Change structs back to classes

SharpBox2D/Common/Mat22.cs

@@ -31,7 +31,7 @@ namespace SharpBox2D.Common
 /**
  * A 2-by-2 matrix. Stored in column-major order.
  */
-    public struct Mat22 : IEquatable<Mat22>
+    public class Mat22 : IEquatable<Mat22>
     {
         public Vec2 ex, ey;
 
@@ -51,6 +51,12 @@ public override string ToString()
    * @param c1 Column 1 of matrix
    * @param c2 Column 2 of matrix
    */
+
+        public Mat22()
+        {
+            ex = new Vec2(1, 0);
+            ey = new Vec2(0, 1);
+        }
 
         public Mat22(Vec2 c1, Vec2 c2)
         {
@@ -308,7 +314,7 @@ public Mat22 mul(Mat22 R)
 
         public void mulLocal(Mat22 R)
         {
-            mulToOut(R, ref this);
+            mulToOut(R, this);
         }
 
         public void mulToOut(Mat22 R, ref Mat22 m)
@@ -323,6 +329,18 @@ public void mulToOut(Mat22 R, ref Mat22 m)
             m.ey.y = tempy2;
         }
 
+        public void mulToOut(Mat22 R, Mat22 m)
+        {
+            float tempy1 = this.ex.y*R.ex.x + this.ey.y*R.ex.y;
+            float tempx1 = this.ex.x*R.ex.x + this.ey.x*R.ex.y;
+            m.ex.x = tempx1;
+            m.ex.y = tempy1;
+            float tempy2 = this.ex.y*R.ey.x + this.ey.y*R.ey.y;
+            float tempx2 = this.ex.x*R.ey.x + this.ey.x*R.ey.y;
+            m.ey.x = tempx2;
+            m.ey.y = tempy2;
+        }
+
         public void mulToOutUnsafe(Mat22 R, ref Mat22 m)
         {
             Debug.Assert(m != R);
@@ -360,7 +378,7 @@ public Mat22 mulTrans(Mat22 B)
 
         public void mulTransLocal(Mat22 B)
         {
-            mulTransToOut(B, ref this);
+            mulTransToOut(B, this);
         }
 
         public void mulTransToOut(Mat22 B, ref Mat22 m)
@@ -379,6 +397,22 @@ public void mulTransToOut(Mat22 B, ref Mat22 m)
             m.ey.y = y2;
         }
 
+        public void mulTransToOut(Mat22 B, Mat22 m)
+        {
+            /*
+     * ref.ex.x = Vec2.dot(this.ex, B.ex); ref.ex.y = Vec2.dot(this.ey, B.ex); ref.ey.x =
+     * Vec2.dot(this.ex, B.ey); ref.ey.y = Vec2.dot(this.ey, B.ey);
+     */
+            float x1 = this.ex.x*B.ex.x + this.ex.y*B.ex.y;
+            float y1 = this.ey.x*B.ex.x + this.ey.y*B.ex.y;
+            float x2 = this.ex.x*B.ey.x + this.ex.y*B.ey.y;
+            float y2 = this.ey.x*B.ey.x + this.ey.y*B.ey.y;
+            m.ex.x = x1;
+            m.ey.x = x2;
+            m.ex.y = y1;
+            m.ey.y = y2;
+        }
+
         public void mulTransToOutUnsafe(Mat22 B, ref Mat22 m)
         {
             Debug.Assert(B != m);

SharpBox2D/Common/Mat33.cs

@@ -33,7 +33,7 @@ namespace SharpBox2D.Common
  * @author Daniel Murphy
  */
 
-    public struct Mat33
+    public class Mat33
     {
         public static readonly Mat33 IDENTITY = new Mat33(new Vec3(1, 0, 0), new Vec3(0, 1, 0), new Vec3(0,
             0, 1));
@@ -54,6 +54,13 @@ public Mat33(Vec3 argCol1, Vec3 argCol2, Vec3 argCol3)
             ey = argCol2.clone();
             ez = argCol3.clone();
         }
+
+        public Mat33()
+        {
+            ex = IDENTITY.ex.clone();
+            ey = IDENTITY.ex.clone();
+            ez = IDENTITY.ex.clone();
+        }
 
         public void setZero()
         {

SharpBox2D/Common/Rot.cs

@@ -33,7 +33,7 @@
 
 namespace SharpBox2D.Common
 {
-    public struct Rot : IEquatable<Rot>
+    public class Rot : IEquatable<Rot>
     {
         public float s;
         public float c; // sin and cos
@@ -42,6 +42,11 @@ public Rot(float angle) : this()
         {
             set(angle);
         }
+
+        public Rot()
+        {
+            set(0);
+        }
 
         public float getSin()
         {

SharpBox2D/Common/Transform.cs

@@ -35,7 +35,7 @@ namespace SharpBox2D.Common
  * orientation of rigid frames.
  */
 
-    public struct Transform : IEquatable<Transform>
+    public class Transform : IEquatable<Transform>
     {
         /** The translation caused by the transform */
         public Vec2 p;
@@ -58,6 +58,12 @@ public Transform(Vec2 _position, Rot _R)
             p = _position.clone();
             q = _R.clone();
         }
+
+        public Transform()
+        {
+            p = new Vec2();
+            q = new Rot();
+        }
 
         /** Set this to equal another transform. */
 

SharpBox2D/Common/Vec2.cs

@@ -31,7 +31,7 @@ namespace SharpBox2D.Common
  * A 2D column vector
  */
 
-    public struct Vec2 : IEquatable<Vec2>
+    public class Vec2 : IEquatable<Vec2>
     {
         public float x, y;
 
@@ -40,6 +40,12 @@ public Vec2(float x, float y)
             this.x = x;
             this.y = y;
         }
+
+        public Vec2()
+        {
+            this.x = 0;
+            this.y = 0;
+        }
 
         public Vec2(Vec2 toCopy) : this(toCopy.x, toCopy.y)
         {
@@ -316,11 +322,21 @@ public override int GetHashCode()
 
         public static bool operator ==(Vec2 left, Vec2 right)
         {
+            if (ReferenceEquals(null, left))
+                return false;
+            if (ReferenceEquals(null, right))
+                return false;
+
             return left.Equals(right);
         }
 
         public static bool operator !=(Vec2 left, Vec2 right)
         {
+            if (ReferenceEquals(null, left))
+                return false;
+            if (ReferenceEquals(null, right))
+                return false;
+
             return !left.Equals(right);
         }
 

SharpBox2D/Common/Vec3.cs

@@ -32,7 +32,7 @@ namespace SharpBox2D.Common
  * @author Daniel Murphy
  */
 
-    public struct Vec3 : IEquatable<Vec3>
+    public class Vec3 : IEquatable<Vec3>
     {
         public float x, y, z;
 
@@ -42,6 +42,13 @@ public Vec3(float argX, float argY, float argZ)
             y = argY;
             z = argZ;
         }
+
+        public Vec3()
+        {
+            x = 0;
+            y = 0;
+            z = 0;
+        }
 
         public Vec3(Vec3 copy)
         {
@@ -57,7 +64,7 @@ public Vec3 set(Vec3 vec)
             z = vec.z;
             return this;
         }
-
+        
         public Vec3 set(float argX, float argY, float argZ)
         {
             x = argX;

SharpBox2D/Particle/ParticleDef.cs

@@ -10,7 +10,7 @@ public class ParticleDef
    * chained by logical sums, for example: pd.flags = ParticleType.b2_elasticParticle |
    * ParticleType.b2_viscousParticle.
    */
-        internal int flags;
+        public int flags;
 
         /** The world position of the particle. */
         public Vec2 position = new Vec2();