static void DrawJoint(FSDebugView instance, Joint joint)
{
if (!joint.Enabled)
{
return;
}
var b1 = joint.BodyA;
var b2 = joint.BodyB;
FarseerPhysics.Common.Transform xf1;
b1.GetTransform(out xf1);
var x2 = System.Numerics.Vector2.Zero;
if (b2 != null || !joint.IsFixedType())
{
FarseerPhysics.Common.Transform xf2;
b2.GetTransform(out xf2);
x2 = xf2.P;
}
var p1 = joint.WorldAnchorA;
var p2 = joint.WorldAnchorB;
var x1 = xf1.P;
var color = new Color(0.5f, 0.8f, 0.8f);
switch (joint.JointType)
{
case JointType.Distance:
{
instance.DrawSegment(p1, p2, color);
break;
}
case JointType.Pulley:
{
var pulley = (PulleyJoint)joint;
var s1 = b1.GetWorldPoint(pulley.LocalAnchorA);
var s2 = b2.GetWorldPoint(pulley.LocalAnchorB);
instance.DrawSegment(p1, p2, color);
instance.DrawSegment(p1, s1, color);
instance.DrawSegment(p2, s2, color);
break;
}
case JointType.FixedMouse:
{
instance.DrawPoint(p1.ToXna(), 0.2f, new Color(0.0f, 1.0f, 0.0f));
instance.DrawSegment(p1, p2, new Color(0.8f, 0.8f, 0.8f));
break;
}
case JointType.Revolute:
{
instance.DrawSegment(x1, p1, color);
instance.DrawSegment(p1, p2, color);
instance.DrawSegment(x2, p2, color);
instance.DrawSolidCircle(p2, 0.1f, System.Numerics.Vector2.Zero, Color.Red);
instance.DrawSolidCircle(p1, 0.1f, System.Numerics.Vector2.Zero, Color.Blue);
break;
}
case JointType.Gear:
{
instance.DrawSegment(x1, x2, color);
break;
}
default:
{
instance.DrawSegment(x1, p1, color);
instance.DrawSegment(p1, p2, color);
instance.DrawSegment(x2, p2, color);
break;
}
}
}
/// <summary>
/// Call this to draw shapes and other debug draw data.
/// </summary>
void drawDebugData()
{
if ((flags & DebugViewFlags.Shape) == DebugViewFlags.Shape)
{
foreach (Body b in world.bodyList)
{
FarseerPhysics.Common.Transform xf;
b.getTransform(out xf);
foreach (Fixture f in b.fixtureList)
{
if (b.enabled == false)
{
drawShape(f, xf, inactiveShapeColor);
}
else if (b.bodyType == BodyType.Static)
{
drawShape(f, xf, staticShapeColor);
}
else if (b.bodyType == BodyType.Kinematic)
{
drawShape(f, xf, kinematicShapeColor);
}
else if (b.isAwake == false)
{
drawShape(f, xf, sleepingShapeColor);
}
else
{
drawShape(f, xf, defaultShapeColor);
}
}
}
}
if ((flags & DebugViewFlags.ContactPoints) == DebugViewFlags.ContactPoints)
{
const float axisScale = 0.3f;
for (int i = 0; i < _pointCount; ++i)
{
ContactPoint point = _points[i];
if (point.state == PointState.Add)
{
drawPoint(point.position, 0.1f, new Color(0.3f, 0.95f, 0.3f));
}
else if (point.state == PointState.Persist)
{
drawPoint(point.position, 0.1f, new Color(0.3f, 0.3f, 0.95f));
}
if ((flags & DebugViewFlags.ContactNormals) == DebugViewFlags.ContactNormals)
{
Vector2 p1 = point.position;
Vector2 p2 = p1 + axisScale * point.normal;
drawSegment(p1, p2, new Color(0.4f, 0.9f, 0.4f));
}
}
_pointCount = 0;
}
if ((flags & DebugViewFlags.PolygonPoints) == DebugViewFlags.PolygonPoints)
{
foreach (Body body in world.bodyList)
{
foreach (Fixture f in body.fixtureList)
{
var polygon = f.shape as PolygonShape;
if (polygon != null)
{
FarseerPhysics.Common.Transform xf;
body.getTransform(out xf);
for (int i = 0; i < polygon.vertices.Count; i++)
{
Vector2 tmp = MathUtils.mul(ref xf, polygon.vertices[i]);
drawPoint(tmp, 0.1f, Color.Red);
}
}
}
}
}
if ((flags & DebugViewFlags.Joint) == DebugViewFlags.Joint)
{
foreach (var j in world.jointList)
{
FSDebugView.drawJoint(this, j);
}
}
if ((flags & DebugViewFlags.AABB) == DebugViewFlags.AABB)
{
var color = new Color(0.9f, 0.3f, 0.9f);
var bp = world.contactManager.broadPhase;
foreach (var body in world.bodyList)
{
if (body.enabled == false)
{
continue;
}
foreach (var f in body.fixtureList)
{
for (var t = 0; t < f.proxyCount; ++t)
{
var proxy = f.proxies[t];
AABB aabb;
bp.getFatAABB(proxy.proxyId, out aabb);
drawAABB(ref aabb, color);
}
}
}
}
if ((flags & DebugViewFlags.CenterOfMass) == DebugViewFlags.CenterOfMass)
{
foreach (Body b in world.bodyList)
{
FarseerPhysics.Common.Transform xf;
b.getTransform(out xf);
xf.p = b.worldCenter;
drawTransform(ref xf);
}
}
if ((flags & DebugViewFlags.Controllers) == DebugViewFlags.Controllers)
{
for (int i = 0; i < world.controllerList.Count; i++)
{
Controller controller = world.controllerList[i];
var buoyancy = controller as BuoyancyController;
if (buoyancy != null)
{
AABB container = buoyancy.container;
drawAABB(ref container, Color.LightBlue);
}
}
}
if ((flags & DebugViewFlags.DebugPanel) == DebugViewFlags.DebugPanel)
{
drawDebugPanel();
}
}
/// <summary>
/// Call this to draw shapes and other debug draw data.
/// </summary>
void DrawDebugData()
{
if ((Flags & DebugViewFlags.Shape) == DebugViewFlags.Shape)
{
foreach (Body b in world.BodyList)
{
FarseerPhysics.Common.Transform xf;
b.GetTransform(out xf);
foreach (Fixture f in b.FixtureList)
{
if (b.Enabled == false)
{
DrawShape(f, xf, InactiveShapeColor);
}
else if (b.BodyType == BodyType.Static)
{
DrawShape(f, xf, StaticShapeColor);
}
else if (b.BodyType == BodyType.Kinematic)
{
DrawShape(f, xf, KinematicShapeColor);
}
else if (b.IsAwake == false)
{
DrawShape(f, xf, SleepingShapeColor);
}
else
{
DrawShape(f, xf, DefaultShapeColor);
}
}
}
}
if ((Flags & DebugViewFlags.ContactPoints) == DebugViewFlags.ContactPoints)
{
const float axisScale = 0.3f;
for (int i = 0; i < _pointCount; ++i)
{
ContactPoint point = _points[i];
if (point.State == PointState.Add)
{
DrawPoint(point.Position.ToXna(), 0.1f, new Color(0.3f, 0.95f, 0.3f));
}
else if (point.State == PointState.Persist)
{
DrawPoint(point.Position.ToXna(), 0.1f, new Color(0.3f, 0.3f, 0.95f));
}
if ((Flags & DebugViewFlags.ContactNormals) == DebugViewFlags.ContactNormals)
{
System.Numerics.Vector2 p1 = point.Position;
System.Numerics.Vector2 p2 = p1 + axisScale * point.Normal;
DrawSegment(p1, p2, new Color(0.4f, 0.9f, 0.4f));
}
}
_pointCount = 0;
}
if ((Flags & DebugViewFlags.PolygonPoints) == DebugViewFlags.PolygonPoints)
{
foreach (Body body in world.BodyList)
{
foreach (Fixture f in body.FixtureList)
{
var polygon = f.Shape as PolygonShape;
if (polygon != null)
{
FarseerPhysics.Common.Transform xf;
body.GetTransform(out xf);
for (int i = 0; i < polygon.Vertices.Count; i++)
{
System.Numerics.Vector2 tmp = MathUtils.Mul(ref xf, polygon.Vertices[i]);
DrawPoint(tmp.ToXna(), 0.1f, Color.Red);
}
}
}
}
}
if ((Flags & DebugViewFlags.Joint) == DebugViewFlags.Joint)
{
foreach (var j in world.JointList)
{
FSDebugView.DrawJoint(this, j);
}
}
if ((Flags & DebugViewFlags.AABB) == DebugViewFlags.AABB)
{
var color = new Color(0.9f, 0.3f, 0.9f);
var bp = world.ContactManager.BroadPhase;
foreach (var body in world.BodyList)
{
if (body.Enabled == false)
{
continue;
}
foreach (var f in body.FixtureList)
{
for (var t = 0; t < f.ProxyCount; ++t)
{
var proxy = f.Proxies[t];
AABB aabb;
bp.GetFatAABB(proxy.ProxyId, out aabb);
DrawAABB(ref aabb, color);
}
}
}
}
if ((Flags & DebugViewFlags.CenterOfMass) == DebugViewFlags.CenterOfMass)
{
foreach (Body b in world.BodyList)
{
FarseerPhysics.Common.Transform xf;
b.GetTransform(out xf);
xf.P = b.WorldCenter;
DrawTransform(ref xf);
}
}
if ((Flags & DebugViewFlags.Controllers) == DebugViewFlags.Controllers)
{
for (int i = 0; i < world.ControllerList.Count; i++)
{
Controller controller = world.ControllerList[i];
var buoyancy = controller as BuoyancyController;
if (buoyancy != null)
{
AABB container = buoyancy.Container;
DrawAABB(ref container, Color.LightBlue);
}
}
}
if ((Flags & DebugViewFlags.DebugPanel) == DebugViewFlags.DebugPanel)
{
DrawDebugPanel();
}
}
static void drawJoint( FSDebugView instance, Joint joint )
{
if( !joint.enabled )
return;
var b1 = joint.bodyA;
var b2 = joint.bodyB;
FarseerPhysics.Common.Transform xf1;
b1.getTransform( out xf1 );
var x2 = Vector2.Zero;
if( b2 != null || !joint.isFixedType() )
{
FarseerPhysics.Common.Transform xf2;
b2.getTransform( out xf2 );
x2 = xf2.p;
}
var p1 = joint.worldAnchorA;
var p2 = joint.worldAnchorB;
var x1 = xf1.p;
var color = new Color( 0.5f, 0.8f, 0.8f );
switch( joint.jointType )
{
case JointType.Distance:
{
instance.drawSegment( p1, p2, color );
break;
}
case JointType.Pulley:
{
var pulley = (PulleyJoint)joint;
var s1 = b1.getWorldPoint( pulley.localAnchorA );
var s2 = b2.getWorldPoint( pulley.localAnchorB );
instance.drawSegment( p1, p2, color );
instance.drawSegment( p1, s1, color );
instance.drawSegment( p2, s2, color );
break;
}
case JointType.FixedMouse:
{
instance.drawPoint( p1, 0.2f, new Color( 0.0f, 1.0f, 0.0f ) );
instance.drawSegment( p1, p2, new Color( 0.8f, 0.8f, 0.8f ) );
break;
}
case JointType.Revolute:
{
instance.drawSegment( x1, p1, color );
instance.drawSegment( p1, p2, color );
instance.drawSegment( x2, p2, color );
instance.drawSolidCircle( p2, 0.1f, Vector2.Zero, Color.Red );
instance.drawSolidCircle( p1, 0.1f, Vector2.Zero, Color.Blue );
break;
}
case JointType.Gear:
{
instance.drawSegment( x1, x2, color );
break;
}
default:
{
instance.drawSegment( x1, p1, color );
instance.drawSegment( p1, p2, color );
instance.drawSegment( x2, p2, color );
break;
}
}
}
