some new contact points.
minContact->Update(m_contactManager.m_contactListener);
minContact->m_flags &= ~b2Contact::e_toiFlag;
++minContact->m_toiCount;
// Is the contact solid?
if (minContact->IsEnabled() == false || minContact->IsTouching() == false)
{
// Restore the sweeps.
minContact->SetEnabled(false);
bA->m_sweep = backup1;
bB->m_sweep = backup2;
bA->SynchronizeTransform();
bB->SynchronizeTransform();
continue;
}
bA->SetAwake(true);
bB->SetAwake(true);
// Build the island
island.Clear();
island.Add(bA);
island.Add(bB);
island.Add(minContact);
bA->m_flags |= b2Body::e_islandFlag;
bB->m_flags |= b2Body::e_islandFlag;
minContact->m_flags |= b2Contact::e_islandFlag;
// Get contacts on bodyA and bodyB.
b2Body* bodies[2] = {bA, bB};
for (int32 i = 0; i < 2; ++i)
{
b2Body* body = bodies[i];
if (body->m_type == b2_dynamicBody)
{
for (b2ContactEdge* ce = body->m_contactList; ce; ce = ce->next)
{
if (island.m_bodyCount == island.m_bodyCapacity)
{
break;
}
if (island.m_contactCount == island.m_contactCapacity)
{
break;
}
b2Contact* contact = ce->contact;
// Has this contact already been added to the island?
if (contact->m_flags & b2Contact::e_islandFlag)
{
continue;
}
// Only add static, kinematic, or bullet bodies.
b2Body* other = ce->other;
if (other->m_type == b2_dynamicBody &&
body->IsBullet() == false && other->IsBullet() == false)
{
continue;
}
// Skip sensors.
bool sensorA = contact->m_fixtureA->m_isSensor;
bool sensorB = contact->m_fixtureB->m_isSensor;
if (sensorA || sensorB)
{
continue;
}
// Tentatively advance the body to the TOI.
b2Sweep backup = other->m_sweep;
if ((other->m_flags & b2Body::e_islandFlag) == 0)
{
other->Advance(minAlpha);
}
// Update the contact points
contact->Update(m_contactManager.m_contactListener);
// Was the contact disabled by the user?
if (contact->IsEnabled() == false)
{
other->m_sweep = backup;
other->SynchronizeTransform();
continue;
}
// Are there contact points?
if (contact->IsTouching() == false)
{
other->m_sweep = backup;
other->SynchronizeTransform();
continue;
}
// Add the contact to the island
contact->m_flags |= b2Contact::e_islandFlag;
island.Add(contact);
// Has the other body already been added to the island?
if (other->m_flags & b2Body::e_islandFlag)
{
continue;
}
// Add the other body to the island.
other->m_flags |= b2Body::e_islandFlag;
if (other->m_type != b2_staticBody)
{
other->SetAwake(true);
}
island.Add(other);
}
}
}
b2TimeStep subStep;
subStep.dt = (1.0f - minAlpha) * step.dt;
subStep.inv_dt = 1.0f / subStep.dt;
subStep.dtRatio = 1.0f;
subStep.positionIterations = 20;
subStep.velocityIterations = step.velocityIterations;
subStep.warmStarting = false;
island.SolveTOI(subStep, bA->m_islandIndex, bB->m_islandIndex);
// Reset island flags and synchronize broad-phase proxies.
for (int32 i = 0; i < island.m_bodyCount; ++i)
{
b2Body* body = island.m_bodies[i];
body->m_flags &= ~b2Body::e_islandFlag;
if (body->m_type != b2_dynamicBody)
{
continue;
}
body->SynchronizeFixtures();
// Invalidate all contact TOIs on this displaced body.
for (b2ContactEdge* ce = body->m_contactList; ce; ce = ce->next)
{
ce->contact->m_flags &= ~(b2Contact::e_toiFlag | b2Contact::e_islandFlag);
}
}
// Commit fixture proxy movements to the broad-phase so that new contacts are created.
// Also, some contacts can be destroyed.
m_contactManager.FindNewContacts();
if (m_subStepping)
{
m_stepComplete = false;
break;
}
}
}
void b2World::Step(float32 dt, int32 velocityIterations, int32 positionIterations)
{
b2Timer stepTimer;
// If new fixtures were added, we need to find the new contacts.
if (m_flags & e_newFixture)
{
m_contactManager.FindNewContacts();
m_flags &= ~e_newFixture;
}
m_flags |= e_locked;
b2TimeStep step;
step.dt = dt;
step.velocityIterations = velocityIterations;
step.positionIterations = positionIterations;
if (dt > 0.0f)
{
step.inv_dt = 1.0f / dt;
}
else
{
step.inv_dt = 0.0f;
}
step.dtRatio = m_inv_dt0 * dt;
step.warmStarting = m_warmStarting;
// Update contacts. This is where some contacts are destroyed.
{
b2Timer timer;
m_contactManager.Collide();
m_profile.collide = timer.GetMilliseconds();
}
// Integrate velocities, solve velocity constraints, and integrate positions.
if (m_stepComplete && step.dt > 0.0f)
{
b2Timer timer;
Solve(step);
m_profile.solve = timer.GetMilliseconds();
}
// Handle TOI events.
if (m_continuousPhysics && step.dt > 0.0f)
{
b2Timer timer;
SolveTOI(step);
m_profile.solveTOI = timer.GetMilliseconds();
}
if (step.dt > 0.0f)
{
m_inv_dt0 = step.inv_dt;
}
if (m_flags & e_clearForces)
{
ClearForces();
}
m_flags &= ~e_locked;
m_profile.step = stepTimer.GetMilliseconds();
}
void b2World::ClearForces()
{
for (b2Body* body = m_bodyList; body; body = body->GetNext())
{
body->m_force.SetZero();
body->m_torque = 0.0f;
}
}
struct b2WorldQueryWrapper
{
bool QueryCallback(int32 proxyId)
{
b2FixtureProxy* proxy = (b2FixtureProxy*)broadPhase->GetUserData(proxyId);
return callback->ReportFixture(proxy->fixture);
}
const b2BroadPhase* broadPhase;
b2QueryCallback* callback;
};
void b2World::QueryAABB(b2QueryCallback* callback, const b2AABB& aabb) const
{
b2WorldQueryWrapper wrapper;
wrapper.broadPhase = &m_contactManager.m_broadPhase;
wrapper.callback = callback;
m_contactManager.m_broadPhase.Query(&wrapper, aabb);
}
struct b2WorldRayCastWrapper
{
float32 RayCastCallback(const b2RayCastInput& input, int32 proxyId)
{
void* userData = broadPhase->GetUserData(proxyId);
b2FixtureProxy* proxy = (b2FixtureProxy*)userData;
b2Fixture* fixture = proxy->fixture;
int32 index = proxy->childIndex;
b2RayCastOutput output;
bool hit = fixture->RayCast(&output, input, index);
if (hit)
{
float32 fraction = output.fraction;
b2Vec2 point = (1.0f - fraction) * input.p1 + fraction * input.p2;
return callback->ReportFixture(fixture, point, output.normal, fraction);
}
return input.maxFraction;
}
const b2BroadPhase* broadPhase;
b2RayCastCallback* callback;
};
void b2World::RayCast(b2RayCastCallback* callback, const b2Vec2& point1, const b2Vec2& point2) const
{
b2WorldRayCastWrapper wrapper;
wrapper.broadPhase = &m_contactManager.m_broadPhase;
wrapper.callback = callback;
b2RayCastInput input;
input.maxFraction = 1.0f;
input.p1 = point1;
input.p2 = point2;
m_contactManager.m_broadPhase.RayCast(&wrapper, input);
}
void b2World::DrawShape(b2Fixture* fixture, const b2Transform& xf, const b2Color& color)
{
switch (fixture->GetType())
{
case b2Shape::e_circle:
{
b2CircleShape* circle = (b2CircleShape*)fixture->GetShape();
b2Vec2 center = b2Mul(xf, circle->m_p);
float32 radius = circle->m_radius;
b2Vec2 axis = b2Mul(xf.q, b2Vec2(1.0f, 0.0f));
m_debugDraw->DrawSolidCircle(center, radius, axis, color);
}
break;
case b2Shape::e_edge:
{
b2EdgeShape* edge = (b2EdgeShape*)fixture->GetShape();
b2Vec2 v1 = b2Mul(xf, edge->m_vertex1);
b2Vec2 v2 = b2Mul(xf, edge->m_vertex2);
m_debugDraw->DrawSegment(v1, v2, color);
}
break;
case b2Shape::e_chain:
{
b2ChainShape* chain = (b2ChainShape*)fixture->GetShape();
int32 count = chain->m_count;
const b2Vec2* vertices = chain->m_vertices;
b2Vec2 v1 = b2Mul(xf, vertices[0]);
for (int32 i = 1; i < count; ++i)
{
b2Vec2 v2 = b2Mul(xf, vertices[i]);
m_debugDraw->DrawSegment(v1, v2, color);
m_debugDraw->DrawCircle(v1, 0.05f, color);
v1 = v2;
}
}
break;
case b2Shape::e_polygon:
{
b2PolygonShape* poly = (b2PolygonShape*)fixture->GetShape();
int32 vertexCount = poly->m_vertexCount;
b2Assert(vertexCount <= b2_maxPolygonVertices);
b2Vec2 vertices[b2_maxPolygonVertices];
for (int32 i = 0; i < vertexCount; ++i)
{
vertices[i] = b2Mul(xf, poly->m_vertices[i]);
}
m_debugDraw->DrawSolidPolygon(vertices, vertexCount, color);
}
break;
default:
break;
}
}
void b2World::DrawJoint(b2Joint* joint)
{
b2Body* bodyA = joint->GetBodyA();
b2Body* bodyB = joint->GetBodyB();
const b2Transform& xf1 = bodyA->GetTransform();
const b2Transform& xf2 = bodyB->GetTransform();
b2Vec2 x1 = xf1.p;
b2Vec2 x2 = xf2.p;
b2Vec2 p1 = joint->GetAnchorA();
b2Vec2 p2 = joint->GetAnchorB();
b2Color color(0.5f, 0.8f, 0.8f);
switch (joint->GetType())
{
case e_distanceJoint:
m_debugDraw->DrawSegment(p1, p2, color);
break;
case e_pulleyJoint:
{
b2PulleyJoint* pulley = (b2PulleyJoint*)joint;
b2Vec2 s1 = pulley->GetGroundAnchorA();
b2Vec2 s2 = pulley->GetGroundAnchorB();
m_debugDraw->DrawSegment(s1, p1, color);
m_debugDraw->DrawSegment(s2, p2, color);
m_debugDraw->DrawSegment(s1, s2, color);
}
break;
case e_mouseJoint:
// don't draw this
break;
default:
m_debugDraw->DrawSegment(x1, p1, color);
m_debugDraw->DrawSegment(p1, p2, color);
m_debugDraw->DrawSegment(x2, p2, color);
}
}
void b2World::DrawDebugData()
{
if (m_debugDraw == NULL)
{
return;
}
uint32 flags = m_debugDraw->GetFlags();
if (flags & b2Draw::e_shapeBit)
{
for (b2Body* b = m_bodyList; b; b = b->GetNext())
{
const b2Transform& xf = b->GetTransform();
for (b2Fixture* f = b->GetFixtureList(); f; f = f->GetNext())
{
if (b->IsActive() == false)
{
DrawShape(f, xf, b2Color(0.5f, 0.5f, 0.3f));
}
else if (b->GetType() == b2_staticBody)
{
DrawShape(f, xf, b2Color(0.5f, 0.9f, 0.5f));
}
else if (b->GetType() == b2_kinematicBody)
{
DrawShape(f, xf, b2Color(0.5f, 0.5f, 0.9f));
}
else if (b->IsAwake() == false)
{
DrawShape(f, xf, b2Color(0.6f, 0.6f, 0.6f));
}
else
{
DrawShape(f, xf, b2Color(0.9f, 0.7f, 0.7f));
}
}
}
}
if (flags & b2Draw::e_jointBit)
{
for (b2Joint* j = m_jointList; j; j = j->GetNext())
{
DrawJoint(j);
}
}
if (flags & b2Draw::e_pairBit)
{
b2Color color(0.3f, 0.9f, 0.9f);
for (b2Contact* c = m_contactManager.m_contactList; c; c = c->GetNext())
{
//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 & b2Draw::e_aabbBit)
{
b2Color color(0.9f, 0.3f, 0.9f);
b2BroadPhase* bp = &m_contactManager.m_broadPhase;
for (b2Body* b = m_bodyList; b; b = b->GetNext())
{
if (b->IsActive() == false)
{
continue;
}
for (b2Fixture* f = b->GetFixtureList(); f; f = f->GetNext())
{
for (int32 i = 0; i < f->m_proxyCount; ++i)
{
b2FixtureProxy* proxy = f->m_proxies + i;
b2AABB aabb = bp->GetFatAABB(proxy->proxyId);
b2Vec2 vs[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 & b2Draw::e_centerOfMassBit)
{
for (b2Body* b = m_bodyList; b; b = b->GetNext())
{
b2Transform xf = b->GetTransform();
xf.p = b->GetWorldCenter();
m_debugDraw->DrawTransform(xf);
}
}
}
int32 b2World::GetProxyCount() const
{
return m_contactManager.m_broadPhase.GetProxyCount();
}
int32 b2World::GetTreeHeight() const
{
return m_contactManager.m_broadPhase.GetTreeHeight();
}
int32 b2World::GetTreeBalance() const
{
return m_contactManager.m_broadPhase.GetTreeBalance();
}
float32 b2World::GetTreeQuality() const
{
return m_contactManager.m_broadPhase.GetTreeQuality();
}
void b2World::Dump()
{
if ((m_flags & e_locked) == e_locked)
{
return;
}
b2Log("b2Vec2 g(%.15lef, %.15lef);\n", m_gravity.x, m_gravity.y);
b2Log("m_world->SetGravity(g);\n");
b2Log("b2Body** bodies = (b2Body**)b2Alloc(%d * sizeof(b2Body*));\n", m_bodyCount);
b2Log("b2Joint** joints = (b2Joint**)b2Alloc(%d * sizeof(b2Joint*));\n", m_jointCount);
int32 i = 0;
for (b2Body* b = m_bodyList; b; b = b->m_next)
{
b->m_islandIndex = i;
b->Dump();
++i;
}
i = 0;
for (b2Joint* j = m_jointList; j; j = j->m_next)
{
j->m_index = i;
++i;
}
// First pass on joints, skip gear joints.
for (b2Joint* j = m_jointList; j; j = j->m_next)
{
if (j->m_type == e_gearJoint)
{
continue;
}
b2Log("{\n");
j->Dump();
b2Log("}\n");
}
// Second pass on joints, only gear joints.
for (b2Joint* j = m_jointList; j; j = j->m_next)
{
if (j->m_type != e_gearJoint)
{
continue;
}
b2Log("{\n");
j->Dump();
b2Log("}\n");
}
b2Log("b2Free(joints);\n");
b2Log("b2Free(bodies);\n");
b2Log("joints = NULL;\n");
b2Log("bodies = NULL;\n");
}