本文整理汇总了C#中FarseerPhysics.Dynamics.TimeStep类的典型用法代码示例。如果您正苦于以下问题:C# TimeStep类的具体用法?C# TimeStep怎么用?C# TimeStep使用的例子?那么恭喜您, 这里精选的类代码示例或许可以为您提供帮助。
TimeStep类属于FarseerPhysics.Dynamics命名空间,在下文中一共展示了TimeStep类的11个代码示例,这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞,您的评价将有助于我们的系统推荐出更棒的C#代码示例。
示例1: Solve
private void Solve(ref TimeStep step)
{
// Size the island for the worst case.
Island.Reset(BodyList.Count,
ContactManager.ContactCount,
JointList.Count,
ContactManager);
// Clear all the island flags.
foreach (Body b in BodyList)
{
b.Flags &= ~BodyFlags.Island;
}
for (Contact c = ContactManager.ContactList; c != null; c = c.Next)
{
c.Flags &= ~ContactFlags.Island;
}
foreach (Joint j in JointList)
{
j.IslandFlag = false;
}
// Build and simulate all awake islands.
int stackSize = BodyList.Count;
if (stackSize > _stack.Length)
_stack = new Body[Math.Max(_stack.Length*2, stackSize)];
for (int index = BodyList.Count - 1; index >= 0; index--)
{
Body seed = BodyList[index];
if ((seed.Flags & (BodyFlags.Island)) != BodyFlags.None)
{
continue;
}
if (seed.Awake == false || seed.Enabled == false)
{
continue;
}
// The seed can be dynamic or kinematic.
if (seed.BodyType == BodyType.Static)
{
continue;
}
// Reset island and stack.
Island.Clear();
int stackCount = 0;
_stack[stackCount++] = seed;
seed.Flags |= BodyFlags.Island;
// 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];
Debug.Assert(b.Enabled);
Island.Add(b);
// Make sure the body is awake.
b.Awake = true;
// To keep islands as small as possible, we don't
// propagate islands across static bodies.
if (b.BodyType == BodyType.Static)
{
continue;
}
// Search all contacts connected to this body.
for (ContactEdge ce = b.ContactList; ce != null; ce = ce.Next)
{
Contact contact = ce.Contact;
// Has this contact already been added to an island?
if ((contact.Flags & ContactFlags.Island) != ContactFlags.None)
{
continue;
}
// Is this contact solid and touching?
if (!ce.Contact.Enabled || !ce.Contact.IsTouching())
{
continue;
}
// Skip sensors.
bool sensorA = contact.FixtureA.IsSensor;
bool sensorB = contact.FixtureB.IsSensor;
if (sensorA || sensorB)
{
continue;
}
Island.Add(contact);
contact.Flags |= ContactFlags.Island;
Body other = ce.Other;
//.........这里部分代码省略.........
开发者ID:dvgamer,项目名称:GhostLegend-XNA,代码行数:101,代码来源:World.cs
示例2: SolveTOI
/// <summary>
/// Find TOI contacts and solve them.
/// </summary>
/// <param name="step">The step.</param>
private void SolveTOI(ref TimeStep step)
{
Island.Reset(2*Settings.MaxTOIContacts, Settings.MaxTOIContacts, 0, ContactManager);
if (_stepComplete)
{
for (int i = 0; i < BodyList.Count; i++)
{
BodyList[i].Flags &= ~BodyFlags.Island;
BodyList[i].Sweep.Alpha0 = 0.0f;
}
for (Contact c = ContactManager.ContactList; c != null; c = c.Next)
{
// Invalidate TOI
c.Flags &= ~(ContactFlags.TOI | ContactFlags.Island);
c.TOICount = 0;
c.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.Next)
{
// Is this contact disabled?
if (c.Enabled == false)
{
continue;
}
// Prevent excessive sub-stepping.
if (c.TOICount > Settings.MaxSubSteps)
{
continue;
}
float alpha;
if ((c.Flags & ContactFlags.TOI) == ContactFlags.TOI)
{
// This contact has a valid cached TOI.
alpha = c.TOI;
}
else
{
Fixture fA = c.FixtureA;
Fixture fB = c.FixtureB;
// Is there a sensor?
if (fA.IsSensor || fB.IsSensor)
{
continue;
}
Body bA = fA.Body;
Body bB = fB.Body;
BodyType typeA = bA.BodyType;
BodyType typeB = bB.BodyType;
Debug.Assert(typeA == BodyType.Dynamic || typeB == BodyType.Dynamic);
bool awakeA = bA.Awake && typeA != BodyType.Static;
bool awakeB = bB.Awake && typeB != BodyType.Static;
// Is at least one body awake?
if (awakeA == false && awakeB == false)
{
continue;
}
bool collideA = bA.IsBullet || typeA != BodyType.Dynamic;
bool collideB = bB.IsBullet || typeB != BodyType.Dynamic;
// 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.
float alpha0 = bA.Sweep.Alpha0;
if (bA.Sweep.Alpha0 < bB.Sweep.Alpha0)
{
alpha0 = bB.Sweep.Alpha0;
bA.Sweep.Advance(alpha0);
}
else if (bB.Sweep.Alpha0 < bA.Sweep.Alpha0)
{
alpha0 = bA.Sweep.Alpha0;
//.........这里部分代码省略.........
开发者ID:dvgamer,项目名称:GhostLegend-XNA,代码行数:101,代码来源:World.cs
示例3: SolveTOI
internal void SolveTOI(ref TimeStep subStep)
{
_contactSolver.Reset(_contacts, ContactCount, subStep.dtRatio, false);
// Solve position constraints.
const float kTOIBaumgarte = 0.75f;
for (int i = 0; i < Settings.TOIPositionIterations; ++i)
{
bool contactsOkay = _contactSolver.SolvePositionConstraints(kTOIBaumgarte);
if (contactsOkay)
{
break;
}
if (i == Settings.TOIPositionIterations - 1)
{
i += 0;
}
}
// Leap of faith to new safe state.
for (int i = 0; i < BodyCount; ++i)
{
Body body = Bodies[i];
body.Sweep.A0 = body.Sweep.A;
body.Sweep.C0 = body.Sweep.C;
}
// No warm starting is needed for TOI events because warm
// starting impulses were applied in the discrete solver.
_contactSolver.InitializeVelocityConstraints();
// Solve velocity constraints.
for (int i = 0; i < Settings.TOIVelocityIterations; ++i)
{
_contactSolver.SolveVelocityConstraints();
}
// Don't store the TOI contact forces for warm starting
// because they can be quite large.
// Integrate positions.
for (int i = 0; i < BodyCount; ++i)
{
Body b = Bodies[i];
if (b.BodyType == BodyType.Static)
{
continue;
}
// Check for large velocities.
float translationx = subStep.dt * b.LinearVelocityInternal.X;
float translationy = subStep.dt * b.LinearVelocityInternal.Y;
float dot = translationx * translationx + translationy * translationy;
if (dot > Settings.MaxTranslationSquared)
{
float norm = 1f / (float)Math.Sqrt(dot);
float value = Settings.MaxTranslation * subStep.inv_dt;
b.LinearVelocityInternal.X = value * (translationx * norm);
b.LinearVelocityInternal.Y = value * (translationy * norm);
}
float rotation = subStep.dt * b.AngularVelocity;
if (rotation * rotation > Settings.MaxRotationSquared)
{
if (rotation < 0.0)
{
b.AngularVelocityInternal = -subStep.inv_dt * Settings.MaxRotation;
}
else
{
b.AngularVelocityInternal = subStep.inv_dt * Settings.MaxRotation;
}
}
// Integrate
b.Sweep.C.X += subStep.dt * b.LinearVelocityInternal.X;
b.Sweep.C.Y += subStep.dt * b.LinearVelocityInternal.Y;
b.Sweep.A += subStep.dt * b.AngularVelocityInternal;
// Compute new transform
b.SynchronizeTransform();
// Note: shapes are synchronized later.
}
Report(_contactSolver.Constraints);
}
开发者ID:Andrea,项目名称:duality-withsvn-history,代码行数:89,代码来源:Island.cs
示例4: Solve
public void Solve(ref TimeStep step, ref Vector2 gravity)
{
// Integrate velocities and apply damping.
for (int i = 0; i < BodyCount; ++i)
{
Body b = Bodies[i];
if (b.BodyType != BodyType.Dynamic)
{
continue;
}
// Integrate velocities.
// FPE 3 only - Only apply gravity if the body wants it.
if (b.IgnoreGravity)
{
b.LinearVelocityInternal.X += step.dt * (b.InvMass * b.Force.X);
b.LinearVelocityInternal.Y += step.dt * (b.InvMass * b.Force.Y);
b.AngularVelocityInternal += step.dt * b.InvI * b.Torque;
}
else
{
b.LinearVelocityInternal.X += step.dt * (gravity.X + b.InvMass * b.Force.X);
b.LinearVelocityInternal.Y += step.dt * (gravity.Y + b.InvMass * b.Force.Y);
b.AngularVelocityInternal += step.dt * b.InvI * b.Torque;
}
// Apply damping.
// ODE: dv/dt + c * v = 0
// Solution: v(t) = v0 * exp(-c * t)
// Time step: v(t + dt) = v0 * exp(-c * (t + dt)) = v0 * exp(-c * t) * exp(-c * dt) = v * exp(-c * dt)
// v2 = exp(-c * dt) * v1
// Taylor expansion:
// v2 = (1.0f - c * dt) * v1
b.LinearVelocityInternal *= MathUtils.Clamp(1.0f - step.dt * b.LinearDamping, 0.0f, 1.0f);
b.AngularVelocityInternal *= MathUtils.Clamp(1.0f - step.dt * b.AngularDamping, 0.0f, 1.0f);
}
// Partition contacts so that contacts with static bodies are solved last.
int i1 = -1;
for (int i2 = 0; i2 < ContactCount; ++i2)
{
Fixture fixtureA = _contacts[i2].FixtureA;
Fixture fixtureB = _contacts[i2].FixtureB;
Body bodyA = fixtureA.Body;
Body bodyB = fixtureB.Body;
bool nonStatic = bodyA.BodyType != BodyType.Static && bodyB.BodyType != BodyType.Static;
if (nonStatic)
{
++i1;
//TODO: Only swap if they are not the same? see http://code.google.com/p/box2d/issues/detail?id=162
Contact tmp = _contacts[i1];
_contacts[i1] = _contacts[i2];
_contacts[i2] = tmp;
}
}
// Initialize velocity constraints.
_contactSolver.Reset(_contacts, ContactCount, step.dtRatio, Settings.EnableWarmstarting);
_contactSolver.InitializeVelocityConstraints();
if (Settings.EnableWarmstarting)
{
_contactSolver.WarmStart();
}
#if (!SILVERLIGHT)
if (Settings.EnableDiagnostics)
{
_watch.Start();
_tmpTime = 0;
}
#endif
for (int i = 0; i < JointCount; ++i)
{
if (_joints[i].Enabled)
_joints[i].InitVelocityConstraints(ref step);
}
#if (!SILVERLIGHT)
if (Settings.EnableDiagnostics)
{
_tmpTime += _watch.ElapsedTicks;
}
#endif
// Solve velocity constraints.
for (int i = 0; i < Settings.VelocityIterations; ++i)
{
#if (!SILVERLIGHT)
if (Settings.EnableDiagnostics)
_watch.Start();
#endif
for (int j = 0; j < JointCount; ++j)
{
Joint joint = _joints[j];
if (!joint.Enabled)
//.........这里部分代码省略.........
开发者ID:Andrea,项目名称:duality-withsvn-history,代码行数:101,代码来源:Island.cs
示例5: Solve
public void Solve(ref TimeStep step, ref Vector2 gravity)
{
float h = step.dt;
// Integrate velocities and apply damping. Initialize the body state.
for (int i = 0; i < BodyCount; ++i)
{
Body b = Bodies[i];
Vector2 c = b.Sweep.C;
float a = b.Sweep.A;
Vector2 v = b.LinearVelocityInternal;
float w = b.AngularVelocityInternal;
// Store positions for continuous collision.
b.Sweep.C0 = b.Sweep.C;
b.Sweep.A0 = b.Sweep.A;
if (b.BodyType == BodyType.Dynamic)
{
// Integrate velocities.
v += h * (b.GravityScale * gravity + b.InvMass * b.Force);
w += h * b.InvI * b.Torque;
// Apply damping.
// ODE: dv/dt + c * v = 0
// Solution: v(t) = v0 * exp(-c * t)
// Time step: v(t + dt) = v0 * exp(-c * (t + dt)) = v0 * exp(-c * t) * exp(-c * dt) = v * exp(-c * dt)
// v2 = exp(-c * dt) * v1
// Taylor expansion:
// v2 = (1.0f - c * dt) * v1
v *= MathUtils.Clamp(1.0f - h * b.LinearDamping, 0.0f, 1.0f);
w *= MathUtils.Clamp(1.0f - h * b.AngularDamping, 0.0f, 1.0f);
}
_positions[i].c = c;
_positions[i].a = a;
_velocities[i].v = v;
_velocities[i].w = w;
}
// Solver data
SolverData solverData = new SolverData();
solverData.step = step;
solverData.positions = _positions;
solverData.velocities = _velocities;
_contactSolver.Reset(step, ContactCount, _contacts, _positions, _velocities);
_contactSolver.InitializeVelocityConstraints();
if (Settings.EnableWarmstarting)
{
_contactSolver.WarmStart();
}
#if (!SILVERLIGHT && !WINDOWS_PHONE)
if (Settings.EnableDiagnostics)
{
_watch.Start();
_tmpTime = 0;
}
#endif
for (int i = 0; i < JointCount; ++i)
{
//if (_joints[i].Enabled) //TODO: Activate again
_joints[i].InitVelocityConstraints(ref solverData);
}
#if (!SILVERLIGHT && !WINDOWS_PHONE)
if (Settings.EnableDiagnostics)
{
_tmpTime += _watch.ElapsedTicks;
}
#endif
#if (!SILVERLIGHT && !WINDOWS_PHONE)
if (Settings.EnableDiagnostics)
_watch.Start();
#endif
// Solve velocity constraints.
for (int i = 0; i < Settings.VelocityIterations; ++i)
{
for (int j = 0; j < JointCount; ++j)
{
Joint joint = _joints[j];
//if (!joint.Enabled) //TODO: Activate again
// continue;
joint.SolveVelocityConstraints(ref solverData);
//TODO: Move up before solve?
//joint.Validate(step.inv_dt); //TODO: Activate again
}
_contactSolver.SolveVelocityConstraints();
}
//.........这里部分代码省略.........
开发者ID:boris2,项目名称:mmogameproject2,代码行数:101,代码来源:Island.cs
示例6: SolveTOI
internal void SolveTOI(ref TimeStep subStep, int toiIndexA, int toiIndexB, bool warmstarting)
{
Debug.Assert(toiIndexA < BodyCount);
Debug.Assert(toiIndexB < BodyCount);
// Initialize the body state.
for (int i = 0; i < BodyCount; ++i)
{
Body b = Bodies[i];
_positions[i].c = b.Sweep.C;
_positions[i].a = b.Sweep.A;
_velocities[i].v = b.LinearVelocityInternal;
_velocities[i].w = b.AngularVelocityInternal;
}
_contactSolver.Reset(subStep, ContactCount, _contacts, _positions, _velocities, warmstarting);
// Solve position constraints.
for (int i = 0; i < Settings.TOIPositionIterations; ++i)
{
bool contactsOkay = _contactSolver.SolveTOIPositionConstraints(toiIndexA, toiIndexB);
if (contactsOkay)
{
break;
}
}
// Leap of faith to new safe state.
Bodies[toiIndexA].Sweep.C0 = _positions[toiIndexA].c;
Bodies[toiIndexA].Sweep.A0 = _positions[toiIndexA].a;
Bodies[toiIndexB].Sweep.C0 = _positions[toiIndexB].c;
Bodies[toiIndexB].Sweep.A0 = _positions[toiIndexB].a;
// No warm starting is needed for TOI events because warm
// starting impulses were applied in the discrete solver.
_contactSolver.InitializeVelocityConstraints();
// Solve velocity constraints.
for (int i = 0; i < Settings.TOIVelocityIterations; ++i)
{
_contactSolver.SolveVelocityConstraints();
}
// Don't store the TOI contact forces for warm starting
// because they can be quite large.
float h = subStep.dt;
// Integrate positions.
for (int i = 0; i < BodyCount; ++i)
{
Vector2 c = _positions[i].c;
float a = _positions[i].a;
Vector2 v = _velocities[i].v;
float w = _velocities[i].w;
// Check for large velocities
Vector2 translation = h * v;
if (Vector2.Dot(translation, translation) > Settings.MaxTranslationSquared)
{
float ratio = Settings.MaxTranslation / translation.Length();
v *= ratio;
}
float rotation = h * w;
if (rotation * rotation > Settings.MaxRotationSquared)
{
float ratio = Settings.MaxRotation / Math.Abs(rotation);
w *= ratio;
}
// Integrate
c += h * v;
a += h * w;
_positions[i].c = c;
_positions[i].a = a;
_velocities[i].v = v;
_velocities[i].w = w;
// Sync bodies
Body body = Bodies[i];
body.Sweep.C = c;
body.Sweep.A = a;
body.LinearVelocityInternal = v;
body.AngularVelocityInternal = w;
body.SynchronizeTransform();
}
Report(_contactSolver._velocityConstraints);
}
开发者ID:boris2,项目名称:mmogameproject2,代码行数:91,代码来源:Island.cs
示例7: SolveTOI
private void SolveTOI(ref TimeStep step)
{
Island.Reset(2 * Settings.MaxTOIContacts, Settings.MaxTOIContacts, 0, ContactManager);
#if OPTIMIZE_TOI
bool wasStepComplete = _stepComplete;
#endif
if (_stepComplete)
{
#if OPTIMIZE_TOI
foreach (var b in TOISet)
{
b.Flags &= ~BodyFlags.Island;
b.Sweep.Alpha0 = 0.0f;
}
#else
for (int i = 0; i < BodyList.Count; i++)
{
BodyList[i]._island = false;
BodyList[i]._sweep.Alpha0 = 0.0f;
}
#endif
#if USE_ACTIVE_CONTACT_SET
foreach (var c in ContactManager.ActiveContacts)
{
#else
for (int i = 0; i < ContactManager.ContactList.Count; i++)
{
Contact c = ContactManager.ContactList[i];
#endif
// Invalidate TOI
c.IslandFlag = false;
c.TOIFlag = false;
c._toiCount = 0;
c._toi = 1.0f;
}
}
// Find TOI events and solve them.
for (; ; )
{
// Find the first TOI.
Contact minContact = null;
float minAlpha = 1.0f;
#if USE_ACTIVE_CONTACT_SET
foreach (var c in ContactManager.ActiveContacts)
{
#else
for (int i = 0; i < ContactManager.ContactList.Count; i++)
{
Contact c = ContactManager.ContactList[i];
#endif
// Is this contact disabled?
if (c.Enabled == false)
{
continue;
}
// Prevent excessive sub-stepping.
if (c._toiCount > Settings.MaxSubSteps)
{
continue;
}
float alpha;
if (c.TOIFlag)
{
// This contact has a valid cached TOI.
alpha = c._toi;
}
else
{
Fixture fA = c.FixtureA;
Fixture fB = c.FixtureB;
// Is there a sensor?
if (fA.IsSensor || fB.IsSensor)
{
continue;
}
Body bA = fA.Body;
Body bB = fB.Body;
BodyType typeA = bA.BodyType;
BodyType typeB = bB.BodyType;
Debug.Assert(typeA == BodyType.Dynamic || typeB == BodyType.Dynamic);
bool activeA = bA.Awake && typeA != BodyType.Static;
bool activeB = bB.Awake && typeB != BodyType.Static;
// Is at least one body active (awake and dynamic or kinematic)?
if (activeA == false && activeB == false)
{
continue;
}
bool collideA = (bA.IsBullet || typeA != BodyType.Dynamic) && ((fA.IgnoreCCDWith & fB.CollisionCategories) == 0);
//.........这里部分代码省略.........
开发者ID:Alexz18z35z,项目名称:Gibbo2D,代码行数:101,代码来源:World.cs
示例8: Solve
private void Solve(ref TimeStep step)
{
// Size the island for the worst case.
Island.Reset(BodyList.Count,
ContactManager.ContactList.Count,
JointList.Count,
ContactManager);
// Clear all the island flags.
#if USE_ISLAND_SET
Debug.Assert(IslandSet.Count == 0);
#else
foreach (Body b in BodyList)
{
b._island = false;
}
#endif
#if USE_ACTIVE_CONTACT_SET
foreach (var c in ContactManager.ActiveContacts)
{
c.Flags &= ~ContactFlags.Island;
}
#else
foreach (Contact c in ContactManager.ContactList)
{
c.IslandFlag = false;
}
#endif
foreach (Joint j in JointList)
{
j.IslandFlag = false;
}
// Build and simulate all awake islands.
int stackSize = BodyList.Count;
if (stackSize > _stack.Length)
_stack = new Body[Math.Max(_stack.Length * 2, stackSize)];
#if USE_AWAKE_BODY_SET
// If AwakeBodyList is empty, the Island code will not have a chance
// to update the diagnostics timer so reset the timer here.
Island.JointUpdateTime = 0;
Debug.Assert(AwakeBodyList.Count == 0);
AwakeBodyList.AddRange(AwakeBodySet);
foreach (var seed in AwakeBodyList)
{
#else
for (int index = BodyList.Count - 1; index >= 0; index--)
{
Body seed = BodyList[index];
#endif
if (seed._island)
{
continue;
}
if (seed.Awake == false || seed.Enabled == false)
{
continue;
}
// The seed can be dynamic or kinematic.
if (seed.BodyType == BodyType.Static)
{
continue;
}
// Reset island and stack.
Island.Clear();
int stackCount = 0;
_stack[stackCount++] = seed;
#if USE_ISLAND_SET
if (!IslandSet.Contains(body))
IslandSet.Add(body);
#endif
seed._island = true;
// 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];
Debug.Assert(b.Enabled);
Island.Add(b);
// Make sure the body is awake.
b.Awake = true;
// To keep islands as small as possible, we don't
// propagate islands across static bodies.
if (b.BodyType == BodyType.Static)
{
continue;
}
//.........这里部分代码省略.........
开发者ID:Alexz18z35z,项目名称:Gibbo2D,代码行数:101,代码来源:World.cs
示例9: Solve
public void Solve(ref TimeStep step, Vector2 gravity)
{
// Integrate velocities and apply damping.
for (int i = 0; i < BodyCount; ++i)
{
Body b = Bodies[i];
if (b.BodyType != BodyType.Dynamic)
{
continue;
}
// Integrate velocities. Only apply gravity if the body wants it.
if (b.IgnoreGravity)
{
b.LinearVelocityInternal += step.dt * (b.InvMass * b.Force);
b.AngularVelocityInternal += step.dt * b.InvI * b.Torque;
}
else
{
b.LinearVelocityInternal += step.dt * (gravity + b.InvMass * b.Force);
b.AngularVelocityInternal += step.dt * b.InvI * b.Torque;
}
// Apply damping.
// ODE: dv/dt + c * v = 0
// Solution: v(t) = v0 * exp(-c * t)
// Time step: v(t + dt) = v0 * exp(-c * (t + dt)) = v0 * exp(-c * t) * exp(-c * dt) = v * exp(-c * dt)
// v2 = exp(-c * dt) * v1
// Taylor expansion:
// v2 = (1.0f - c * dt) * v1
b.LinearVelocityInternal *= MathUtils.Clamp(1.0f - step.dt * b.LinearDamping, 0.0f, 1.0f);
b.AngularVelocityInternal *= MathUtils.Clamp(1.0f - step.dt * b.AngularDamping, 0.0f, 1.0f);
}
// Partition contacts so that contacts with static bodies are solved last.
int i1 = -1;
for (int i2 = 0; i2 < ContactCount; ++i2)
{
Fixture fixtureA = _contacts[i2].FixtureA;
Fixture fixtureB = _contacts[i2].FixtureB;
Body bodyA = fixtureA.Body;
Body bodyB = fixtureB.Body;
bool nonStatic = bodyA.BodyType != BodyType.Static && bodyB.BodyType != BodyType.Static;
if (nonStatic)
{
++i1;
// b2Swap(_contacts[i1], _contacts[i2]);
Contact temp = _contacts[i1];
_contacts[i1] = _contacts[i2];
_contacts[i2] = temp;
}
}
// Initialize velocity constraints.
_contactSolver.Reset(_contacts, ContactCount, step.dtRatio);
_contactSolver.WarmStart();
for (int i = 0; i < JointCount; ++i)
{
_joints[i].InitVelocityConstraints(ref step);
}
// Solve velocity constraints.
for (int i = 0; i < Settings.VelocityIterations; ++i)
{
for (int j = 0; j < JointCount; ++j)
{
_joints[j].SolveVelocityConstraints(ref step);
}
_contactSolver.SolveVelocityConstraints();
}
// Post-solve (store impulses for warm starting).
_contactSolver.StoreImpulses();
// Integrate positions.
for (int i = 0; i < BodyCount; ++i)
{
Body b = Bodies[i];
if (b.BodyType == BodyType.Static)
{
continue;
}
// Check for large velocities.
Vector2 translation = step.dt * b.LinearVelocityInternal;
if (Vector2.Dot(translation, translation) > Settings.MaxTranslationSquared)
{
float ratio = Settings.MaxTranslation / translation.Length();
b.LinearVelocityInternal *= ratio;
}
float rotation = step.dt * b.AngularVelocityInternal;
if (rotation * rotation > Settings.MaxRotationSquared)
{
float ratio = Settings.MaxRotation / Math.Abs(rotation);
b.AngularVelocityInternal *= ratio;
//.........这里部分代码省略.........
开发者ID:scastle,项目名称:Solitude,代码行数:101,代码来源:Island.cs
示例10: solve
void solve( ref TimeStep timeStep )
{
// Size the island for the worst case.
island.reset( bodyList.Count,
contactManager.contactList.Count,
jointList.Count,
contactManager );
// Clear all the island flags.
#if USE_ISLAND_SET
Debug.Assert(IslandSet.Count == 0);
#else
foreach( Body b in bodyList )
{
b._island = false;
}
#endif
#if USE_ACTIVE_CONTACT_SET
foreach (var c in ContactManager.ActiveContacts)
{
c.Flags &= ~ContactFlags.Island;
}
#else
foreach( Contact c in contactManager.contactList )
{
c.islandFlag = false;
}
#endif
foreach( Joint j in jointList )
{
j.islandFlag = false;
}
// Build and simulate all awake islands.
var stackSize = bodyList.Count;
if( stackSize > _stack.Length )
_stack = new Body[Math.Max( _stack.Length * 2, stackSize )];
#if USE_AWAKE_BODY_SET
// If AwakeBodyList is empty, the Island code will not have a chance
// to update the diagnostics timer so reset the timer here.
Island.JointUpdateTime = 0;
Debug.Assert(AwakeBodyList.Count == 0);
AwakeBodyList.AddRange(AwakeBodySet);
foreach (var seed in AwakeBodyList)
{
#else
for( int index = bodyList.Count - 1; index >= 0; index-- )
{
Body seed = bodyList[index];
#endif
if( seed._island )
continue;
if( seed.isAwake == false || seed.enabled == false )
continue;
// The seed can be dynamic or kinematic.
if( seed.bodyType == BodyType.Static )
continue;
// Reset island and stack.
island.clear();
int stackCount = 0;
_stack[stackCount++] = seed;
#if USE_ISLAND_SET
if (!IslandSet.Contains(body))
IslandSet.Add(body);
#endif
seed._island = true;
// 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.
var b = _stack[--stackCount];
Debug.Assert( b.enabled );
island.add( b );
// Make sure the body is awake.
b.isAwake = true;
// To keep islands as small as possible, we don't
// propagate islands across static bodies.
if( b.bodyType == BodyType.Static )
continue;
// Search all contacts connected to this body.
for( ContactEdge ce = b.contactList; ce != null; ce = ce.next )
{
Contact contact = ce.contact;
// Has this contact already been added to an island?
if( contact.islandFlag )
continue;
//.........这里部分代码省略.........
开发者ID:prime31,项目名称:Nez,代码行数:101,代码来源:World.cs
示例11: solve
public void solve( ref TimeStep step, ref Vector2 gravity )
{
float h = step.dt;
// Integrate velocities and apply damping. Initialize the body state.
for( int i = 0; i < BodyCount; ++i )
{
var b = Bodies[i];
var c = b._sweep.C;
float a = b._sweep.A;
var v = b._linearVelocity;
float w = b._angularVelocity;
// Store positions for continuous collision.
b._sweep.C0 = b._sweep.C;
b._sweep.A0 = b._sweep.A;
if( b.bodyType == BodyType.Dynamic )
{
// Integrate velocities.
// FPE: Only apply gravity if the body wants it.
if( b.ignoreGravity )
v += h * ( b._invMass * b._force );
else
v += h * ( b.gravityScale * gravity + b._invMass * b._force );
w += h * b._invI * b._torque;
// Apply damping.
// ODE: dv/dt + c * v = 0
// Solution: v(t) = v0 * exp(-c * t)
// Time step: v(t + dt) = v0 * exp(-c * (t + dt)) = v0 * exp(-c * t) * exp(-c * dt) = v * exp(-c * dt)
// v2 = exp(-c * dt) * v1
// Taylor expansion:
// v2 = (1.0f - c * dt) * v1
v *= MathUtils.clamp( 1.0f - h * b.linearDamping, 0.0f, 1.0f );
w *= MathUtils.clamp( 1.0f - h * b.angularDamping, 0.0f, 1.0f );
}
_positions[i].c = c;
_positions[i].a = a;
_velocities[i].v = v;
_velocities[i].w = w;
}
// Solver data
SolverData solverData = new SolverData();
solverData.step = step;
solverData.positions = _positions;
solverData.velocities = _velocities;
_contactSolver.reset( step, ContactCount, _contacts, _positions, _velocities );
_contactSolver.initializeVelocityConstraints();
if( Settings.enableWarmstarting )
{
_contactSolver.warmStart();
}
if( Settings.enableDiagnostics )
_watch.Start();
for( int i = 0; i < JointCount; ++i )
{
if( _joints[i].enabled )
_joints[i].initVelocityConstraints( ref solverData );
}
if( Settings.enableDiagnostics )
_watch.Stop();
// Solve velocity constraints.
for( int i = 0; i < Settings.velocityIterations; ++i )
{
for( int j = 0; j < JointCount; ++j )
{
Joint joint = _joints[j];
if( !joint.enabled )
continue;
if( Settings.enableDiagnostics )
_watch.Start();
joint.solveVelocityConstraints( ref solverData );
joint.validate( step.inv_dt );
if( Settings.enableDiagnostics )
_watch.Stop();
}
_contactSolver.solveVelocityConstraints();
}
// Store impulses for warm starting.
_contactSolver.storeImpulses();
// Integrate positions
//.........这里部分代码省略.........
开发者ID:prime31,项目名称:Nez,代码行数:101,代码来源:Island.cs
注:本文中的FarseerPhysics.Dynamics.TimeStep类示例由纯净天空整理自Github/MSDocs等源码及文档管理平台,相关代码片段筛选自各路编程大神贡献的开源项目,源码版权归原作者所有,传播和使用请参考对应项目的License;未经允许,请勿转载。 |
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