@@ -5,6 +5,7 @@ import vecmath._ import vecmath.Preamble._ import contacts._ import joints._ +import controllers._ object BodyFlags { val frozen = 0x0002 @@ -39,7 +40,13 @@ final class Body(bd: BodyDef, val world: World) { var contactList: List[ContactEdge] = Nil var jointList: List[JointEdge] = Nil - + + // The body will be removed from these controllers when it is destroyed + private[dynamics] val managingControllers = + collection.mutable.Set[Controller with SelfManagedBodies]() + // These controllers will be removed from the world with the body + private[dynamics] val dependentControllers = collection.mutable.Set[Controller]() + private[this] var _transform = Transform2(bd.pos, Matrix22.rotation(bd.angle)) def pos = _transform.pos /** The swept motion for CCD */ scalabox2d/src/main/scala/org/villane/box2d/dynamics/Body.scala @@ -2,6 +2,7 @@ package org.villane.box2d.dynamics import shapes.Shape import joints.Joint +import controllers.Controller /** * Joints and shapes are destroyed when their associated @@ -20,4 +21,10 @@ trait DestructionListener { * to the destruction of its parent body. */ def sayGoodbye(fixture: Fixture) + + /** + * Called when any controller is about to be destroyed due + * to the destruction of its parent body. + */ + def sayGoodbye(controller: Controller) } scalabox2d/src/main/scala/org/villane/box2d/dynamics/DestructionListener.scala @@ -80,21 +80,26 @@ class World(val aabb: AABB, var gravity: Vector2, doSleep: Boolean) { // Delete the attached joints. for (jn <- b.jointList) { - if (destructionListener != null) { - destructionListener.sayGoodbye(jn.joint) - } + if (destructionListener != null) destructionListener.sayGoodbye(jn.joint) destroyJoint(jn.joint) } // Delete the attached shapes. This destroys broad-phase // proxies and pairs, leading to the destruction of contacts. for (f <- b.fixtures) { - if (destructionListener != null) { - destructionListener.sayGoodbye(f) - } + if (destructionListener != null) destructionListener.sayGoodbye(f) f.destroyProxy(broadPhase) } + // Remove the body from controllers + for (c <- b.managingControllers) c.removeBody(b) + + // Remove dependent controllers from the world + for (c <- b.dependentControllers) { + if (destructionListener != null) destructionListener.sayGoodbye(c) + removeController(c) + } + bodyList -= b } @@ -167,7 +172,15 @@ class World(val aabb: AABB, var gravity: Vector2, doSleep: Boolean) { } def addController(c: Controller) = controllers += c - def removeController(c: Controller) = controllers -= c + + def removeController(c: Controller) = { + c match { + case ctrl: SelfManagedBodies => + for (b <- ctrl.bodies) b.managingControllers -= ctrl + case _ => + } + controllers -= c + } /** * Take a time step. This performs collision detection, integration, @@ -186,15 +199,11 @@ class World(val aabb: AABB, var gravity: Vector2, doSleep: Boolean) { // Update contacts. contactManager.collide() - // Integrate velocities, solve velocity constraints, and integrate positions.} - if (step.dt > 0f) { - solve(step) - } + // Integrate velocities, solve velocity constraints, and integrate positions. + if (step.dt > 0f) solve(step) // Handle TOI events. - if (continuousPhysics && step.dt > 0f) { - solveTOI(step) - } + if (continuousPhysics && step.dt > 0f) solveTOI(step) if (step.dt > 0f) invDt0 = step.invDt lock = false scalabox2d/src/main/scala/org/villane/box2d/dynamics/World.scala @@ -5,24 +5,54 @@ import vecmath.Preamble._ import collection.Set +/** + * Base trait for controllers. + * Controllers are a convience for encapsulating common per-step functionality. + */ trait Controller { + /** The list of bodies that this controller applies to. */ def bodies: Set[Body] + /** This is called on each world step after updating contacts. */ def step(step: TimeStep) + /** Iterate over awake bodies. */ protected def forAwakeBodies(f: Body => Unit) = for (body <- bodies) if (!body.isSleeping) f(body) } +/** + * Controllers should mix this in if they don't have their own body list but + * want to rely on contacts generated by + */ trait SensorManagedBodies extends Controller { - var sensor: Body = null - def bodies: Set[Body] = Set() ++ - // Filter edges with no actual contacts - sensor.contactList filter { !_.contact.manifolds.isEmpty } map { _.other } + + // TODO make this immutable when Scala supports trait params + private[this] var _sensor: Body = null + /** + * The sensor body that owns this controller. If the sensor is destoryed, + * the controller is destroyed too. + */ + def sensor = _sensor + def sensor_=(body: Body) = { + if (_sensor != null) _sensor.dependentControllers -= this + _sensor = body + if (_sensor != null) _sensor.dependentControllers += this + } + + def bodies: Set[Body] = + if (_sensor == null) + Set() + else + Set() ++ _sensor.contactList filter (!_.contact.manifolds.isEmpty) map (_.other) + } +/** + * Controllers should mix this in if they manage their own list of bodies. + */ trait SelfManagedBodies extends Controller { private[this] val _bodies = collection.mutable.Set[Body]() @@ -31,10 +61,12 @@ trait SelfManagedBodies extends Controller { def addBody(body: Body) = { _bodies += body + body.managingControllers += this } def removeBody(body: Body) = { _bodies -= body + body.managingControllers -= this } -} \ No newline at end of file +} scalabox2d/src/main/scala/org/villane/box2d/dynamics/controllers/Controller.scala 0737bde71cf1acaaabf3c8473228e711b8e1c45c Erkki Lindpere villane@gmail.com http://github.com/Villane/scalabox2d/commit/6ad24887524719a8128cd0ef219512856d4e0f1e 6ad24887524719a8128cd0ef219512856d4e0f1e 2009-06-23T19:15:45-07:00 2009-06-23T19:15:45-07:00 Implemented SelfManagedBodies controllers (not tested) f33e5dd5609e34bf7b6c4448d7878f8cd476eb57 Erkki Lindpere villane@gmail.com