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fix: Destroy and create bodies after step is done #106

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Merged
spydon merged 3 commits into from
Sep 7, 2025
Merged

fix: Destroy and create bodies after step is done #106

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f4ad2fe
fix: Destroy and create bodies after step is done
spydon Sep 7, 2025
d554e0c
Loosen meta constraints
spydon Sep 7, 2025
d0682a1
Also check joints
spydon Sep 7, 2025
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2 changes: 1 addition & 1 deletion packages/forge2d/lib/src/collision/broadphase/dynamic_tree.dart
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Original file line number Diff line number Diff line change
Expand Up @@ -461,7 +461,7 @@ class DynamicTree implements BroadPhaseStrategy {

/// returns a node to the pool
void _freeNode(DynamicTreeNode node) {
assert(0 < _nodeCount);
assert(_nodeCount > 0);
node.parent = _freeList != nullNode ? _nodes[_freeList] : null;
node.height = -1;
_freeList = node.id;
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11 changes: 5 additions & 6 deletions packages/forge2d/lib/src/dynamics/contact_manager.dart
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Original file line number Diff line number Diff line change
Expand Up @@ -6,12 +6,11 @@ class ContactManager implements PairCallback {
final Collision collision;
final Distance distance;
final List<Contact> contacts = [];
ContactFilter? contactFilter;
ContactFilter contactFilter;
ContactListener? contactListener;

ContactManager(this.broadPhase, this.collision, this.distance) {
contactFilter = ContactFilter();
}
ContactManager(this.broadPhase, this.collision, this.distance)
: contactFilter = ContactFilter();

/// Broad-phase callback.
@override
Expand Down Expand Up @@ -49,7 +48,7 @@ class ContactManager implements PairCallback {
}

// Check user filtering.
if (contactFilter?.shouldCollide(fixtureA, fixtureB) == false) {
if (contactFilter.shouldCollide(fixtureA, fixtureB) == false) {
return;
}

Expand Down Expand Up @@ -122,7 +121,7 @@ class ContactManager implements PairCallback {
}

// Check user filtering.
if (contactFilter?.shouldCollide(fixtureA, fixtureB) == false) {
if (contactFilter.shouldCollide(fixtureA, fixtureB) == false) {
contactRemovals.add(c);
continue;
}
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41 changes: 31 additions & 10 deletions packages/forge2d/lib/src/dynamics/world.dart
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,10 @@ class World {
late ContactManager contactManager;
final List<Body> bodies = <Body>[];
final List<Joint> joints = <Joint>[];
final List<Body> bodiesToCreate = <Body>[];
final List<Body> bodiesToDestroy = <Body>[];
final List<Joint> jointsToCreate = <Joint>[];
final List<Joint> jointsToDestroy = <Joint>[];

final Vector2 _gravity;

Expand All @@ -37,7 +41,7 @@ class World {
///
/// See also:
///
/// * [Body.gravityScale], to multipy [gravity] for a [Body].
/// * [Body.gravityScale], to multiply [gravity] for a [Body].
/// * [Body.gravityOverride], to change how the world treats the gravity for
/// a [Body].
/// {@endtemplate}
Expand Down Expand Up @@ -133,8 +137,11 @@ class World {
///
/// Warning: This function is locked during callbacks.
Body createBody(BodyDef def) {
assert(!isLocked);
final body = Body(def, this);
if (isLocked) {
bodiesToCreate.add(body);
return body;
}
bodies.add(body);
return body;
}
Expand All @@ -145,8 +152,10 @@ class World {
/// Warning: This automatically deletes all associated shapes and joints.
/// Warning: This function is locked during callbacks.
void destroyBody(Body body) {
assert(bodies.isNotEmpty);
assert(!isLocked);
if (isLocked) {
bodiesToDestroy.add(body);
return;
}

// Delete the attached joints.
while (body.joints.isNotEmpty) {
Expand All @@ -173,10 +182,11 @@ class World {
/// This may cause the connected bodies to cease colliding.
///
/// Adding a joint doesn't wake up the bodies.
///
/// Warning: This function is locked during callbacks.
void createJoint(Joint joint) {
assert(!isLocked);
if (isLocked) {
jointsToCreate.add(joint);
return;
}
joints.add(joint);

final bodyA = joint.bodyA;
Expand All @@ -197,10 +207,11 @@ class World {
}

/// Destroys a joint. This may cause the connected bodies to begin colliding.
///
/// Warning: This function is locked during callbacks.
void destroyJoint(Joint joint) {
assert(!isLocked);
if (isLocked) {
jointsToDestroy.add(joint);
return;
}

final collideConnected = joint.collideConnected;
joints.remove(joint);
Expand Down Expand Up @@ -297,6 +308,16 @@ class World {

flags &= ~locked;

for (final body in bodiesToCreate) {
bodies.add(body);
}
bodiesToCreate.clear();

for (final body in bodiesToDestroy) {
destroyBody(body);
}
bodiesToDestroy.clear();

_profile.step.record(_stepTimer.getMilliseconds());
}

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2 changes: 1 addition & 1 deletion packages/forge2d/pubspec.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@ environment:
sdk: ">=3.8.0 <4.0.0"

dependencies:
meta: ^1.17.0
meta: ^1.16.0
vector_math: ^2.2.0
web: ^1.1.1

Expand Down