CCRigidBody.js

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const NodeEvent = require('../CCNode').EventType;
var PTM_RATIO = require('./CCPhysicsTypes').PTM_RATIO;
var ANGLE_TO_PHYSICS_ANGLE = require('./CCPhysicsTypes').ANGLE_TO_PHYSICS_ANGLE;
var PHYSICS_ANGLE_TO_ANGLE = require('./CCPhysicsTypes').PHYSICS_ANGLE_TO_ANGLE;

var getWorldRotation = require('./utils').getWorldRotation;
var BodyType = require('./CCPhysicsTypes').BodyType;

var tempb2Vec21 = new b2.Vec2();
var tempb2Vec22 = new b2.Vec2();

var VEC2_ZERO = cc.Vec2.ZERO;

/**
 * @class RigidBody
 * @extends Component
 */
var RigidBody = cc.Class({
    name: 'cc.RigidBody',
    extends: cc.Component,

    editor: CC_EDITOR && {
        menu: 'i18n:MAIN_MENU.component.physics/Rigid Body',
        help: 'i18n:COMPONENT.help_url.rigidbody',
        disallowMultiple: true
    },

    properties: {
        _type: BodyType.Dynamic,
        _allowSleep: true,
        _gravityScale: 1,
        _linearDamping: 0,
        _angularDamping: 0,
        _linearVelocity: cc.v2(0, 0),
        _angularVelocity: 0,
        _fixedRotation: false,

        enabled: {
            get: function () {
                return this._enabled;
            },
            set: function () {
                cc.warnID(8200);
            },
            visible: false,
            override: true
        },

        /**
         * !#en
         * Should enabled contact listener?
         * When a collision is trigger, the collision callback will only be called when enabled contact listener.
         * !#zh
         * 是否启用接触接听器。
         * 当 collider 产生碰撞时，只有开启了接触接听器才会调用相应的回调函数
         * @property {Boolean} enabledContactListener
         * @default false
         */
        enabledContactListener: {
            default: false,
            tooltip: CC_DEV && 'i18n:COMPONENT.physics.rigidbody.enabledContactListener'
        },

        /**
         * !#en
         * Collision callback.
         * Called when two collider begin to touch.
         * !#zh
         * 碰撞回调。
         * 如果你的脚本中实现了这个函数，那么它将会在两个碰撞体开始接触时被调用。
         * @method onBeginContact
         * @param {PhysicsContact} contact - contact information
         * @param {PhysicsCollider} selfCollider - the collider belong to this rigidbody
         * @param {PhysicsCollider} otherCollider - the collider belong to another rigidbody
         */
        /**
         * !#en
         * Collision callback.
         * Called when two collider cease to touch.
         * !#zh
         * 碰撞回调。
         * 如果你的脚本中实现了这个函数，那么它将会在两个碰撞体停止接触时被调用。
         * @method onEndContact
         * @param {PhysicsContact} contact - contact information
         * @param {PhysicsCollider} selfCollider - the collider belong to this rigidbody
         * @param {PhysicsCollider} otherCollider - the collider belong to another rigidbody
         */
        /**
         * !#en
         * Collision callback.
         * This is called when a contact is updated. 
         * This allows you to inspect a contact before it goes to the solver(e.g. disable contact).
	     * Note: this is called only for awake bodies.
	     * Note: this is called even when the number of contact points is zero.
	     * Note: this is not called for sensors.
         * !#zh
         * 碰撞回调。
         * 如果你的脚本中实现了这个函数，那么它将会在接触更新时被调用。
         * 你可以在接触被处理前根据他包含的信息作出相应的处理，比如将这个接触禁用掉。
         * 注意：回调只会为醒着的刚体调用。
         * 注意：接触点为零的时候也有可能被调用。
         * 注意：感知体(sensor)的回调不会被调用。
         * @method onPreSolve
         * @param {PhysicsContact} contact - contact information
         * @param {PhysicsCollider} selfCollider - the collider belong to this rigidbody
         * @param {PhysicsCollider} otherCollider - the collider belong to another rigidbody
         */
        /**
         * !#en
         * Collision callback.
         * This is called after a contact is updated. 
         * You can get the impulses from the contact in this callback.
         * !#zh
         * 碰撞回调。
         * 如果你的脚本中实现了这个函数，那么它将会在接触更新完后被调用。
         * 你可以在这个回调中从接触信息中获取到冲量信息。
         * @method onPostSolve
         * @param {PhysicsContact} contact - contact information
         * @param {PhysicsCollider} selfCollider - the collider belong to this rigidbody
         * @param {PhysicsCollider} otherCollider - the collider belong to another rigidbody
         */
        
        /**
         * !#en
         * Is this a fast moving body that should be prevented from tunneling through
         * other moving bodies? 
         * Note : 
         * - All bodies are prevented from tunneling through kinematic and static bodies. This setting is only considered on dynamic bodies.
         * - You should use this flag sparingly since it increases processing time.
         * !#zh
         * 这个刚体是否是一个快速移动的刚体，并且需要禁止穿过其他快速移动的刚体？
         * 需要注意的是 : 
         *  - 所有刚体都被禁止从 运动刚体 和 静态刚体 中穿过。此选项只关注于 动态刚体。
         *  - 应该尽量少的使用此选项，因为它会增加程序处理时间。
         * @property {Boolean} bullet
         * @default false
         */
        bullet: {
            default: false,
            tooltip: CC_DEV && 'i18n:COMPONENT.physics.rigidbody.bullet'
        },

        /**
         * !#en
         * Rigidbody type : Static, Kinematic, Dynamic or Animated.
         * !#zh
         * 刚体类型： Static, Kinematic, Dynamic or Animated.
         * @property {RigidBodyType} type
         * @default RigidBodyType.Dynamic
         */        
        type: {
            type: BodyType,
            tooltip: CC_DEV && 'i18n:COMPONENT.physics.rigidbody.type',
            get: function () {
                return this._type;
            },
            set: function (value) {
                this._type = value;

                if (this._b2Body) {
                    if (value === BodyType.Animated) {
                        this._b2Body.SetType(BodyType.Kinematic);
                    }
                    else {
                        this._b2Body.SetType(value);
                    }
                }
            }
        },

        /**
         * !#en
         * Set this flag to false if this body should never fall asleep.
         * Note that this increases CPU usage.
         * !#zh
         * 如果此刚体永远都不应该进入睡眠，那么设置这个属性为 false。
         * 需要注意这将使 CPU 占用率提高。
         * @property {Boolean} allowSleep
         * @default true
         */
        allowSleep: {
            tooltip: CC_DEV && 'i18n:COMPONENT.physics.rigidbody.allowSleep',
            get: function () {
                if (this._b2Body) {
                    return this._b2Body.IsSleepingAllowed();
                }
                return this._allowSleep;
            },
            set: function (value) {
                this._allowSleep = value;

                if (this._b2Body) {
                    this._b2Body.SetSleepingAllowed(value);
                }
            }
        },

        /**
         * !#en 
         * Scale the gravity applied to this body.
         * !#zh
         * 缩放应用在此刚体上的重力值
         * @property {Number} gravityScale
         * @default 1
         */
        gravityScale: {
            tooltip: CC_DEV && 'i18n:COMPONENT.physics.rigidbody.gravityScale',
            get: function () {
                return this._gravityScale;
            },
            set: function (value) {
                this._gravityScale = value;
                if (this._b2Body) {
                    this._b2Body.SetGravityScale(value);
                }
            }
        },

        /**
         * !#en
         * Linear damping is use to reduce the linear velocity.
         * The damping parameter can be larger than 1, but the damping effect becomes sensitive to the
         * time step when the damping parameter is large.
         * !#zh
         * Linear damping 用于衰减刚体的线性速度。衰减系数可以大于 1，但是当衰减系数比较大的时候，衰减的效果会变得比较敏感。
         * @property {Number} linearDamping
         * @default 0
         */
        linearDamping: {
            tooltip: CC_DEV && 'i18n:COMPONENT.physics.rigidbody.linearDamping',
            get: function () {
                return this._linearDamping;
            },
            set: function (value) {
                this._linearDamping = value;
                if (this._b2Body) {
                    this._b2Body.SetLinearDamping(this._linearDamping);
                }
            }
        },

        /**
         * !#en
         * Angular damping is use to reduce the angular velocity. The damping parameter
         * can be larger than 1 but the damping effect becomes sensitive to the
         * time step when the damping parameter is large.
         * !#zh
         * Angular damping 用于衰减刚体的角速度。衰减系数可以大于 1，但是当衰减系数比较大的时候，衰减的效果会变得比较敏感。
         * @property {Number} angularDamping
         * @default 0
         */
        angularDamping: {
            tooltip: CC_DEV && 'i18n:COMPONENT.physics.rigidbody.angularDamping',
            get: function () {
                return this._angularDamping;
            },
            set: function (value) {
                this._angularDamping = value;
                if (this._b2Body) {
                    this._b2Body.SetAngularDamping(value);
                }
            }
        },

        /**
         * !#en
         * The linear velocity of the body's origin in world co-ordinates.
         * !#zh
         * 刚体在世界坐标下的线性速度
         * @property {Vec2} linearVelocity
         * @default cc.v2(0,0)
         */
        linearVelocity: {
            tooltip: CC_DEV && 'i18n:COMPONENT.physics.rigidbody.linearVelocity',
            type: cc.Vec2,
            get: function () {
                var lv = this._linearVelocity;
                if (this._b2Body) {
                    var velocity = this._b2Body.GetLinearVelocity();
                    lv.x = velocity.x*PTM_RATIO;
                    lv.y = velocity.y*PTM_RATIO;
                }
                return lv;
            },
            set: function (value) {
                this._linearVelocity = value;
                var b2body = this._b2Body;
                if (b2body) {
                    var temp = b2body.m_linearVelocity;
                    temp.Set(value.x/PTM_RATIO, value.y/PTM_RATIO);
                    b2body.SetLinearVelocity(temp);
                }
            }
        },

        /**
         * !#en
         * The angular velocity of the body.
         * !#zh
         * 刚体的角速度
         * @property {Number} angularVelocity
         * @default 0
         */
        angularVelocity: {
            tooltip: CC_DEV && 'i18n:COMPONENT.physics.rigidbody.angularVelocity',
            get: function () {
                if (this._b2Body) {
                    return this._b2Body.GetAngularVelocity() * PHYSICS_ANGLE_TO_ANGLE;
                }
                return this._angularVelocity;
            },
            set: function (value) {
                this._angularVelocity = value;
                if (this._b2Body) {
                    this._b2Body.SetAngularVelocity( value * ANGLE_TO_PHYSICS_ANGLE );
                }
            }
        },

        /**
         * !#en
         * Should this body be prevented from rotating?
         * !#zh
         * 是否禁止此刚体进行旋转
         * @property {Boolean} fixedRotation
         * @default false
         */
        fixedRotation: {
            tooltip: CC_DEV && 'i18n:COMPONENT.physics.rigidbody.fixedRotation',
            get: function () {
                return this._fixedRotation;
            },
            set: function (value) {
                this._fixedRotation = value;
                if (this._b2Body) {
                    this._b2Body.SetFixedRotation(value);
                }
            }
        },

        /**
         * !#en
         * Set the sleep state of the body. A sleeping body has very low CPU cost.(When the rigid body is hit, if the rigid body is in sleep state, it will be immediately awakened.)
         * !#zh
         * 设置刚体的睡眠状态。 睡眠的刚体具有非常低的 CPU 成本。（当刚体被碰撞到时，如果刚体处于睡眠状态，它会立即被唤醒）
         * @property {Boolean} awake
         * @default false
         */
        awake: {
            visible: false,
            tooltip: CC_DEV && 'i18n:COMPONENT.physics.rigidbody.awake',
            get: function () {
                return this._b2Body ? this._b2Body.IsAwake() : false;
            },
            set: function (value) {
                if (this._b2Body) {
                    this._b2Body.SetAwake( value );
                }
            }
        },

        /**
         * !#en
         * Whether to wake up this rigid body during initialization
         * !#zh
         * 是否在初始化时唤醒此刚体
         * @property {Boolean} awakeOnLoad
         * @default true
         */
        awakeOnLoad: {
            default: true,
            tooltip: CC_DEV && 'i18n:COMPONENT.physics.rigidbody.awakeOnLoad',
            animatable: false,
        },

        /**
         * !#en
         * Set the active state of the body. An inactive body is not
	     * simulated and cannot be collided with or woken up.
	     * If body is active, all fixtures will be added to the
	     * broad-phase.
	     * If body is inactive, all fixtures will be removed from
	     * the broad-phase and all contacts will be destroyed.
	     * Fixtures on an inactive body are implicitly inactive and will
	     * not participate in collisions, ray-casts, or queries.
	     * Joints connected to an inactive body are implicitly inactive.
         * !#zh
         * 设置刚体的激活状态。一个非激活状态下的刚体是不会被模拟和碰撞的，不管它是否处于睡眠状态下。
         * 如果刚体处于激活状态下，所有夹具会被添加到 粗测阶段（broad-phase）。
         * 如果刚体处于非激活状态下，所有夹具会被从 粗测阶段（broad-phase）中移除。
         * 在非激活状态下的夹具不会参与到碰撞，射线，或者查找中
         * 链接到非激活状态下刚体的关节也是非激活的。
         * @property {Boolean} active
         * @default true
         */
        active: {
            visible: false,
            get: function () {
                return this._b2Body ? this._b2Body.IsActive() : false;
            },
            set: function (value) {
                if (this._b2Body) {
                    this._b2Body.SetActive(value);
                }
            }
        }
    },

    /**
     * !#en
     * Converts a given point in the world coordinate system to this rigid body's local coordinate system
     * !#zh
     * 将一个给定的世界坐标系下的点转换为刚体本地坐标系下的点
     * @method getLocalPoint
     * @param {Vec2} worldPoint - a point in world coordinates.
     * @param {Vec2} out - optional, the receiving point
     * @return {Vec2} the corresponding local point relative to the body's origin.
     */
    getLocalPoint: function (worldPoint, out) {
        out = out || cc.v2();
        if (this._b2Body) {
            tempb2Vec21.Set(worldPoint.x/PTM_RATIO, worldPoint.y/PTM_RATIO);
            var pos = this._b2Body.GetLocalPoint(tempb2Vec21, out);
            out.x = pos.x*PTM_RATIO;
            out.y = pos.y*PTM_RATIO;
        }
        return out;
    },

    /**
     * !#en
     * Converts a given point in this rigid body's local coordinate system to the world coordinate system
     * !#zh
     * 将一个给定的刚体本地坐标系下的点转换为世界坐标系下的点
     * @method getWorldPoint
     * @param {Vec2} localPoint - a point in local coordinates.
     * @param {Vec2} out - optional, the receiving point
     * @return {Vec2} the same point expressed in world coordinates.
     */
    getWorldPoint: function (localPoint, out) {
        out = out || cc.v2();
        if (this._b2Body) {
            tempb2Vec21.Set(localPoint.x/PTM_RATIO, localPoint.y/PTM_RATIO);
            var pos = this._b2Body.GetWorldPoint(tempb2Vec21, out);
            out.x = pos.x*PTM_RATIO;
            out.y = pos.y*PTM_RATIO;
        }
        return out;
    },

    /**
     * !#en
     * Converts a given vector in this rigid body's local coordinate system to the world coordinate system
     * !#zh
     * 将一个给定的刚体本地坐标系下的向量转换为世界坐标系下的向量
     * @method getWorldVector
     * @param {Vec2} localVector - a vector in world coordinates.
     * @param {Vec2} out - optional, the receiving vector
     * @return {Vec2} the same vector expressed in local coordinates.
     */ 
    getWorldVector: function (localVector, out) {
        out = out || cc.v2();
        if (this._b2Body) {
            tempb2Vec21.Set(localVector.x/PTM_RATIO, localVector.y/PTM_RATIO);
            var vector = this._b2Body.GetWorldVector(tempb2Vec21, out);
            out.x = vector.x*PTM_RATIO;
            out.y = vector.y*PTM_RATIO;
        }
        return out;
    },

    /**
     * !#en
     * Converts a given vector in the world coordinate system to this rigid body's local coordinate system
     * !#zh
     * 将一个给定的世界坐标系下的向量转换为刚体本地坐标系下的向量
     * @method getLocalVector
     * @param {Vec2} worldVector - a vector in world coordinates.
     * @param {Vec2} out - optional, the receiving vector
     * @return {Vec2} the corresponding local vector relative to the body's origin.
     */
    getLocalVector: function (worldVector, out) {
        out = out || cc.v2();
        if (this._b2Body) {
            tempb2Vec21.Set(worldVector.x/PTM_RATIO, worldVector.y/PTM_RATIO);
            var vector = this._b2Body.GetLocalVector(tempb2Vec21, out);
            out.x = vector.x*PTM_RATIO;
            out.y = vector.y*PTM_RATIO;
        }
        return out;
    },

    /**
     * !#en
     * Get the world body origin position.
     * !#zh
     * 获取刚体世界坐标系下的原点值
     * @method getWorldPosition
     * @param {Vec2} out - optional, the receiving point
     * @return {Vec2} the world position of the body's origin.
     */
    getWorldPosition: function (out) {
        out = out || cc.v2();
        if (this._b2Body) {
            var pos = this._b2Body.GetPosition();
            out.x = pos.x*PTM_RATIO;
            out.y = pos.y*PTM_RATIO;
        }
        return out;
    },

    /**
     * !#en
     * Get the world body rotation angle.
     * !#zh
     * 获取刚体世界坐标系下的旋转值。
     * @method getWorldRotation
     * @return {Number} the current world rotation angle.
     */
    getWorldRotation: function () {
        if (this._b2Body) {
            return this._b2Body.GetAngle() * PHYSICS_ANGLE_TO_ANGLE;
        }
        return 0;
    },

    /**
     * !#en
     * Get the local position of the center of mass.
     * !#zh
     * 获取刚体本地坐标系下的质心
     * @method getLocalCenter
     * @return {Vec2} the local position of the center of mass.
     */
    getLocalCenter: function (out) {
        out = out || cc.v2();
        if (this._b2Body) {
            var pos = this._b2Body.GetLocalCenter();
            out.x = pos.x*PTM_RATIO;
            out.y = pos.y*PTM_RATIO;
        }
        return out;
    },

    /**
     * !#en
     * Get the world position of the center of mass.
     * !#zh
     * 获取刚体世界坐标系下的质心
     * @method getWorldCenter
     * @return {Vec2} the world position of the center of mass.
     */
    getWorldCenter: function (out) {
        out = out || cc.v2();
        if (this._b2Body) {
            var pos = this._b2Body.GetWorldCenter();
            out.x = pos.x*PTM_RATIO;
            out.y = pos.y*PTM_RATIO;
        }
        return out;
    },

    /**
     * !#en
     * Get the world linear velocity of a world point attached to this body.
     * !#zh
     * 获取刚体上指定点的线性速度
     * @method getLinearVelocityFromWorldPoint
     * @param {Vec2} worldPoint - a point in world coordinates.
     * @param {Vec2} out - optional, the receiving point
     * @return {Vec2} the world velocity of a point. 
     */
    getLinearVelocityFromWorldPoint: function (worldPoint, out) {
        out = out || cc.v2();
        if (this._b2Body) {
            tempb2Vec21.Set(worldPoint.x/PTM_RATIO, worldPoint.y/PTM_RATIO);
            var velocity = this._b2Body.GetLinearVelocityFromWorldPoint(tempb2Vec21, out);
            out.x = velocity.x*PTM_RATIO;
            out.y = velocity.y*PTM_RATIO;
        }
        return out;
    },

    /**
     * !#en
     * Get total mass of the body.
     * !#zh
     * 获取刚体的质量。
     * @method getMass
     * @return {Number} the total mass of the body.
     */
    getMass: function () {
        return this._b2Body ? this._b2Body.GetMass() : 0;
    },

    /**
     * !#en
     * Get the rotational inertia of the body about the local origin.
     * !#zh
     * 获取刚体本地坐标系下原点的旋转惯性
     * @method getInertia
     * @return {Number} the rotational inertia, usually in kg-m^2.
     */
    getInertia: function () {
        return this._b2Body ? this._b2Body.GetInertia() * PTM_RATIO * PTM_RATIO : 0;
    },

    /**
     * !#en
     * Get all the joints connect to the rigidbody.
     * !#zh
     * 获取链接到此刚体的所有关节
     * @method getJointList
     * @return {[Joint]} the joint list.
     */
    getJointList: function () {
        if (!this._b2Body) return [];

        var joints = [];

        var list = this._b2Body.GetJointList();
        if (!list) return [];

        joints.push(list.joint._joint);
        
        // find prev joint
        var prev = list.prev;
        while (prev) {
            joints.push(prev.joint._joint);
            prev = prev.prev;
        }

        // find next joint
        var next = list.next;
        while (next) {
            joints.push(next.joint._joint);
            next = next.next;
        }

        return joints;
    },

    /**
     * !#en
     * Apply a force at a world point. If the force is not
	 * applied at the center of mass, it will generate a torque and
	 * affect the angular velocity.
     * !#zh
     * 施加一个力到刚体上的一个点。如果力没有施加到刚体的质心上，还会产生一个扭矩并且影响到角速度。
     * @method applyForce
     * @param {Vec2} force - the world force vector.
     * @param {Vec2} point - the world position.
     * @param {Boolean} wake - also wake up the body.
     */
    applyForce: function (force, point, wake) {
        if (this._b2Body) {
            tempb2Vec21.Set(force.x/PTM_RATIO, force.y/PTM_RATIO);
            tempb2Vec22.Set(point.x/PTM_RATIO, point.y/PTM_RATIO);
            this._b2Body.ApplyForce(tempb2Vec21, tempb2Vec22, wake);
        }
    },

    /**
     * !#en
     * Apply a force to the center of mass.
     * !#zh
     * 施加一个力到刚体上的质心上。
     * @method applyForceToCenter
     * @param {Vec2} force - the world force vector.
     * @param {Boolean} wake - also wake up the body.
     */
    applyForceToCenter: function (force, wake) {
        if (this._b2Body) {
            tempb2Vec21.Set(force.x/PTM_RATIO, force.y/PTM_RATIO);
            this._b2Body.ApplyForceToCenter(tempb2Vec21, wake);
        }
    },

    /**
     * !#en
     * Apply a torque. This affects the angular velocity.
     * !#zh
     * 施加一个扭矩力，将影响刚体的角速度
     * @method applyTorque
     * @param {Number} torque - about the z-axis (out of the screen), usually in N-m.
     * @param {Boolean} wake - also wake up the body
     */
    applyTorque: function (torque, wake) {
        if (this._b2Body) {
            this._b2Body.ApplyTorque(torque/PTM_RATIO, wake);
        }
    },

    /**
     * !#en
     * Apply a impulse at a world point, This immediately modifies the velocity.
	 * If the impulse is not applied at the center of mass, it will generate a torque and
	 * affect the angular velocity.
     * !#zh
     * 施加冲量到刚体上的一个点，将立即改变刚体的线性速度。
     * 如果冲量施加到的点不是刚体的质心，那么将产生一个扭矩并影响刚体的角速度。
     * @method applyLinearImpulse
     * @param {Vec2} impulse - the world impulse vector, usually in N-seconds or kg-m/s.
     * @param {Vec2} point - the world position
     * @param {Boolean} wake - alse wake up the body
     */
    applyLinearImpulse: function (impulse, point, wake) {
        if (this._b2Body) {
            tempb2Vec21.Set(impulse.x/PTM_RATIO, impulse.y/PTM_RATIO);
            tempb2Vec22.Set(point.x/PTM_RATIO, point.y/PTM_RATIO);
            this._b2Body.ApplyLinearImpulse(tempb2Vec21, tempb2Vec22, wake);
        }
    },

    /**
     * !#en
     * Apply an angular impulse.
     * !#zh
     * 施加一个角速度冲量。
     * @method applyAngularImpulse
     * @param {Number} impulse - the angular impulse in units of kg*m*m/s
     * @param {Boolean} wake - also wake up the body
     */
    applyAngularImpulse: function (impulse, wake) {
        if (this._b2Body) {
            this._b2Body.ApplyAngularImpulse(impulse/PTM_RATIO/PTM_RATIO, wake);
        }
    },

    /**
     * !#en
     * Synchronize node's world position to box2d rigidbody's position.
     * If enableAnimated is true and rigidbody's type is Animated type, 
     * will set linear velocity instead of directly set rigidbody's position.
     * !#zh
     * 同步节点的世界坐标到 box2d 刚体的坐标上。
     * 如果 enableAnimated 是 true，并且刚体的类型是 Animated ，那么将设置刚体的线性速度来代替直接设置刚体的位置。
     * @method syncPosition
     * @param {Boolean} enableAnimated
     */
    syncPosition: function (enableAnimated) {
        var b2body = this._b2Body;
        if (!b2body) return;

        var pos = this.node.convertToWorldSpaceAR(VEC2_ZERO);

        var temp;
        if (this.type === BodyType.Animated) {
            temp = b2body.GetLinearVelocity();
        }
        else {
            temp = b2body.GetPosition();
        }

        temp.x = pos.x / PTM_RATIO;
        temp.y = pos.y / PTM_RATIO;

        if (this.type === BodyType.Animated && enableAnimated) {
            var b2Pos = b2body.GetPosition();

            var timeStep = cc.game.config['frameRate'];
            temp.x = (temp.x - b2Pos.x)*timeStep;
            temp.y = (temp.y - b2Pos.y)*timeStep;

            b2body.SetAwake(true);
            b2body.SetLinearVelocity(temp);
        }
        else {
            b2body.SetTransformVec(temp, b2body.GetAngle());
        }
    },
    /**
     * !#en
     * Synchronize node's world angle to box2d rigidbody's angle.
     * If enableAnimated is true and rigidbody's type is Animated type, 
     * will set angular velocity instead of directly set rigidbody's angle.
     * !#zh
     * 同步节点的世界旋转角度值到 box2d 刚体的旋转值上。
     * 如果 enableAnimated 是 true，并且刚体的类型是 Animated ，那么将设置刚体的角速度来代替直接设置刚体的角度。
     * @method syncRotation
     * @param {Boolean} enableAnimated
     */
    syncRotation: function (enableAnimated) {
        var b2body = this._b2Body;
        if (!b2body) return;

        var rotation = ANGLE_TO_PHYSICS_ANGLE * getWorldRotation(this.node);
        if (this.type === BodyType.Animated && enableAnimated) {
            var b2Rotation = b2body.GetAngle();
            var timeStep = cc.game.config['frameRate'];
            b2body.SetAwake(true);
            b2body.SetAngularVelocity((rotation - b2Rotation)*timeStep);
        }
        else {
            b2body.SetTransformVec(b2body.GetPosition(), rotation);
        }
    },
    
    resetVelocity: function () {
        var b2body = this._b2Body;
        if (!b2body) return;

        var temp = b2body.m_linearVelocity;
        temp.Set(0, 0);

        b2body.SetLinearVelocity(temp);
        b2body.SetAngularVelocity(0);
    },

    onEnable: function () {
        this._init();
    },

    onDisable: function () {
        this._destroy();
    },

    _registerNodeEvents: function () {
        var node = this.node;
        node.on(NodeEvent.POSITION_CHANGED, this._onNodePositionChanged, this);
        node.on(NodeEvent.ROTATION_CHANGED, this._onNodeRotationChanged, this);
        node.on(NodeEvent.SCALE_CHANGED, this._onNodeScaleChanged, this);
    },

    _unregisterNodeEvents: function () {
        var node = this.node;
        node.off(NodeEvent.POSITION_CHANGED, this._onNodePositionChanged, this);
        node.off(NodeEvent.ROTATION_CHANGED, this._onNodeRotationChanged, this);
        node.off(NodeEvent.SCALE_CHANGED, this._onNodeScaleChanged, this);
    },

    _onNodePositionChanged: function () {
        this.syncPosition(true);
    },

    _onNodeRotationChanged: function (event) {
        this.syncRotation(true);
    },

    _onNodeScaleChanged: function (event) {
        if (this._b2Body) {
            var colliders = this.getComponents(cc.PhysicsCollider);
            for (var i = 0; i < colliders.length; i++) {
                colliders[i].apply();
            }
        }
    },

   _init: function () {
        cc.director.getPhysicsManager().pushDelayEvent(this, '__init', []);
    },
    _destroy: function () {
        cc.director.getPhysicsManager().pushDelayEvent(this, '__destroy', []);
    },

    __init: function () {
        if (this._inited) return;

       this._registerNodeEvents();

        var bodyDef = new b2.BodyDef();
        
        if (this.type === BodyType.Animated) {
            bodyDef.type = BodyType.Kinematic;
        }
        else {
            bodyDef.type = this.type;
        }

        bodyDef.allowSleep = this.allowSleep;
        bodyDef.gravityScale = this.gravityScale;
        bodyDef.linearDamping = this.linearDamping;
        bodyDef.angularDamping = this.angularDamping;

        var linearVelocity = this.linearVelocity;
        bodyDef.linearVelocity = new b2.Vec2(linearVelocity.x/PTM_RATIO, linearVelocity.y/PTM_RATIO);

        bodyDef.angularVelocity = this.angularVelocity * ANGLE_TO_PHYSICS_ANGLE;
        
        bodyDef.fixedRotation = this.fixedRotation;
        bodyDef.bullet = this.bullet;

        var node = this.node;
        var pos = node.convertToWorldSpaceAR(VEC2_ZERO);
        bodyDef.position = new b2.Vec2(pos.x / PTM_RATIO, pos.y / PTM_RATIO);
        bodyDef.angle = -(Math.PI / 180) * getWorldRotation(node);

        bodyDef.awake = this.awakeOnLoad;

        cc.director.getPhysicsManager()._addBody(this, bodyDef);

        this._inited = true;
    },
    __destroy: function () {
        if (!this._inited) return;

        cc.director.getPhysicsManager()._removeBody(this);
        this._unregisterNodeEvents();
        
        this._inited = false;
    },

    _getBody: function () {
        return this._b2Body;
    },

});

cc.RigidBody = module.exports = RigidBody;