void CDynamics2DEngine::Reset() {
for(CDynamics2DModel::TMap::iterator it = m_tPhysicsModels.begin();
it != m_tPhysicsModels.end(); ++it) {
it->second->Reset();
}
cpSpaceReindexStatic(m_ptSpace);
}
CDynamics2DBoxEntity::~CDynamics2DBoxEntity() {
if(m_ptBody != NULL) {
cpSpaceRemoveConstraint(m_cEngine.GetPhysicsSpace(), m_ptLinearFriction);
cpSpaceRemoveConstraint(m_cEngine.GetPhysicsSpace(), m_ptAngularFriction);
cpConstraintFree(m_ptLinearFriction);
cpConstraintFree(m_ptAngularFriction);
cpSpaceRemoveBody(m_cEngine.GetPhysicsSpace(), m_ptBody);
cpBodyFree(m_ptBody);
cpSpaceRemoveShape(m_cEngine.GetPhysicsSpace(), m_ptShape);
}
else {
cpSpaceRemoveStaticShape(m_cEngine.GetPhysicsSpace(), m_ptShape);
cpSpaceReindexStatic(m_cEngine.GetPhysicsSpace());
}
cpShapeFree(m_ptShape);
}
CDynamics2DSingleBodyObjectModel::~CDynamics2DSingleBodyObjectModel() {
bool bIsStatic = cpBodyIsStatic(m_ptBody);
/* Dispose of shapes */
for(cpShape* pt_shape = m_ptBody->shapeList;
pt_shape != NULL;
pt_shape = pt_shape->next) {
cpSpaceRemoveShape(GetDynamics2DEngine().GetPhysicsSpace(), pt_shape);
cpShapeFree(pt_shape);
}
/* Dispose of body */
if(! bIsStatic)
cpSpaceRemoveBody(GetDynamics2DEngine().GetPhysicsSpace(), m_ptBody);
cpBodyFree(m_ptBody);
/* Reindex space */
if(bIsStatic) cpSpaceReindexStatic(GetDynamics2DEngine().GetPhysicsSpace());
}
void CDynamics2DSingleBodyObjectModel::MoveTo(const CVector3& c_position,
const CQuaternion& c_orientation) {
/* Move the body to the desired position */
m_ptBody->p = cpv(c_position.GetX(), c_position.GetY());
CRadians cXAngle, cYAngle, cZAngle;
c_orientation.ToEulerAngles(cZAngle, cYAngle, cXAngle);
cpBodySetAngle(m_ptBody, cZAngle.GetValue());
/* Update shape index */
if(cpBodyIsStatic(m_ptBody)) {
cpBB tBoundingBox = cpShapeGetBB(m_ptBody->shapeList);
cpSpaceReindexStatic(GetDynamics2DEngine().GetPhysicsSpace());
tBoundingBox = cpShapeGetBB(m_ptBody->shapeList);
}
else {
cpSpaceReindexShapesForBody(GetDynamics2DEngine().GetPhysicsSpace(), m_ptBody);
}
/* Update ARGoS entity state */
CDynamics2DModel::UpdateEntityStatus();
}
void Space::reindexStatic()
{
cpSpaceReindexStatic(space);
}
