b2Fixture.cpp
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00001 /*
00002 * Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
00003 *
00004 * This software is provided 'as-is', without any express or implied
00005 * warranty.  In no event will the authors be held liable for any damages
00006 * arising from the use of this software.
00007 * Permission is granted to anyone to use this software for any purpose,
00008 * including commercial applications, and to alter it and redistribute it
00009 * freely, subject to the following restrictions:
00010 * 1. The origin of this software must not be misrepresented; you must not
00011 * claim that you wrote the original software. If you use this software
00012 * in a product, an acknowledgment in the product documentation would be
00013 * appreciated but is not required.
00014 * 2. Altered source versions must be plainly marked as such, and must not be
00015 * misrepresented as being the original software.
00016 * 3. This notice may not be removed or altered from any source distribution.
00017 */
00018 
00019 #include <Box2D/Dynamics/b2Fixture.h>
00020 #include <Box2D/Dynamics/Contacts/b2Contact.h>
00021 #include <Box2D/Dynamics/b2World.h>
00022 #include <Box2D/Collision/Shapes/b2CircleShape.h>
00023 #include <Box2D/Collision/Shapes/b2EdgeShape.h>
00024 #include <Box2D/Collision/Shapes/b2PolygonShape.h>
00025 #include <Box2D/Collision/Shapes/b2ChainShape.h>
00026 #include <Box2D/Collision/b2BroadPhase.h>
00027 #include <Box2D/Collision/b2Collision.h>
00028 #include <Box2D/Common/b2BlockAllocator.h>
00029 
00030 b2Fixture::b2Fixture()
00031 {
00032         m_userData = NULL;
00033         m_body = NULL;
00034         m_next = NULL;
00035         m_proxies = NULL;
00036         m_proxyCount = 0;
00037         m_shape = NULL;
00038         m_density = 0.0f;
00039 }
00040 
00041 void b2Fixture::Create(b2BlockAllocator* allocator, b2Body* body, const b2FixtureDef* def)
00042 {
00043         m_userData = def->userData;
00044         m_friction = def->friction;
00045         m_restitution = def->restitution;
00046 
00047         m_body = body;
00048         m_next = NULL;
00049 
00050         m_filter = def->filter;
00051 
00052         m_isSensor = def->isSensor;
00053 
00054         m_shape = def->shape->Clone(allocator);
00055 
00056         // Reserve proxy space
00057         int32 childCount = m_shape->GetChildCount();
00058         m_proxies = (b2FixtureProxy*)allocator->Allocate(childCount * sizeof(b2FixtureProxy));
00059         for (int32 i = 0; i < childCount; ++i)
00060         {
00061                 m_proxies[i].fixture = NULL;
00062                 m_proxies[i].proxyId = b2BroadPhase::e_nullProxy;
00063         }
00064         m_proxyCount = 0;
00065 
00066         m_density = def->density;
00067 }
00068 
00069 void b2Fixture::Destroy(b2BlockAllocator* allocator)
00070 {
00071         // The proxies must be destroyed before calling this.
00072         b2Assert(m_proxyCount == 0);
00073 
00074         // Free the proxy array.
00075         int32 childCount = m_shape->GetChildCount();
00076         allocator->Free(m_proxies, childCount * sizeof(b2FixtureProxy));
00077         m_proxies = NULL;
00078 
00079         // Free the child shape.
00080         switch (m_shape->m_type)
00081         {
00082         case b2Shape::e_circle:
00083                 {
00084                         b2CircleShape* s = (b2CircleShape*)m_shape;
00085                         s->~b2CircleShape();
00086                         allocator->Free(s, sizeof(b2CircleShape));
00087                 }
00088                 break;
00089 
00090         case b2Shape::e_edge:
00091                 {
00092                         b2EdgeShape* s = (b2EdgeShape*)m_shape;
00093                         s->~b2EdgeShape();
00094                         allocator->Free(s, sizeof(b2EdgeShape));
00095                 }
00096                 break;
00097 
00098         case b2Shape::e_polygon:
00099                 {
00100                         b2PolygonShape* s = (b2PolygonShape*)m_shape;
00101                         s->~b2PolygonShape();
00102                         allocator->Free(s, sizeof(b2PolygonShape));
00103                 }
00104                 break;
00105 
00106         case b2Shape::e_chain:
00107                 {
00108                         b2ChainShape* s = (b2ChainShape*)m_shape;
00109                         s->~b2ChainShape();
00110                         allocator->Free(s, sizeof(b2ChainShape));
00111                 }
00112                 break;
00113 
00114         default:
00115                 b2Assert(false);
00116                 break;
00117         }
00118 
00119         m_shape = NULL;
00120 }
00121 
00122 void b2Fixture::CreateProxies(b2BroadPhase* broadPhase, const b2Transform& xf)
00123 {
00124         b2Assert(m_proxyCount == 0);
00125 
00126         // Create proxies in the broad-phase.
00127         m_proxyCount = m_shape->GetChildCount();
00128 
00129         for (int32 i = 0; i < m_proxyCount; ++i)
00130         {
00131                 b2FixtureProxy* proxy = m_proxies + i;
00132                 m_shape->ComputeAABB(&proxy->aabb, xf, i);
00133                 proxy->proxyId = broadPhase->CreateProxy(proxy->aabb, proxy);
00134                 proxy->fixture = this;
00135                 proxy->childIndex = i;
00136         }
00137 }
00138 
00139 void b2Fixture::DestroyProxies(b2BroadPhase* broadPhase)
00140 {
00141         // Destroy proxies in the broad-phase.
00142         for (int32 i = 0; i < m_proxyCount; ++i)
00143         {
00144                 b2FixtureProxy* proxy = m_proxies + i;
00145                 broadPhase->DestroyProxy(proxy->proxyId);
00146                 proxy->proxyId = b2BroadPhase::e_nullProxy;
00147         }
00148 
00149         m_proxyCount = 0;
00150 }
00151 
00152 void b2Fixture::Synchronize(b2BroadPhase* broadPhase, const b2Transform& transform1, const b2Transform& transform2)
00153 {
00154         if (m_proxyCount == 0)
00155         {       
00156                 return;
00157         }
00158 
00159         for (int32 i = 0; i < m_proxyCount; ++i)
00160         {
00161                 b2FixtureProxy* proxy = m_proxies + i;
00162 
00163                 // Compute an AABB that covers the swept shape (may miss some rotation effect).
00164                 b2AABB aabb1, aabb2;
00165                 m_shape->ComputeAABB(&aabb1, transform1, proxy->childIndex);
00166                 m_shape->ComputeAABB(&aabb2, transform2, proxy->childIndex);
00167         
00168                 proxy->aabb.Combine(aabb1, aabb2);
00169 
00170                 b2Vec2 displacement = transform2.p - transform1.p;
00171 
00172                 broadPhase->MoveProxy(proxy->proxyId, proxy->aabb, displacement);
00173         }
00174 }
00175 
00176 void b2Fixture::SetFilterData(const b2Filter& filter)
00177 {
00178         m_filter = filter;
00179 
00180         Refilter();
00181 }
00182 
00183 void b2Fixture::Refilter()
00184 {
00185         if (m_body == NULL)
00186         {
00187                 return;
00188         }
00189 
00190         // Flag associated contacts for filtering.
00191         b2ContactEdge* edge = m_body->GetContactList();
00192         while (edge)
00193         {
00194                 b2Contact* contact = edge->contact;
00195                 b2Fixture* fixtureA = contact->GetFixtureA();
00196                 b2Fixture* fixtureB = contact->GetFixtureB();
00197                 if (fixtureA == this || fixtureB == this)
00198                 {
00199                         contact->FlagForFiltering();
00200                 }
00201 
00202                 edge = edge->next;
00203         }
00204 
00205         b2World* world = m_body->GetWorld();
00206 
00207         if (world == NULL)
00208         {
00209                 return;
00210         }
00211 
00212         // Touch each proxy so that new pairs may be created
00213         b2BroadPhase* broadPhase = &world->m_contactManager.m_broadPhase;
00214         for (int32 i = 0; i < m_proxyCount; ++i)
00215         {
00216                 broadPhase->TouchProxy(m_proxies[i].proxyId);
00217         }
00218 }
00219 
00220 void b2Fixture::SetSensor(bool sensor)
00221 {
00222         if (sensor != m_isSensor)
00223         {
00224                 m_body->SetAwake(true);
00225                 m_isSensor = sensor;
00226         }
00227 }
00228 
00229 void b2Fixture::Dump(int32 bodyIndex)
00230 {
00231         b2Log("    b2FixtureDef fd;\n");
00232         b2Log("    fd.friction = %.15lef;\n", m_friction);
00233         b2Log("    fd.restitution = %.15lef;\n", m_restitution);
00234         b2Log("    fd.density = %.15lef;\n", m_density);
00235         b2Log("    fd.isSensor = bool(%d);\n", m_isSensor);
00236         b2Log("    fd.filter.categoryBits = uint16(%d);\n", m_filter.categoryBits);
00237         b2Log("    fd.filter.maskBits = uint16(%d);\n", m_filter.maskBits);
00238         b2Log("    fd.filter.groupIndex = int16(%d);\n", m_filter.groupIndex);
00239 
00240         switch (m_shape->m_type)
00241         {
00242         case b2Shape::e_circle:
00243                 {
00244                         b2CircleShape* s = (b2CircleShape*)m_shape;
00245                         b2Log("    b2CircleShape shape;\n");
00246                         b2Log("    shape.m_radius = %.15lef;\n", s->m_radius);
00247                         b2Log("    shape.m_p.Set(%.15lef, %.15lef);\n", s->m_p.x, s->m_p.y);
00248                 }
00249                 break;
00250 
00251         case b2Shape::e_edge:
00252                 {
00253                         b2EdgeShape* s = (b2EdgeShape*)m_shape;
00254                         b2Log("    b2EdgeShape shape;\n");
00255                         b2Log("    shape.m_radius = %.15lef;\n", s->m_radius);
00256                         b2Log("    shape.m_vertex0.Set(%.15lef, %.15lef);\n", s->m_vertex0.x, s->m_vertex0.y);
00257                         b2Log("    shape.m_vertex1.Set(%.15lef, %.15lef);\n", s->m_vertex1.x, s->m_vertex1.y);
00258                         b2Log("    shape.m_vertex2.Set(%.15lef, %.15lef);\n", s->m_vertex2.x, s->m_vertex2.y);
00259                         b2Log("    shape.m_vertex3.Set(%.15lef, %.15lef);\n", s->m_vertex3.x, s->m_vertex3.y);
00260                         b2Log("    shape.m_hasVertex0 = bool(%d);\n", s->m_hasVertex0);
00261                         b2Log("    shape.m_hasVertex3 = bool(%d);\n", s->m_hasVertex3);
00262                 }
00263                 break;
00264 
00265         case b2Shape::e_polygon:
00266                 {
00267                         b2PolygonShape* s = (b2PolygonShape*)m_shape;
00268                         b2Log("    b2PolygonShape shape;\n");
00269                         b2Log("    b2Vec2 vs[%d];\n", b2_maxPolygonVertices);
00270                         for (int32 i = 0; i < s->m_count; ++i)
00271                         {
00272                                 b2Log("    vs[%d].Set(%.15lef, %.15lef);\n", i, s->m_vertices[i].x, s->m_vertices[i].y);
00273                         }
00274                         b2Log("    shape.Set(vs, %d);\n", s->m_count);
00275                 }
00276                 break;
00277 
00278         case b2Shape::e_chain:
00279                 {
00280                         b2ChainShape* s = (b2ChainShape*)m_shape;
00281                         b2Log("    b2ChainShape shape;\n");
00282                         b2Log("    b2Vec2 vs[%d];\n", s->m_count);
00283                         for (int32 i = 0; i < s->m_count; ++i)
00284                         {
00285                                 b2Log("    vs[%d].Set(%.15lef, %.15lef);\n", i, s->m_vertices[i].x, s->m_vertices[i].y);
00286                         }
00287                         b2Log("    shape.CreateChain(vs, %d);\n", s->m_count);
00288                         b2Log("    shape.m_prevVertex.Set(%.15lef, %.15lef);\n", s->m_prevVertex.x, s->m_prevVertex.y);
00289                         b2Log("    shape.m_nextVertex.Set(%.15lef, %.15lef);\n", s->m_nextVertex.x, s->m_nextVertex.y);
00290                         b2Log("    shape.m_hasPrevVertex = bool(%d);\n", s->m_hasPrevVertex);
00291                         b2Log("    shape.m_hasNextVertex = bool(%d);\n", s->m_hasNextVertex);
00292                 }
00293                 break;
00294 
00295         default:
00296                 return;
00297         }
00298 
00299         b2Log("\n");
00300         b2Log("    fd.shape = &shape;\n");
00301         b2Log("\n");
00302         b2Log("    bodies[%d]->CreateFixture(&fd);\n", bodyIndex);
00303 }


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autogenerated on Thu Jun 6 2019 22:08:34