added B2DynamicTreeTest

Author: ikpil

src/Box2D.NET/B2DynamicTrees.cs

@@ -4,6 +4,7 @@
 
 using System;
 using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
 using static Box2D.NET.B2Constants;
 using static Box2D.NET.B2Diagnostics;
 using static Box2D.NET.B2Buffers;
@@ -1084,11 +1085,11 @@ internal static void b2DynamicTree_ValidateNoEnlarged(B2DynamicTree tree)
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static int b2DynamicTree_GetByteCount(B2DynamicTree tree)
         {
-            // TODO: @ikpil, check
-            // int size = sizeof( b2DynamicTree ) + sizeof( b2TreeNode ) * tree.nodeCapacity +
-            //               tree.rebuildCapacity * ( sizeof( int ) + sizeof( b2AABB ) + sizeof( B2Vec2 ) + sizeof( int ) );
-            //return (int)size;
-            return -1;
+            // int size = Marshal.SizeOf<B2DynamicTree>() + Marshal.SizeOf<B2TreeNode>() * tree.nodeCapacity +
+            //            tree.rebuildCapacity * (sizeof(int) + Marshal.SizeOf<B2AABB>() + Marshal.SizeOf<B2Vec2>() + sizeof(int));
+            int size = sizeof(int) * 6 + sizeof(ulong) * 4 + Marshal.SizeOf<B2TreeNode>() * tree.nodeCapacity +
+                       tree.rebuildCapacity * (sizeof(int) + Marshal.SizeOf<B2AABB>() + Marshal.SizeOf<B2Vec2>() + sizeof(int));
+            return (int)size;
         }
 
         /// Get proxy user data
@@ -1166,7 +1167,7 @@ public static B2TreeStats b2DynamicTree_Query<T>(B2DynamicTree tree, in B2AABB a
         /// Query an AABB for overlapping proxies. The callback class is called for each proxy that overlaps the supplied AABB.
         /// No filtering is performed.
         ///	@return performance data
-        internal static B2TreeStats b2DynamicTree_QueryAll<T>(B2DynamicTree tree, in B2AABB aabb, b2TreeQueryCallbackFcn<T> callback, ref T context)
+        public static B2TreeStats b2DynamicTree_QueryAll<T>(B2DynamicTree tree, in B2AABB aabb, b2TreeQueryCallbackFcn<T> callback, ref T context)
         {
             B2TreeStats result = new B2TreeStats();
 
@@ -1232,7 +1233,7 @@ internal static B2TreeStats b2DynamicTree_QueryAll<T>(B2DynamicTree tree, in B2A
         /// @param callback a callback class that is called for each proxy that is hit by the ray
         /// @param context user context that is passed to the callback
         /// @return performance data
-        public static B2TreeStats b2DynamicTree_RayCast<T>(B2DynamicTree tree, ref B2RayCastInput input, ulong maskBits,
+        public static B2TreeStats b2DynamicTree_RayCast<T>(B2DynamicTree tree, in B2RayCastInput input, ulong maskBits,
             b2TreeRayCastCallbackFcn<T> callback, ref T context) where T : struct
         {
             B2TreeStats result = new B2TreeStats();

src/Box2D.NET/B2FixedArray32.cs

@@ -0,0 +1,65 @@
+// SPDX-FileCopyrightText: 2025 Ikpil Choi([email protected])
+// SPDX-License-Identifier: MIT
+
+using System;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+#pragma warning disable CS0169
+
+namespace Box2D.NET
+{
+    [StructLayout(LayoutKind.Sequential)]
+    public struct B2FixedArray32<T> where T : unmanaged
+    {
+        public const int Size = 32;
+
+        private T _v0000;
+        private T _v0001;
+        private T _v0002;
+        private T _v0003;
+        private T _v0004;
+        private T _v0005;
+        private T _v0006;
+        private T _v0007;
+        private T _v0008;
+        private T _v0009;
+        private T _v0010;
+        private T _v0011;
+        private T _v0012;
+        private T _v0013;
+        private T _v0014;
+        private T _v0015;
+        private T _v0016;
+        private T _v0017;
+        private T _v0018;
+        private T _v0019;
+        private T _v0020;
+        private T _v0021;
+        private T _v0022;
+        private T _v0023;
+        private T _v0024;
+        private T _v0025;
+        private T _v0026;
+        private T _v0027;
+        private T _v0028;
+        private T _v0029;
+        private T _v0030;
+        private T _v0031;
+
+        public int Length => Size;
+
+        public ref T this[int index]
+        {
+            [MethodImpl(MethodImplOptions.AggressiveInlining)]
+            get => ref AsSpan()[index];
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public Span<T> AsSpan()
+        {
+            return MemoryMarshal.CreateSpan(ref _v0000, Size);
+        }
+
+    }
+}

src/Box2D.NET/B2Worlds.cs

@@ -1997,7 +1997,7 @@ public static B2TreeStats b2World_CastRay(B2WorldId worldId, B2Vec2 origin, B2Ve
             for (int i = 0; i < (int)B2BodyType.b2_bodyTypeCount; ++i)
             {
                 B2TreeStats treeResult =
-                    b2DynamicTree_RayCast(world.broadPhase.trees[i], ref input, filter.maskBits, RayCastCallback, ref worldContext);
+                    b2DynamicTree_RayCast(world.broadPhase.trees[i], input, filter.maskBits, RayCastCallback, ref worldContext);
                 treeStats.nodeVisits += treeResult.nodeVisits;
                 treeStats.leafVisits += treeResult.leafVisits;
 
@@ -2052,7 +2052,7 @@ public static B2RayResult b2World_CastRayClosest(B2WorldId worldId, B2Vec2 origi
             for (int i = 0; i < (int)B2BodyType.b2_bodyTypeCount; ++i)
             {
                 B2TreeStats treeResult =
-                    b2DynamicTree_RayCast(world.broadPhase.trees[i], ref input, filter.maskBits, RayCastCallback, ref worldContext);
+                    b2DynamicTree_RayCast(world.broadPhase.trees[i], input, filter.maskBits, RayCastCallback, ref worldContext);
                 result.nodeVisits += treeResult.nodeVisits;
                 result.leafVisits += treeResult.leafVisits;