feat: IPhysicsEngine2D.StepIndividual method for individual object simulation
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@ -26,6 +26,13 @@ public interface IPhysicsEngine2D
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/// <param name="deltaTime">The time step.</param>
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void Step(float deltaTime);
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/// <summary>
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/// Advances the physics simulation by the specified time on a single <see cref="IRigidBody2D"/>.
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/// </summary>
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/// <param name="rigidBody">The <see cref="IRigidBody2D"/> to be progressed individually.</param>
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/// <param name="deltaTime">The time step.</param>
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void StepIndividual(IRigidBody2D rigidBody, float deltaTime);
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delegate void PhysicsIterationEventHandler(IPhysicsEngine2D sender, float iterationDeltaTime);
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delegate void PhysicsStepEventHandler(IPhysicsEngine2D sender, float stepDeltaTime);
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}
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@ -58,43 +58,7 @@ public class PhysicsEngine2D : UniverseObject, IPhysicsEngine2D
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if (!colliderY.IsActive)
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continue;
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if (colliderX.RigidBody2D == colliderY.RigidBody2D)
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continue;
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bool bothCollidersAreTriggers = colliderX.IsTrigger && colliderX.IsTrigger == colliderY.IsTrigger;
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if (bothCollidersAreTriggers)
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continue;
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bool bothCollidersAreStatic = (colliderX.RigidBody2D?.IsStatic ?? true) && (colliderY.RigidBody2D?.IsStatic ?? true);
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if (bothCollidersAreStatic)
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continue;
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if (collisionDetector.TryDetect(colliderX, colliderY, out CollisionDetectionInformation information))
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{
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if (colliderX.IsTrigger)
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{
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colliderX.Trigger(colliderY);
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continue;
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}
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else if (colliderY.IsTrigger)
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{
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colliderY.Trigger(colliderX);
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continue;
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}
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if (information.Detector == colliderX)
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{
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colliderX.Detect(information);
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colliderY.Detect(information.Reverse());
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}
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else
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{
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colliderX.Detect(information.Reverse());
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colliderY.Detect(information);
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}
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collisionResolver?.Resolve(information);
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}
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ResolveColliders(colliderX, colliderY);
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}
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}
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@ -107,6 +71,96 @@ public class PhysicsEngine2D : UniverseObject, IPhysicsEngine2D
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OnPhysicsStep?.InvokeSafe(this, deltaTime);
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}
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public void StepIndividual(IRigidBody2D rigidBody, float deltaTime)
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{
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float intervalDeltaTime = deltaTime / IterationPerStep;
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System.Collections.Generic.List<ICollider2D> childColliders = [];
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System.Collections.Generic.List<IPrePhysicsUpdate> physicsPreUpdates = [];
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System.Collections.Generic.List<IPhysicsUpdate> physicsUpdates = [];
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System.Collections.Generic.List<IPostPhysicsUpdate> physicsPostUpdates = [];
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rigidBody.BehaviourController.GetBehavioursInChildren(childColliders);
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rigidBody.BehaviourController.GetBehavioursInChildren(physicsPreUpdates);
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rigidBody.BehaviourController.GetBehavioursInChildren(physicsUpdates);
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rigidBody.BehaviourController.GetBehavioursInChildren(physicsPostUpdates);
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foreach (IPrePhysicsUpdate physicsPreUpdate in physicsPreUpdates)
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physicsPreUpdate.PrePhysicsUpdate(deltaTime);
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foreach (IPhysicsUpdate physicsUpdate in physicsUpdates)
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physicsUpdate.PhysicsUpdate(deltaTime);
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for (int iterationIndex = 0; iterationIndex < IterationPerStep; iterationIndex++)
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{
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StepRigidBody(rigidBody, intervalDeltaTime);
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foreach (ICollider2D collider in childColliders)
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collider.Recalculate();
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for (int x = 0; x < childColliders.Count; x++)
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{
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ICollider2D? colliderX = childColliders[x];
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if (!colliderX.IsActive)
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continue;
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for (int y = 0; y < colliderCollector.Behaviours.Count; y++)
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{
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ICollider2D? colliderY = colliderCollector.Behaviours[y];
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if (!colliderY.IsActive)
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continue;
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ResolveColliders(colliderX, colliderY);
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}
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}
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}
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foreach (IPostPhysicsUpdate physicsPostUpdate in physicsPostUpdates)
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physicsPostUpdate.PostPhysicsUpdate(deltaTime);
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}
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private void ResolveColliders(ICollider2D colliderX, ICollider2D colliderY)
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{
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if (colliderX.RigidBody2D == colliderY.RigidBody2D)
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return;
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bool bothCollidersAreTriggers = colliderX.IsTrigger && colliderX.IsTrigger == colliderY.IsTrigger;
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if (bothCollidersAreTriggers)
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return;
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bool bothCollidersAreStatic = (colliderX.RigidBody2D?.IsStatic ?? true) && (colliderY.RigidBody2D?.IsStatic ?? true);
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if (bothCollidersAreStatic)
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return;
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if (!collisionDetector.TryDetect(colliderX, colliderY, out CollisionDetectionInformation information))
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return;
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if (colliderX.IsTrigger)
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{
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colliderX.Trigger(colliderY);
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return;
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}
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else if (colliderY.IsTrigger)
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{
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colliderY.Trigger(colliderX);
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return;
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}
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if (information.Detector == colliderX)
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{
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colliderX.Detect(information);
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colliderY.Detect(information.Reverse());
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}
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else
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{
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colliderX.Detect(information.Reverse());
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colliderY.Detect(information);
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}
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collisionResolver?.Resolve(information);
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}
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private static void StepRigidBody(IRigidBody2D rigidBody, float intervalDeltaTime)
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{
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if (rigidBody.IsStatic || !rigidBody.IsActive)
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@ -62,47 +62,10 @@ public class PhysicsEngine2DStandalone : IPhysicsEngine2D
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for (int y = x + 1; y < colliders.Count; y++)
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{
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ICollider2D? colliderY = colliders[y];
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if (!colliderY.IsActive)
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continue;
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return;
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if (colliderX.RigidBody2D == colliderY.RigidBody2D)
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continue;
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bool bothCollidersAreTriggers = colliderX.IsTrigger && colliderX.IsTrigger == colliderY.IsTrigger;
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if (bothCollidersAreTriggers)
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continue;
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bool bothCollidersAreStatic = (colliderX.RigidBody2D?.IsStatic ?? true) && (colliderY.RigidBody2D?.IsStatic ?? true);
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if (bothCollidersAreStatic)
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continue;
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if (collisionDetector.TryDetect(colliderX, colliderY, out CollisionDetectionInformation information))
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{
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if (colliderX.IsTrigger)
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{
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colliderX.Trigger(colliderY);
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continue;
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}
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else if (colliderY.IsTrigger)
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{
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colliderY.Trigger(colliderX);
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continue;
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}
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if (information.Detector == colliderX)
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{
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colliderX.Detect(information);
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colliderY.Detect(information.Reverse());
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}
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else
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{
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colliderX.Detect(information.Reverse());
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colliderY.Detect(information);
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}
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collisionResolver?.Resolve(information);
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}
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ResolveColliders(colliderX, colliderY);
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}
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}
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OnPhysicsIteration?.InvokeSafe(this, intervalDeltaTime);
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@ -110,6 +73,96 @@ public class PhysicsEngine2DStandalone : IPhysicsEngine2D
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OnPhysicsStep?.InvokeSafe(this, deltaTime);
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}
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public void StepIndividual(IRigidBody2D rigidBody, float deltaTime)
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{
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float intervalDeltaTime = deltaTime / IterationPerStep;
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List<ICollider2D> childColliders = [];
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List<IPrePhysicsUpdate> physicsPreUpdates = [];
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List<IPhysicsUpdate> physicsUpdates = [];
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List<IPostPhysicsUpdate> physicsPostUpdates = [];
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rigidBody.BehaviourController.GetBehavioursInChildren(childColliders);
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rigidBody.BehaviourController.GetBehavioursInChildren(physicsPreUpdates);
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rigidBody.BehaviourController.GetBehavioursInChildren(physicsUpdates);
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rigidBody.BehaviourController.GetBehavioursInChildren(physicsPostUpdates);
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foreach (IPrePhysicsUpdate physicsPreUpdate in physicsPreUpdates)
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physicsPreUpdate.PrePhysicsUpdate(deltaTime);
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foreach (IPhysicsUpdate physicsUpdate in physicsUpdates)
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physicsUpdate.PhysicsUpdate(deltaTime);
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for (int iterationIndex = 0; iterationIndex < IterationPerStep; iterationIndex++)
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{
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StepRigidBody(rigidBody, intervalDeltaTime);
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foreach (ICollider2D collider in childColliders)
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collider.Recalculate();
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for (int x = 0; x < childColliders.Count; x++)
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{
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ICollider2D? colliderX = childColliders[x];
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if (!colliderX.IsActive)
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continue;
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for (int y = 0; y < colliders.Count; y++)
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{
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ICollider2D? colliderY = colliders[y];
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if (!colliderY.IsActive)
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continue;
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ResolveColliders(colliderX, colliderY);
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}
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}
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}
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foreach (IPostPhysicsUpdate physicsPostUpdate in physicsPostUpdates)
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physicsPostUpdate.PostPhysicsUpdate(deltaTime);
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}
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private void ResolveColliders(ICollider2D colliderX, ICollider2D colliderY)
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{
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if (colliderX.RigidBody2D == colliderY.RigidBody2D)
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return;
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bool bothCollidersAreTriggers = colliderX.IsTrigger && colliderX.IsTrigger == colliderY.IsTrigger;
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if (bothCollidersAreTriggers)
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return;
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bool bothCollidersAreStatic = (colliderX.RigidBody2D?.IsStatic ?? true) && (colliderY.RigidBody2D?.IsStatic ?? true);
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if (bothCollidersAreStatic)
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return;
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if (!collisionDetector.TryDetect(colliderX, colliderY, out CollisionDetectionInformation information))
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return;
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if (colliderX.IsTrigger)
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{
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colliderX.Trigger(colliderY);
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return;
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}
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else if (colliderY.IsTrigger)
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{
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colliderY.Trigger(colliderX);
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return;
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}
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if (information.Detector == colliderX)
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{
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colliderX.Detect(information);
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colliderY.Detect(information.Reverse());
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}
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else
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{
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colliderX.Detect(information.Reverse());
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colliderY.Detect(information);
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}
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collisionResolver?.Resolve(information);
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}
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private static void StepRigidBody(IRigidBody2D rigidBody, float intervalDeltaTime)
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{
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if (rigidBody.IsStatic || !rigidBody.IsActive)
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