com.almasb.fxgl.physics.box2d.dynamics.World Maven / Gradle / Ivy
/*
* FXGL - JavaFX Game Library. The MIT License (MIT).
* Copyright (c) AlmasB ([email protected]).
* See LICENSE for details.
*/
package com.almasb.fxgl.physics.box2d.dynamics;
import com.almasb.fxgl.core.collection.Array;
import com.almasb.fxgl.core.math.Vec2;
import com.almasb.fxgl.physics.box2d.callbacks.*;
import com.almasb.fxgl.physics.box2d.collision.AABB;
import com.almasb.fxgl.physics.box2d.collision.RayCastInput;
import com.almasb.fxgl.physics.box2d.collision.RayCastOutput;
import com.almasb.fxgl.physics.box2d.collision.TimeOfImpact.TOIInput;
import com.almasb.fxgl.physics.box2d.collision.TimeOfImpact.TOIOutput;
import com.almasb.fxgl.physics.box2d.collision.TimeOfImpact.TOIOutputState;
import com.almasb.fxgl.physics.box2d.collision.broadphase.BroadPhase;
import com.almasb.fxgl.physics.box2d.collision.broadphase.DefaultBroadPhaseBuffer;
import com.almasb.fxgl.physics.box2d.collision.broadphase.DynamicTree;
import com.almasb.fxgl.physics.box2d.collision.shapes.Shape;
import com.almasb.fxgl.physics.box2d.common.JBoxSettings;
import com.almasb.fxgl.physics.box2d.common.Sweep;
import com.almasb.fxgl.physics.box2d.common.Transform;
import com.almasb.fxgl.physics.box2d.dynamics.contacts.Contact;
import com.almasb.fxgl.physics.box2d.dynamics.contacts.ContactEdge;
import com.almasb.fxgl.physics.box2d.dynamics.joints.Joint;
import com.almasb.fxgl.physics.box2d.dynamics.joints.JointDef;
import com.almasb.fxgl.physics.box2d.dynamics.joints.JointEdge;
import com.almasb.fxgl.physics.box2d.particle.*;
import com.almasb.fxgl.physics.box2d.pooling.DefaultWorldPool;
import com.almasb.fxgl.physics.box2d.pooling.IWorldPool;
/**
* The world class manages all physics entities, dynamic simulation, and asynchronous queries.
* The world also contains efficient memory management facilities.
*
* @author Daniel Murphy
*/
public final class World {
private static final int WORLD_POOL_SIZE = 100;
private static final int WORLD_POOL_CONTAINER_SIZE = 10;
private final ContactManager contactManager;
private final ParticleSystem particleSystem;
private final IWorldPool pool;
private DestructionListener destructionListener = null;
private ParticleDestructionListener particleDestructionListener = null;
private boolean newFixture = false;
private boolean locked = false;
private boolean autoClearForces = true;
private boolean allowSleep = true;
// these are for debugging the solver
private boolean warmStarting = true;
private boolean continuousPhysics = true;
private boolean subStepping = false;
private boolean stepComplete = true;
private Array bodies = new Array<>(WORLD_POOL_SIZE);
private Joint m_jointList = null;
private int jointCount = 0;
private final Vec2 gravity = new Vec2();
public World(Vec2 gravity) {
this.gravity.set(gravity);
pool = new DefaultWorldPool(WORLD_POOL_SIZE, WORLD_POOL_CONTAINER_SIZE);
contactManager = new ContactManager(pool, new DefaultBroadPhaseBuffer(new DynamicTree()));
particleSystem = new ParticleSystem(this);
}
/**
* Create a rigid body given a definition.
* No reference to the definition is retained.
* This function is locked during callbacks.
*
* @param def body definition
* @return rigid body
*/
public Body createBody(BodyDef def) {
assertNotLocked();
Body b = new Body(def, this);
bodies.add(b);
return b;
}
/**
* Destroy a rigid body.
* This automatically deletes all associated shapes and joints.
* This function is locked during callbacks.
*
* @param body body to destroy
*/
public void destroyBody(Body body) {
assertNotLocked();
body.destroy();
bodies.removeValueByIdentity(body);
// jbox2dTODO djm recycle body
}
/**
* Create a joint to constrain bodies together.
* No reference to the definition is retained.
* This may cause the connected bodies to cease colliding.
* This function is locked during callbacks.
* Note: creating a joint doesn't wake the bodies.
*
* @param def joint definition
* @return joint
*/
public Joint createJoint(JointDef def) {
assertNotLocked();
Joint j = Joint.create(this, def);
// Connect to the world list.
j.m_prev = null;
j.m_next = m_jointList;
if (m_jointList != null) {
m_jointList.m_prev = j;
}
m_jointList = j;
++jointCount;
// Connect to the bodies' doubly linked lists.
j.m_edgeA.joint = j;
j.m_edgeA.other = j.getBodyB();
j.m_edgeA.prev = null;
j.m_edgeA.next = j.getBodyA().m_jointList;
if (j.getBodyA().m_jointList != null) {
j.getBodyA().m_jointList.prev = j.m_edgeA;
}
j.getBodyA().m_jointList = j.m_edgeA;
j.m_edgeB.joint = j;
j.m_edgeB.other = j.getBodyA();
j.m_edgeB.prev = null;
j.m_edgeB.next = j.getBodyB().m_jointList;
if (j.getBodyB().m_jointList != null) {
j.getBodyB().m_jointList.prev = j.m_edgeB;
}
j.getBodyB().m_jointList = j.m_edgeB;
Body bodyA = def.bodyA;
Body bodyB = def.bodyB;
// If the joint prevents collisions, then flag any contacts for filtering.
if (!def.collideConnected) {
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;
}
}
return j;
}
/**
* Destroy a joint. This may cause the connected bodies to begin colliding.
* This function is locked during callbacks.
*
* @param j joint
*/
public void destroyJoint(Joint j) {
assertNotLocked();
boolean collideConnected = j.getCollideConnected();
// Remove from the doubly linked list.
if (j.m_prev != null) {
j.m_prev.m_next = j.m_next;
}
if (j.m_next != null) {
j.m_next.m_prev = j.m_prev;
}
if (j == m_jointList) {
m_jointList = j.m_next;
}
// Disconnect from island graph.
Body bodyA = j.getBodyA();
Body bodyB = j.getBodyB();
// Wake up connected bodies.
bodyA.setAwake(true);
bodyB.setAwake(true);
// Remove from body 1.
if (j.m_edgeA.prev != null) {
j.m_edgeA.prev.next = j.m_edgeA.next;
}
if (j.m_edgeA.next != null) {
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 != null) {
j.m_edgeB.prev.next = j.m_edgeB.next;
}
if (j.m_edgeB.next != null) {
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;
Joint.destroy(j);
assert jointCount > 0;
--jointCount;
// If the joint prevents collisions, then flag any contacts for filtering.
if (!collideConnected) {
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;
}
}
}
private final TimeStep step = new TimeStep();
/**
* This is used to compute the time step ratio to support a variable time step.
*/
private float dtInverse = 0;
/**
* Take a time step.
* This performs collision detection, integration, and constraint solution.
*
* @param dt the amount of time to simulate, this should not vary
* @param velocityIterations for the velocity constraint solver
* @param positionIterations for the position constraint solver
*/
public void step(float dt, int velocityIterations, int positionIterations) {
// If new fixtures were added, we need to find the new contacts.
if (newFixture) {
contactManager.findNewContacts();
newFixture = false;
}
locked = true;
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 = dtInverse * dt;
step.warmStarting = warmStarting;
// Update contacts. This is where some contacts are destroyed.
contactManager.collide();
if (step.dt > 0) {
if (stepComplete) {
// Integrate velocities, solve velocity constraints, and integrate positions
particleSystem.solve(step); // Particle Simulation
solve(step);
}
if (continuousPhysics) {
// Handle TOI events.
solveTOI(step);
}
dtInverse = step.inv_dt;
}
if (isAutoClearForces()) {
clearForces();
}
locked = false;
}
private final Island island = new Island();
private Body[] stack = new Body[10];
private void solve(TimeStep step) {
// update previous transforms
for (Body b : bodies) {
b.m_xf0.set(b.m_xf);
}
// Size the island for the worst case.
island.init(getBodyCount(), contactManager.contactCount, jointCount, contactManager.getContactListener());
// Clear all the island flags.
for (Body b : bodies) {
b.m_flags &= ~Body.e_islandFlag;
}
for (Contact c = contactManager.contactList; c != null; c = c.m_next) {
c.m_flags &= ~Contact.ISLAND_FLAG;
}
for (Joint j = m_jointList; j != null; j = j.m_next) {
j.m_islandFlag = false;
}
// Build and simulate all awake islands.
int stackSize = getBodyCount();
if (stack.length < stackSize) {
stack = new Body[stackSize];
}
for (Body seed : bodies) {
if ((seed.m_flags & Body.e_islandFlag) == Body.e_islandFlag) {
continue;
}
if (!seed.isAwake() || !seed.isActive()) {
continue;
}
// The seed can be dynamic or kinematic.
if (seed.getType() == BodyType.STATIC) {
continue;
}
// Reset island and stack.
island.clear();
int stackCount = 0;
stack[stackCount++] = seed;
seed.m_flags |= Body.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.
Body b = stack[--stackCount];
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() == BodyType.STATIC) {
continue;
}
// Search all contacts connected to this body.
for (ContactEdge ce = b.m_contactList; ce != null; ce = ce.next) {
Contact contact = ce.contact;
// Has this contact already been added to an island?
if ((contact.m_flags & Contact.ISLAND_FLAG) == Contact.ISLAND_FLAG) {
continue;
}
// Is this contact solid and touching?
if (!contact.isEnabled() || !contact.isTouching()) {
continue;
}
// Skip sensors.
boolean sensorA = contact.m_fixtureA.isSensor();
boolean sensorB = contact.m_fixtureB.isSensor();
if (sensorA || sensorB) {
continue;
}
island.add(contact);
contact.m_flags |= Contact.ISLAND_FLAG;
Body other = ce.other;
// Was the other body already added to this island?
if ((other.m_flags & Body.e_islandFlag) == Body.e_islandFlag) {
continue;
}
assert stackCount < stackSize;
stack[stackCount++] = other;
other.m_flags |= Body.e_islandFlag;
}
// Search all joints connect to this body.
for (JointEdge je = b.m_jointList; je != null; je = je.next) {
if (je.joint.m_islandFlag) {
continue;
}
Body other = je.other;
// Don't simulate joints connected to inactive bodies.
if (!other.isActive()) {
continue;
}
island.add(je.joint);
je.joint.m_islandFlag = true;
if ((other.m_flags & Body.e_islandFlag) == Body.e_islandFlag) {
continue;
}
assert stackCount < stackSize;
stack[stackCount++] = other;
other.m_flags |= Body.e_islandFlag;
}
}
island.solve(step, gravity, allowSleep);
island.postSolveCleanup();
}
// Synchronize fixtures, check for out of range bodies.
for (Body b : bodies) {
// If a body was not in an island then it did not move.
if ((b.m_flags & Body.e_islandFlag) == 0) {
continue;
}
if (b.getType() == BodyType.STATIC) {
continue;
}
// Update fixtures (for broad-phase).
b.synchronizeFixtures();
}
// Look for new contacts.
contactManager.findNewContacts();
}
private final Island toiIsland = new Island();
private final TOIInput toiInput = new TOIInput();
private final TOIOutput toiOutput = new TOIOutput();
private final TimeStep subStep = new TimeStep();
private final Body[] tempBodies = new Body[2];
private final Sweep backup1 = new Sweep();
private final Sweep backup2 = new Sweep();
private void solveTOI(final TimeStep step) {
final Island island = toiIsland;
island.init(2 * JBoxSettings.maxTOIContacts, JBoxSettings.maxTOIContacts, 0, contactManager.getContactListener());
if (stepComplete) {
for (Body b : bodies) {
b.m_flags &= ~Body.e_islandFlag;
b.m_sweep.alpha0 = 0.0f;
}
for (Contact c = contactManager.contactList; c != null; c = c.m_next) {
// Invalidate TOI
c.m_flags &= ~(Contact.TOI_FLAG | Contact.ISLAND_FLAG);
c.m_toiCount = 0;
c.m_toi = 1.0f;
}
}
// Find TOI events and solve them.
for (; ; ) {
// Find the first TOI.
Contact minContact = null;
float minAlpha = 1.0f;
for (Contact c = contactManager.contactList; c != null; c = c.m_next) {
// Is this contact disabled?
if (!c.isEnabled()) {
continue;
}
// Prevent excessive sub-stepping.
if (c.m_toiCount > JBoxSettings.maxSubSteps) {
continue;
}
float alpha = 1.0f;
if ((c.m_flags & Contact.TOI_FLAG) != 0) {
// This contact has a valid cached TOI.
alpha = c.m_toi;
} else {
Fixture fA = c.getFixtureA();
Fixture fB = c.getFixtureB();
// Is there a sensor?
if (fA.isSensor() || fB.isSensor()) {
continue;
}
Body bA = fA.getBody();
Body bB = fB.getBody();
BodyType typeA = bA.getType();
BodyType typeB = bB.getType();
assert typeA == BodyType.DYNAMIC || typeB == BodyType.DYNAMIC;
boolean activeA = bA.isAwake() && typeA != BodyType.STATIC;
boolean activeB = bB.isAwake() && typeB != BodyType.STATIC;
// Is at least one body active (awake and dynamic or kinematic)?
if (!activeA && !activeB) {
continue;
}
boolean collideA = bA.isBullet() || typeA != BodyType.DYNAMIC;
boolean collideB = bB.isBullet() || typeB != BodyType.DYNAMIC;
// Are these two non-bullet dynamic bodies?
if (!collideA && !collideB) {
continue;
}
// Compute the TOI for this contact.
// Put the sweeps onto the same time interval.
float 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);
}
assert alpha0 < 1.0f;
int indexA = c.getChildIndexA();
int indexB = c.getChildIndexB();
// Compute the time of impact in interval [0, minTOI]
final TOIInput input = toiInput;
input.proxyA.set(fA.getShape(), indexA);
input.proxyB.set(fB.getShape(), indexB);
input.sweepA.set(bA.m_sweep);
input.sweepB.set(bB.m_sweep);
input.tMax = 1.0f;
pool.getTimeOfImpact().timeOfImpact(toiOutput, input);
// Beta is the fraction of the remaining portion of the .
float beta = toiOutput.t;
if (toiOutput.state == TOIOutputState.TOUCHING) {
alpha = Math.min(alpha0 + (1.0f - alpha0) * beta, 1.0f);
} else {
alpha = 1.0f;
}
c.m_toi = alpha;
c.m_flags |= Contact.TOI_FLAG;
}
if (alpha < minAlpha) {
// This is the minimum TOI found so far.
minContact = c;
minAlpha = alpha;
}
}
if (minContact == null || 1.0f - 10.0f * JBoxSettings.EPSILON < minAlpha) {
// No more TOI events. Done!
stepComplete = true;
break;
}
// Advance the bodies to the TOI.
Fixture fA = minContact.getFixtureA();
Fixture fB = minContact.getFixtureB();
Body bA = fA.getBody();
Body bB = fB.getBody();
backup1.set(bA.m_sweep);
backup2.set(bB.m_sweep);
bA.advance(minAlpha);
bB.advance(minAlpha);
// The TOI contact likely has some new contact points.
minContact.update(contactManager.getContactListener());
minContact.m_flags &= ~Contact.TOI_FLAG;
++minContact.m_toiCount;
// Is the contact solid?
if (!minContact.isEnabled() || !minContact.isTouching()) {
// Restore the sweeps.
minContact.setEnabled(false);
bA.m_sweep.set(backup1);
bB.m_sweep.set(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 |= Body.e_islandFlag;
bB.m_flags |= Body.e_islandFlag;
minContact.m_flags |= Contact.ISLAND_FLAG;
// Get contacts on bodyA and bodyB.
tempBodies[0] = bA;
tempBodies[1] = bB;
for (int i = 0; i < 2; ++i) {
Body body = tempBodies[i];
if (body.getType() == BodyType.DYNAMIC) {
for (ContactEdge ce = body.m_contactList; ce != null; ce = ce.next) {
if (island.isBodyCountEqualToCapacity()) {
break;
}
if (island.isContactCountEqualToCapacity()) {
break;
}
Contact contact = ce.contact;
// Has this contact already been added to the island?
if ((contact.m_flags & Contact.ISLAND_FLAG) != 0) {
continue;
}
// Only add static, kinematic, or bullet bodies.
Body other = ce.other;
if (other.getType() == BodyType.DYNAMIC && !body.isBullet() && !other.isBullet()) {
continue;
}
// Skip sensors.
boolean sensorA = contact.m_fixtureA.isSensor();
boolean sensorB = contact.m_fixtureB.isSensor();
if (sensorA || sensorB) {
continue;
}
// Tentatively advance the body to the TOI.
backup1.set(other.m_sweep);
if ((other.m_flags & Body.e_islandFlag) == 0) {
other.advance(minAlpha);
}
// Update the contact points
contact.update(contactManager.getContactListener());
// Was the contact disabled by the user?
if (!contact.isEnabled()) {
other.m_sweep.set(backup1);
other.synchronizeTransform();
continue;
}
// Are there contact points?
if (!contact.isTouching()) {
other.m_sweep.set(backup1);
other.synchronizeTransform();
continue;
}
// Add the contact to the island
contact.m_flags |= Contact.ISLAND_FLAG;
island.add(contact);
// Has the other body already been added to the island?
if ((other.m_flags & Body.e_islandFlag) != 0) {
continue;
}
// Add the other body to the island.
other.m_flags |= Body.e_islandFlag;
if (other.getType() != BodyType.STATIC) {
other.setAwake(true);
}
island.add(other);
}
}
}
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);
island.resetFlagsAndSynchronizeBroadphaseProxies();
// Commit fixture proxy movements to the broad-phase so that new contacts are created.
// Also, some contacts can be destroyed.
contactManager.findNewContacts();
if (subStepping) {
stepComplete = false;
break;
}
}
}
private final WorldQueryWrapper wqwrapper = new WorldQueryWrapper();
/**
* Query the world for all fixtures and particles that potentially overlap the provided AABB.
*
* @param callback a user implemented callback class
* @param particleCallback callback for particles
* @param aabb the query box
*/
public void queryAABB(QueryCallback callback, ParticleQueryCallback particleCallback, AABB aabb) {
queryAABB(callback, aabb);
queryAABB(particleCallback, aabb);
}
/**
* Query the world for all fixtures that potentially overlap the provided AABB.
*
* @param callback a user implemented callback class
* @param aabb the query box
*/
public void queryAABB(QueryCallback callback, AABB aabb) {
wqwrapper.broadPhase = contactManager.broadPhase;
wqwrapper.callback = callback;
contactManager.broadPhase.query(wqwrapper, aabb);
}
/**
* Query the world for all particles that potentially overlap the provided AABB.
*
* @param particleCallback callback for particles
* @param aabb the query box
*/
public void queryAABB(ParticleQueryCallback particleCallback, AABB aabb) {
particleSystem.queryAABB(particleCallback, aabb);
}
private final WorldRayCastWrapper wrcwrapper = new WorldRayCastWrapper();
private final RayCastInput input = new RayCastInput();
/**
* Ray-cast the world for all fixtures and particles in the path of the ray.
* Your callback controls whether you get the closest point, any point, or n-points.
* The ray-cast ignores shapes that contain the starting point.
*
* @param callback a user implemented callback class
* @param particleCallback the particle callback class
* @param point1 the ray starting point
* @param point2 the ray ending point
*/
public void raycast(RayCastCallback callback, ParticleRaycastCallback particleCallback, Vec2 point1, Vec2 point2) {
raycast(callback, point1, point2);
raycast(particleCallback, point1, point2);
}
/**
* Ray-cast the world for all fixtures in the path of the ray.
* Your callback controls whether you get the closest point, any point, or n-points.
* The ray-cast ignores shapes that contain the starting point.
*
* @param callback a user implemented callback class
* @param point1 the ray starting point
* @param point2 the ray ending point
*/
public void raycast(RayCastCallback callback, Vec2 point1, Vec2 point2) {
wrcwrapper.broadPhase = contactManager.broadPhase;
wrcwrapper.callback = callback;
input.maxFraction = 1.0f;
input.p1.set(point1);
input.p2.set(point2);
contactManager.broadPhase.raycast(wrcwrapper, input);
}
/**
* Ray-cast the world for all particles in the path of the ray.
* Your callback controls whether you get the closest point, any point, or n-points.
*
* @param particleCallback the particle callback class
* @param point1 the ray starting point
* @param point2 the ray ending point
*/
public void raycast(ParticleRaycastCallback particleCallback, Vec2 point1, Vec2 point2) {
particleSystem.raycast(particleCallback, point1, point2);
}
/**
* Call this after you are done with time steps to clear the forces.
* You normally call this after each call to Step, unless you are performing sub-steps.
* By default, forces will be automatically cleared, so you don't need to call this function.
*
* @see #setAutoClearForces(boolean)
*/
public void clearForces() {
for (Body body : bodies) {
body.setForceToZero();
body.setTorque(0.0f);
}
}
/**
* Create a particle whose properties have been defined. No reference to the definition is
* retained. A simulation step must occur before it's possible to interact with a newly created
* particle. For example, DestroyParticleInShape() will not destroy a particle until Step() has
* been called. This function is locked during callbacks.
*
* @return the index of the particle.
*/
public int createParticle(ParticleDef def) {
assertNotLocked();
return particleSystem.createParticle(def);
}
/**
* Destroy a particle. The particle is removed after the next step.
*
* @param index particle index
*/
public void destroyParticle(int index) {
destroyParticle(index, false);
}
/**
* Destroy a particle. The particle is removed after the next step.
*
* @param index of the particle to destroy
* @param callDestructionListener whether to call the destruction listener just before the particle is destroyed
*/
public void destroyParticle(int index, boolean callDestructionListener) {
particleSystem.destroyParticle(index, callDestructionListener);
}
/**
* Destroy particles inside a shape without enabling the destruction callback for destroyed
* particles. This function is locked during callbacks. For more information see
* DestroyParticleInShape(Shape&, Transform&,bool).
* This function is locked during callbacks.
*
* @param shape which encloses particles that should be destroyed.
* @param xf transform applied to the shape.
* @return Number of particles destroyed.
*/
public int destroyParticlesInShape(Shape shape, Transform xf) {
return destroyParticlesInShape(shape, xf, false);
}
/**
* Destroy particles inside a shape. This function is locked during callbacks. In addition, this
* function immediately destroys particles in the shape in contrast to DestroyParticle() which
* defers the destruction until the next simulation step. This function is locked during callbacks.
*
* @param shape which encloses particles that should be destroyed.
* @param xf transform applied to the shape.
* @param callDestructionListener whether to call the world b2DestructionListener for each particle destroyed.
* @return Number of particles destroyed.
*/
public int destroyParticlesInShape(Shape shape, Transform xf, boolean callDestructionListener) {
assertNotLocked();
return particleSystem.destroyParticlesInShape(shape, xf, callDestructionListener);
}
/**
* Create a particle group whose properties have been defined. No reference to the definition is
* retained. This function is locked during callbacks.
*
* @param def particle group definition
* @return particle group
*/
public ParticleGroup createParticleGroup(ParticleGroupDef def) {
assertNotLocked();
return particleSystem.createParticleGroup(def);
}
/**
* Join two particle groups. This function is locked during callbacks.
*
* @param groupA the first group. Expands to encompass the second group.
* @param groupB the second group. It is destroyed.
*/
public void joinParticleGroups(ParticleGroup groupA, ParticleGroup groupB) {
assertNotLocked();
particleSystem.joinParticleGroups(groupA, groupB);
}
/**
* Destroy particles in a group. This function is locked during callbacks.
*
* @param group the particle group to destroy.
* @param callDestructionListener Whether to call the world b2DestructionListener for each particle is destroyed.
*/
public void destroyParticlesInGroup(ParticleGroup group, boolean callDestructionListener) {
assertNotLocked();
particleSystem.destroyParticlesInGroup(group, callDestructionListener);
}
/**
* Destroy particles in a group without enabling the destruction callback for destroyed particles.
* This function is locked during callbacks.
*
* @param group the particle group to destroy.
*/
public void destroyParticlesInGroup(ParticleGroup group) {
destroyParticlesInGroup(group, false);
}
/**
* Get the world particle group list. With the returned group, use ParticleGroup::GetNext to get
* the next group in the world list. A NULL group indicates the end of the list.
*
* @return the head of the world particle group list.
*/
public ParticleGroup[] getParticleGroupList() {
return particleSystem.getParticleGroupList();
}
/**
* @return the number of particle groups
*/
public int getParticleGroupCount() {
return particleSystem.getParticleGroupCount();
}
/**
* @return the number of particles
*/
public int getParticleCount() {
return particleSystem.getParticleCount();
}
/**
* @return the maximum number of particles
*/
public int getParticleMaxCount() {
return particleSystem.getParticleMaxCount();
}
/**
* Set the maximum number of particles.
*
* @param count number
*/
public void setParticleMaxCount(int count) {
particleSystem.setParticleMaxCount(count);
}
/**
* Change the particle density.
*
* @param density particle density
*/
public void setParticleDensity(float density) {
particleSystem.setParticleDensity(density);
}
/**
* @return the particle density
*/
public float getParticleDensity() {
return particleSystem.getParticleDensity();
}
/**
* Change the particle gravity scale. Adjusts the effect of the global gravity vector on
* particles. Default value is 1.0f.
*
* @param gravityScale gravity scale
*/
public void setParticleGravityScale(float gravityScale) {
particleSystem.setParticleGravityScale(gravityScale);
}
/**
* @return the particle gravity scale
*/
public float getParticleGravityScale() {
return particleSystem.getParticleGravityScale();
}
/**
* Damping is used to reduce the velocity of particles. The damping parameter can be larger than
* 1.0f but the damping effect becomes sensitive to the time step when the damping parameter is
* large.
*
* @param damping particle damping
*/
public void setParticleDamping(float damping) {
particleSystem.setParticleDamping(damping);
}
/**
* @return damping for particles
*/
public float getParticleDamping() {
return particleSystem.getParticleDamping();
}
/**
* Change the particle radius. You should set this only once, on world start. If you change the
* radius during execution, existing particles may explode, shrink, or behave unexpectedly.
*
* @param radius particle radius
*/
public void setParticleRadius(float radius) {
particleSystem.setParticleRadius(radius);
}
/**
* @return the particle radius
*/
public float getParticleRadius() {
return particleSystem.getParticleRadius();
}
/**
* Get the particle data. Returns the pointer to the head of the particle data.
*
* @return particle flags buffer
*/
public int[] getParticleFlagsBuffer() {
return particleSystem.getParticleFlagsBuffer();
}
public Vec2[] getParticlePositionBuffer() {
return particleSystem.getParticlePositionBuffer();
}
public Vec2[] getParticleVelocityBuffer() {
return particleSystem.getParticleVelocityBuffer();
}
public ParticleColor[] getParticleColorBuffer() {
return particleSystem.getParticleColorBuffer();
}
public ParticleGroup[] getParticleGroupBuffer() {
return particleSystem.getParticleGroupBuffer();
}
public Object[] getParticleUserDataBuffer() {
return particleSystem.getParticleUserDataBuffer();
}
/**
* Set a buffer for particle data.
*
* @param buffer is a pointer to a block of memory.
* @param capacity is the number of values in the block.
*/
public void setParticleFlagsBuffer(int[] buffer, int capacity) {
particleSystem.setParticleFlagsBuffer(buffer, capacity);
}
public void setParticlePositionBuffer(Vec2[] buffer, int capacity) {
particleSystem.setParticlePositionBuffer(buffer, capacity);
}
public void setParticleVelocityBuffer(Vec2[] buffer, int capacity) {
particleSystem.setParticleVelocityBuffer(buffer, capacity);
}
public void setParticleColorBuffer(ParticleColor[] buffer, int capacity) {
particleSystem.setParticleColorBuffer(buffer, capacity);
}
public void setParticleUserDataBuffer(Object[] buffer, int capacity) {
particleSystem.setParticleUserDataBuffer(buffer, capacity);
}
/**
* @return contacts between particles
*/
public ParticleContact[] getParticleContacts() {
return particleSystem.m_contactBuffer;
}
public int getParticleContactCount() {
return particleSystem.m_contactCount;
}
/**
* @return contacts between particles and bodies
*/
public ParticleBodyContact[] getParticleBodyContacts() {
return particleSystem.m_bodyContactBuffer;
}
public int getParticleBodyContactCount() {
return particleSystem.m_bodyContactCount;
}
/**
* @return the kinetic energy that can be lost by damping force
*/
public float computeParticleCollisionEnergy() {
return particleSystem.computeParticleCollisionEnergy();
}
/**
* DO NOT MODIFY.
*
* @return all world bodies
*/
public Array getBodies() {
return bodies;
}
/**
* Get the world joint list. With the returned joint, use Joint.getNext to get the next joint in
* the world list. A null joint indicates the end of the list.
*
* @return the head of the world joint list.
*/
public Joint getJointList() {
return m_jointList;
}
/**
* Get the world contact list. With the returned contact, use Contact.getNext to get the next
* contact in the world list. A null contact indicates the end of the list.
* Contacts are created and destroyed in the middle of a time step.
* Use ContactListener to avoid missing contacts.
*
* @return the head of the world contact list.
*/
public Contact getContactList() {
return contactManager.contactList;
}
public boolean isSleepingAllowed() {
return allowSleep;
}
public void setSleepingAllowed(boolean sleepingAllowed) {
allowSleep = sleepingAllowed;
}
/**
* Enable/disable warm starting. For testing.
*
* @param flag warm starting flag
*/
public void setWarmStarting(boolean flag) {
warmStarting = flag;
}
public boolean isWarmStarting() {
return warmStarting;
}
/**
* Enable/disable continuous physics. For testing.
*
* @param flag continuous physics flag
*/
public void setContinuousPhysics(boolean flag) {
continuousPhysics = flag;
}
public boolean isContinuousPhysics() {
return continuousPhysics;
}
/**
* @return the number of bodies
*/
public int getBodyCount() {
return bodies.size();
}
/**
* @return the number of joints
*/
public int getJointCount() {
return jointCount;
}
/**
* @return the number of contacts (each may have 0 or more contact points)
*/
public int getContactCount() {
return contactManager.contactCount;
}
/**
* Change the global gravity vector.
*
* @param gravity gravity vector
*/
public void setGravity(Vec2 gravity) {
this.gravity.set(gravity);
}
/**
* @return global gravity vector
*/
public Vec2 getGravity() {
return gravity;
}
ContactManager getContactManager() {
return contactManager;
}
public IWorldPool getPool() {
return pool;
}
public DestructionListener getDestructionListener() {
return destructionListener;
}
/**
* Register a destruction listener. The listener is owned by you and must remain in scope.
*
* @param listener destruction listener
*/
public void setDestructionListener(DestructionListener listener) {
destructionListener = listener;
}
public ParticleDestructionListener getParticleDestructionListener() {
return particleDestructionListener;
}
public void setParticleDestructionListener(ParticleDestructionListener listener) {
particleDestructionListener = listener;
}
public boolean isAllowSleep() {
return allowSleep;
}
public void setAllowSleep(boolean flag) {
if (flag == allowSleep) {
return;
}
allowSleep = flag;
if (!allowSleep) {
for (Body b : bodies) {
b.setAwake(true);
}
}
}
public void setSubStepping(boolean subStepping) {
this.subStepping = subStepping;
}
public boolean isSubStepping() {
return subStepping;
}
public ParticleSystem getParticleSystem() {
return particleSystem;
}
/**
* Set flag to control automatic clearing of forces after each time step.
*
* @param flag automatically clear forces flag
*/
public void setAutoClearForces(boolean flag) {
autoClearForces = flag;
}
/**
* @return the flag that controls automatic clearing of forces after each time step
*/
public boolean isAutoClearForces() {
return autoClearForces;
}
/**
* Register a contact filter to provide specific control over collision.
* Otherwise the default filter is used (_defaultFilter).
* The listener is owned by you and must remain in scope.
*
* @param filter contact filter
*/
public void setContactFilter(ContactFilter filter) {
contactManager.setContactFilter(filter);
}
/**
* Register a contact event listener. The listener is owned by you and must remain in scope.
*
* @param listener contact listener
*/
public void setContactListener(ContactListener listener) {
contactManager.setContactListener(listener);
}
void notifyNewFixture() {
newFixture = true;
}
/**
* @return is the world locked (in the middle of a time step)
*/
public boolean isLocked() {
return locked;
}
void assertNotLocked() {
if (isLocked())
throw new IllegalStateException("Physics world is locked during time step");
}
private static class WorldQueryWrapper implements TreeCallback {
BroadPhase broadPhase;
QueryCallback callback;
@Override
public boolean treeCallback(int nodeId) {
Fixture.FixtureProxy proxy = (Fixture.FixtureProxy) broadPhase.getUserData(nodeId);
return callback.reportFixture(proxy.fixture);
}
}
private static class WorldRayCastWrapper implements TreeRayCastCallback {
// djm pooling
private final RayCastOutput output = new RayCastOutput();
private final Vec2 temp = new Vec2();
private final Vec2 point = new Vec2();
BroadPhase broadPhase;
RayCastCallback callback;
@Override
public float raycastCallback(RayCastInput input, int nodeId) {
Object userData = broadPhase.getUserData(nodeId);
Fixture.FixtureProxy proxy = (Fixture.FixtureProxy) userData;
Fixture fixture = proxy.fixture;
int index = proxy.childIndex;
boolean hit = fixture.raycast(output, input, index);
if (hit) {
float fraction = output.fraction;
// Vec2 point = (1.0f - fraction) * input.p1 + fraction * input.p2;
temp.set(input.p2).mulLocal(fraction);
point.set(input.p1).mulLocal(1 - fraction).addLocal(temp);
return callback.reportFixture(fixture, point, output.normal, fraction);
}
return input.maxFraction;
}
}
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