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;
}
}
}
