*update

1 files changed, 174 insertions, 0 deletions

diff --git a/Box2d/Assets/Program/Box2d/Dynamics/Controllers/Controller.cs b/Box2d/Assets/Program/Box2d/Dynamics/Controllers/Controller.cs
new file mode 100644
index 0000000..26bfbdf
--- /dev/null
+++ b/Box2d/Assets/Program/Box2d/Dynamics/Controllers/Controller.cs
@@ -0,0 +1,174 @@
+using System;
+
+namespace Box2DX.Dynamics.Controllers
+{
+    /// <summary>
+    /// A controller edge is used to connect bodies and controllers together
+    /// in a bipartite graph.
+    /// </summary>
+    public class ControllerEdge
+    {
+        public Controller controller;		// provides quick access to other end of this edge.
+        public Body body;					// the body
+        public ControllerEdge prevBody;		// the previous controller edge in the controllers's joint list
+        public ControllerEdge nextBody;		// the next controller edge in the controllers's joint list
+        public ControllerEdge prevController;		// the previous controller edge in the body's joint list
+        public ControllerEdge nextController;		// the next controller edge in the body's joint list
+    }
+
+    /// <summary>
+    /// Base class for controllers. Controllers are a convience for encapsulating common
+    /// per-step functionality.
+    /// </summary>
+    public abstract class Controller : IDisposable
+    {
+        internal Controller _prev;
+        internal Controller _next;
+
+        internal World _world;
+        protected ControllerEdge _bodyList;
+        protected int _bodyCount;
+
+        public Controller()
+        {
+            _bodyList = null;
+            _bodyCount = 0;
+        }
+
+        public Controller(World world)
+        {
+            _bodyList = null;
+            _bodyCount = 0;
+
+            _world = world;
+        }
+
+        public void Dispose()
+        {
+            //Remove attached bodies
+
+            //Previus implementation:
+            //while (_bodyCount > 0)
+            //    RemoveBody(_bodyList.body);
+
+            Clear();
+        }
+
+        /// <summary>
+        /// Controllers override this to implement per-step functionality.
+        /// </summary>
+        public abstract void Step(TimeStep step);
+
+        /// <summary>
+        /// Controllers override this to provide debug drawing.
+        /// </summary>
+        public virtual void Draw(DebugDraw debugDraw) { }
+
+        /// <summary>
+        /// Adds a body to the controller list.
+        /// </summary>
+        public void AddBody(Body body)
+        {
+            ControllerEdge edge = new ControllerEdge();
+
+            edge.body = body;
+            edge.controller = this;
+
+            //Add edge to controller list
+            edge.nextBody = _bodyList;
+            edge.prevBody = null;
+            if (_bodyList != null)
+                _bodyList.prevBody = edge;
+            _bodyList = edge;
+            ++_bodyCount;
+
+            //Add edge to body list
+            edge.nextController = body._controllerList;
+            edge.prevController = null;
+            if (body._controllerList != null)
+                body._controllerList.prevController = edge;
+            body._controllerList = edge;
+        }
+
+        /// <summary>
+        /// Removes a body from the controller list.
+        /// </summary>
+        public void RemoveBody(Body body)
+        {
+            //Assert that the controller is not empty
+            Box2DXDebug.Assert(_bodyCount > 0);
+
+            //Find the corresponding edge
+            ControllerEdge edge = _bodyList;
+            while (edge != null && edge.body != body)
+                edge = edge.nextBody;
+
+            //Assert that we are removing a body that is currently attached to the controller
+            Box2DXDebug.Assert(edge != null);
+
+            //Remove edge from controller list
+            if (edge.prevBody != null)
+                edge.prevBody.nextBody = edge.nextBody;
+            if (edge.nextBody != null)
+                edge.nextBody.prevBody = edge.prevBody;
+            if (edge == _bodyList)
+                _bodyList = edge.nextBody;
+            --_bodyCount;
+
+            //Remove edge from body list
+            if (edge.prevController != null)
+                edge.prevController.nextController = edge.nextController;
+            if (edge.nextController != null)
+                edge.nextController.prevController = edge.prevController;
+            if (edge == body._controllerList)
+                body._controllerList = edge.nextController;
+
+            //Free the edge
+            edge = null;
+        }
+
+        /// <summary>
+        /// Removes all bodies from the controller list.
+        /// </summary>
+        public void Clear()
+        {
+#warning "Check this"
+            ControllerEdge current = _bodyList;
+            while (current != null)
+            {
+                ControllerEdge edge = current;
+
+                //Remove edge from controller list
+                _bodyList = edge.nextBody;
+
+                //Remove edge from body list
+                if (edge.prevController != null)
+                    edge.prevController.nextController = edge.nextController;
+                if (edge.nextController != null)
+                    edge.nextController.prevController = edge.prevController;
+                if (edge == edge.body._controllerList)
+                    edge.body._controllerList = edge.nextController;
+
+                //Free the edge
+                //m_world->m_blockAllocator.Free(edge, sizeof(b2ControllerEdge));
+            }
+
+            _bodyCount = 0;
+        }
+
+        /// <summary>
+        /// Get the next body in the world's body list.
+        /// </summary>
+        internal Controller GetNext() { return _next; }
+
+        /// <summary>
+        /// Get the parent world of this body.
+        /// </summary>
+        internal World GetWorld() { return _world; }
+
+        /// <summary>
+        /// Get the attached body list
+        /// </summary>
+        internal ControllerEdge GetBodyList() { return _bodyList; }
+    }
+}
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