public override void OnRender()
{
var manifold = new Manifold();
CollisionUtils.CollidePolygons(ref manifold, _polygonA, _transformA, _polygonB, _transformB);
var worldManifold = new WorldManifold();
worldManifold.Initialize(manifold, _transformA, _polygonA.Radius, _transformB, _polygonB.Radius);
DrawString($"point count = {manifold.PointCount}");
{
var color = Color.FromArgb(230, 230, 230);
var v = new Vector2[Settings.MaxPolygonVertices];
for (var i = 0; i < _polygonA.Count; ++i)
{
v[i] = MathUtils.Mul(_transformA, _polygonA.Vertices[i]);
}
Drawer.DrawPolygon(v, _polygonA.Count, color);
for (var i = 0; i < _polygonB.Count; ++i)
{
v[i] = MathUtils.Mul(_transformB, _polygonB.Vertices[i]);
}
Drawer.DrawPolygon(v, _polygonB.Count, color);
}
for (var i = 0; i < manifold.PointCount; ++i)
{
Drawer.DrawPoint(worldManifold.Points[i], 4.0f, Color.FromArgb(230, 77, 77));
}
}
protected override void OnRender()
{
DrawString("Press g to generate a new random convex hull");
DrawString("Press a to toggle random convex hull auto generation");
var shape = new PolygonShape();
shape.Set(_points);
var drawLine = new Vector2[shape.Count + 1];
Array.Copy(shape.Vertices.ToArray(), drawLine, shape.Count);
drawLine[drawLine.Length - 1] = shape.Vertices[0];
Drawer.DrawPolygon(drawLine, drawLine.Length, Color.FromArgb(0.9f, 0.9f, 0.9f));
for (var i = 0; i < _count; ++i)
{
Drawer.DrawPoint(_points[i], 3.0f, Color.FromArgb(0.3f, 0.9f, 0.3f));
Drawer.DrawString(_points[i] + new Vector2(0.05f, 0.05f), i.ToString());
}
Drawer.DrawPoint(Vector2.Zero, 5f, Color.Yellow);
if (_auto && !TestSettings.Pause)
{
Generate();
}
}
private void DrawFixture(Fixture fixture)
{
var color = Color.FromArgb(242, 242, 153);
var xf = fixture.Body.GetTransform();
switch (fixture.Shape)
{
case CircleShape circle:
{
var center = MathUtils.Mul(xf, circle.Position);
var radius = circle.Radius + 0.01f;
_drawer.DrawCircle(center, radius, color);
}
break;
case PolygonShape polygonShape:
{
var vertexCount = polygonShape.Count;
Debug.Assert(vertexCount <= Settings.MaxPolygonVertices);
var vertices = new Vector2[Settings.MaxPolygonVertices];
for (var i = 0; i < vertexCount; ++i)
{
var v = MathUtils.Mul(xf, polygonShape.Vertices[i]);
v.X += 0.01f;
v.Y += 0.01f;
vertices[i] = v;
}
_drawer.DrawPolygon(vertices, vertexCount, color);
}
break;
}
}
public override void OnRender()
{
DrawString("Press g to generate a new random convex hull");
DrawString("Press a to toggle random convex hull auto generation");
var shape = new PolygonShape();
shape.Set(_points);
var drawLine = new Vector2[shape.Count + 1];
Array.Copy(shape.Vertices.ToArray(), drawLine, shape.Count);
drawLine[drawLine.Length - 1] = shape.Vertices[0];
Drawer.DrawPolygon(drawLine, drawLine.Length, Color.FromArgb(230, 230, 230));
_contents.Clear();
var points = _points.Select(e => TestSettings.Camera.WorldToScreenPoint(e.ToUnityVector2()))
.Select(e => new UnityEngine.Vector2(e.x, Screen.height - e.y))
.ToArray();
for (var i = 0; i < _count; ++i)
{
Drawer.DrawPoint(_points[i], 10.0f, Color.FromArgb(77, 230, 77));
WriteString(points[i] + new UnityEngine.Vector2(0.5f, 0.5f), $"{i}");
}
Drawer.DrawPoint(Vector2.Zero, 5f, Color.Yellow);
if (_auto && !TestSettings.Pause)
{
Generate();
}
}
protected override void OnRender()
{
DrawString("Keys: a: automate, c: create, d: destroy, m: move");
DrawString("Blue: overlap");
DrawString("Green: ray actor");
DrawString("Red: ray actor & overlap");
Color c;
for (var i = 0; i < ActorCount; ++i)
{
var actor = _actors[i];
if (actor.ProxyId == BroadPhase.NullProxy)
{
continue;
}
c = Color.FromArgb(0.9f, 0.9f, 0.9f);
if (actor == _rayActor && actor.Overlap)
{
c = Color.FromArgb(0.9f, 0.6f, 0.6f);
}
else if (actor == _rayActor)
{
c = Color.FromArgb(0.6f, 0.9f, 0.6f);
}
else if (actor.Overlap)
{
c = Color.FromArgb(0.6f, 0.6f, 0.9f);
}
Drawer.DrawAABB(actor.AABB, c);
}
c = Color.FromArgb(0.7f, 0.7f, 0.7f);
Drawer.DrawAABB(_queryAABB, c);
Drawer.DrawSegment(_rayCastInput.P1, _rayCastInput.P2, c);
var c1 = Color.FromArgb(0.2f, 0.9f, 0.2f);
var c2 = Color.FromArgb(0.9f, 0.2f, 0.2f);
Drawer.DrawPoint(_rayCastInput.P1, 6.0f, c1);
Drawer.DrawPoint(_rayCastInput.P2, 6.0f, c2);
if (_rayActor != null)
{
var cr = Color.FromArgb(0.2f, 0.2f, 0.9f);
var p = _rayCastInput.P1 + _rayActor.Fraction * (_rayCastInput.P2 - _rayCastInput.P1);
Drawer.DrawPoint(p, 6.0f, cr);
}
{
var height = _tree.GetHeight();
DrawString($"dynamic tree height = {height}");
}
}
public override void OnRender()
{
var input = new DistanceInput();
input.ProxyA.Set(_polygonA, 0);
input.ProxyB.Set(_polygonB, 0);
input.TransformA = _transformA;
input.TransformB = _transformB;
input.UseRadii = true;
var cache = new SimplexCache();
DistanceAlgorithm.Distance(out var output, ref cache, input);
DrawString($"distance = {output.Distance}");
DrawString($"iterations = {output.Iterations}");
{
var color = Color.FromArgb(230, 230, 230);
var v = new Vector2[Settings.MaxPolygonVertices];
for (var i = 0; i < _polygonA.Count; ++i)
{
v[i] = MathUtils.Mul(_transformA, _polygonA.Vertices[i]);
}
Drawer.DrawPolygon(v, _polygonA.Count, color);
for (var i = 0; i < _polygonB.Count; ++i)
{
v[i] = MathUtils.Mul(_transformB, _polygonB.Vertices[i]);
}
Drawer.DrawPolygon(v, _polygonB.Count, color);
}
var x1 = output.PointA;
var x2 = output.PointB;
var c1 = Color.FromArgb(255, 0, 0);
Drawer.DrawPoint(x1, 4.0f, c1);
var c2 = Color.FromArgb(255, 255, 0);
Drawer.DrawPoint(x2, 4.0f, c2);
}
/// <inheritdoc />
protected override void OnRender()
{
DrawString("Press 1-5 to drop stuff");
DrawString("Press 'a' to (de)activate some bodies");
DrawString("Press 'd' to destroy a body");
var callback = new PolyShapesCallback(Drawer)
{
Circle = { Radius = 2.0f }
};
callback.Circle.Position.Set(0.0f, 1.1f);
callback.Circle.ComputeAABB(out var aabb, callback.Transform, 0);
callback.Transform.SetIdentity();
World.QueryAABB(callback, aabb);
var color = Color.FromArgb(102, 178, 204);
Drawer.DrawCircle(callback.Circle.Position, callback.Circle.Radius, color);
}
protected override void OnRender()
{
DrawString("Keys: (s) pause");
Drawer.DrawPoint(_linearOffset, 4.0f, Color.FromArgb(230, 230, 230));
}
/// <inheritdoc />
public override void OnRender()
{
DrawString("Press 1-5 to drop stuff");
DrawString("Press 'a' to (de)activate some bodies");
DrawString("Press 'd' to destroy a body");
var k = -1;
if (Input.GetKeyDown(KeyCode.Alpha1))
{
k = 0;
}
if (Input.GetKeyDown(KeyCode.Alpha2))
{
k = 1;
}
if (Input.GetKeyDown(KeyCode.Alpha3))
{
k = 2;
}
if (Input.GetKeyDown(KeyCode.Alpha4))
{
k = 3;
}
if (Input.GetKeyDown(KeyCode.Alpha5))
{
k = 4;
}
if (k > -1)
{
Create(k);
}
if (Input.GetKeyDown(KeyCode.A))
{
for (var i = 0; i < MaxBodies; i += 2)
{
if (_bodies[i] != null)
{
var active = _bodies[i].IsActive;
_bodies[i].IsActive = !active;
}
}
}
if (Input.GetKeyDown(KeyCode.D))
{
DestroyBody();
}
var callback = new PolyShapesCallback(Drawer)
{
Circle = { Radius = 2.0f }
};
callback.Circle.Position.Set(0.0f, 1.1f);
callback.Circle.ComputeAABB(out var aabb, callback.Transform, 0);
callback.Transform.SetIdentity();
World.QueryAABB(callback, aabb);
var color = Color.FromArgb(102, 178, 204);
Drawer.DrawCircle(callback.Circle.Position, callback.Circle.Radius, color);
}