public override void DrawSolidCircle(Vec2 center, float radius, Vec2 axis, Color color)
{
float k_segments = 16.0f;
float k_increment = 2.0f * Box2DX.Common.Settings.Pi / k_segments;
float theta = 0.0f;
Gl.glEnable(Gl.GL_BLEND);
Gl.glBlendFunc(Gl.GL_SRC_ALPHA, Gl.GL_ONE_MINUS_SRC_ALPHA);
Gl.glColor4f(0.5f * color.R, 0.5f * color.G, 0.5f * color.B, 0.5f);
Gl.glBegin(Gl.GL_TRIANGLE_FAN);
for (int i = 0; i < k_segments; ++i)
{
Vec2 v = center + radius * new Vec2((float)SysMath.Cos(theta), (float)SysMath.Sin(theta));
Gl.glVertex2f(v.X, v.Y);
theta += k_increment;
}
Gl.glEnd();
Gl.glDisable(Gl.GL_BLEND);
theta = 0.0f;
Gl.glColor4f(color.R, color.G, color.B, 1.0f);
Gl.glBegin(Gl.GL_LINE_LOOP);
for (int i = 0; i < k_segments; ++i)
{
Vec2 v = center + radius * new Vec2((float)SysMath.Cos(theta), (float)SysMath.Sin(theta));
Gl.glVertex2f(v.X, v.Y);
theta += k_increment;
}
Gl.glEnd();
Vec2 p = center + radius * axis;
Gl.glBegin(Gl.GL_LINES);
Gl.glVertex2f(center.X, center.Y);
Gl.glVertex2f(p.X, p.Y);
Gl.glEnd();
}
public override void DrawPolygon(Vec2[] vertices, int vertexCount, Color color)
{
var firstVertex = vertices[0].ToVector2();
var vectors = vertices.Take(vertexCount).Select(vertex => vertex.ToVector2() - firstVertex).ToArray();
_spriteBatch.DrawPolygon(firstVertex, vectors, color.ToXnaColor());
}
public override void DrawPolygon(Vec2[] vertices, int vertexCount, Color color)
{
Gl.glColor3f(color.R, color.G, color.B);
Gl.glBegin(Gl.GL_LINE_LOOP);
for (int i = 0; i < vertexCount; ++i)
{
Gl.glVertex2f(vertices[i].X, vertices[i].Y);
}
Gl.glEnd();
}
public override void DrawCircle(Vec2 center, float radius, Color color)
{
float k_segments = 16.0f;
float k_increment = 2.0f * Box2DX.Common.Settings.Pi / k_segments;
float theta = 0.0f;
Gl.glColor3f(color.R, color.G, color.B);
Gl.glBegin(Gl.GL_LINE_LOOP);
for (int i = 0; i < k_segments; ++i)
{
Vec2 v = center + radius * new Vec2((float)SysMath.Cos(theta), (float)SysMath.Sin(theta));
Gl.glVertex2f(v.X, v.Y);
theta += k_increment;
}
Gl.glEnd();
}
public override void Step(Settings settings)
{
base.Step(settings);
DistanceInput input = new DistanceInput();
input.TransformA = _transformA;
input.TransformB = _transformB;
input.UseRadii = true;
SimplexCache cache = new SimplexCache();
cache.Count = 0;
DistanceOutput output;
Collision.Distance(out output, ref cache, ref input, _polygonA, _polygonB);
StringBuilder strBld = new StringBuilder();
strBld.AppendFormat("distance = {0}", new object[] { output.Distance });
OpenGLDebugDraw.DrawString(5, _textLine, strBld.ToString());
_textLine += 15;
strBld = new StringBuilder();
strBld.AppendFormat("iterations = {0}", new object[] { output.Iterations });
OpenGLDebugDraw.DrawString(5, _textLine, strBld.ToString());
_textLine += 15;
{
Color color = new Color(0.9f, 0.9f, 0.9f);
int i;
for (i = 0; i < _polygonA.VertexCount; ++i)
{
_dv[i] = Math.Mul(_transformA, _polygonA.Vertices[i]);
}
_debugDraw.DrawPolygon(_dv, _polygonA.VertexCount, color);
for (i = 0; i < _polygonB.VertexCount; ++i)
{
_dv[i] = Math.Mul(_transformB, _polygonB.Vertices[i]);
}
_debugDraw.DrawPolygon(_dv, _polygonB.VertexCount, color);
}
Vec2 x1 = output.PointA;
Vec2 x2 = output.PointB;
OpenGLDebugDraw.DrawPoint(x1, 4.0f, new Color(1, 0, 0));
OpenGLDebugDraw.DrawSegment(x1, x2, new Color(1, 1, 0));
OpenGLDebugDraw.DrawPoint(x2, 4.0f, new Color(1, 0, 0));
}
public override void DrawSolidPolygon(Vec2[] vertices, int vertexCount, Color color)
{
Gl.glEnable(Gl.GL_BLEND);
Gl.glBlendFunc(Gl.GL_SRC_ALPHA, Gl.GL_ONE_MINUS_SRC_ALPHA);
Gl.glColor4f(0.5f * color.R, 0.5f * color.G, 0.5f * color.B, 0.5f);
Gl.glBegin(Gl.GL_TRIANGLE_FAN);
for (int i = 0; i < vertexCount; ++i)
{
Gl.glVertex2f(vertices[i].X, vertices[i].Y);
}
Gl.glEnd();
Gl.glDisable(Gl.GL_BLEND);
Gl.glColor4f(color.R, color.G, color.B, 1.0f);
Gl.glBegin(Gl.GL_LINE_LOOP);
for (int i = 0; i < vertexCount; ++i)
{
Gl.glVertex2f(vertices[i].X, vertices[i].Y);
}
Gl.glEnd();
}
public override void DrawSegment(Vec2 p1, Vec2 p2, Color color)
{
_spriteBatch.DrawLine(p1.ToVector2(), p2.ToVector2(), color.ToXnaColor());
}
public override void DrawSolidPolygon(Vec2[] vertices, int vertexCount, Color color)
{
physicsSimulationWindow.DrawSolidPolygon(vertices, vertexCount, color);
}
public override void DrawCircle(Vec2 center, float radius, Color color)
{
_spriteBatch.DrawCircle(center.ToVector2(), radius, 32, color.ToXnaColor());
}
public override void DrawSolidCircle(Vec2 center, float radius, Vec2 axis, Color color)
{
DrawCircle(center, radius, color);
}
public override void Step(Settings settings)
{
//B2_NOT_USED(settings);
Manifold manifold;
Collision.CollidePolygons(out manifold, _polygonA, _transformA, _polygonB, _transformB);
WorldManifold worldManifold = new WorldManifold();
worldManifold.Initialize(manifold, _transformA, _polygonA._radius, _transformB, _polygonB._radius);
OpenGLDebugDraw.DrawString(5, _textLine, string.Format("point count = {0}", manifold.PointCount));
_textLine += 15;
{
Color color = new Color(0.9f, 0.9f, 0.9f);
Vec2[] v = new Vec2[Box2DX.Common.Settings.MaxPolygonVertices];
for (int i = 0; i < _polygonA.VertexCount; ++i)
{
v[i] = Math.Mul(_transformA, _polygonA.Vertices[i]);
}
_debugDraw.DrawPolygon(v, _polygonA.VertexCount, color);
for (int i = 0; i < _polygonB.VertexCount; ++i)
{
v[i] = Math.Mul(_transformB, _polygonB.Vertices[i]);
}
_debugDraw.DrawPolygon(v, _polygonB.VertexCount, color);
}
for (int i = 0; i < manifold.PointCount; ++i)
{
OpenGLDebugDraw.DrawPoint(worldManifold.Points[i], 4.0f, new Color(0.9f, 0.3f, 0.3f));
}
base.Step(settings);
}
public override void DrawSolidPolygon(Vec2[] vertices, int vertexCount, Color color)
{
DrawPolygon(vertices, vertexCount, color);
}
public override void DrawSegment(Vec2 p1, Vec2 p2, Color color)
{
Gl.glColor3f(color.R, color.G, color.B);
Gl.glBegin(Gl.GL_LINES);
Gl.glVertex2f(p1.X, p1.Y);
Gl.glVertex2f(p2.X, p2.Y);
Gl.glEnd();
}
public static void DrawSegment(Vec2 p1, Vec2 p2, Color color, params object[] p)
{
Gl.glColor3f(color.R, color.G, color.B);
Gl.glBegin(Gl.GL_LINES);
Gl.glVertex2f(p1.X, p1.Y);
Gl.glVertex2f(p2.X, p2.Y);
Gl.glEnd();
}
public override void DrawSolidCircle(Vec2 center, float radius, Vec2 axis, Color color)
{
physicsSimulationWindow.DrawSolidCircle(center, radius, axis, color);
}
public static void DrawPoint(Vec2 p, float size, Color color)
{
Gl.glPointSize(size);
Gl.glBegin(Gl.GL_POINTS);
Gl.glColor3f(color.R, color.G, color.B);
Gl.glVertex2f(p.X, p.Y);
Gl.glEnd();
Gl.glPointSize(1.0f);
}
public static void DrawAABB(AABB aabb, Color c)
{
Gl.glColor3f(c.R, c.G, c.B);
Gl.glBegin(Gl.GL_LINE_LOOP);
Gl.glVertex2f(aabb.LowerBound.X, aabb.LowerBound.Y);
Gl.glVertex2f(aabb.UpperBound.X, aabb.LowerBound.Y);
Gl.glVertex2f(aabb.UpperBound.X, aabb.UpperBound.Y);
Gl.glVertex2f(aabb.LowerBound.X, aabb.UpperBound.Y);
Gl.glEnd();
}
public override void DrawSegment(Vec2 p1, Vec2 p2, Color color)
{
physicsSimulationWindow.DrawSegment(p1, p2, color);
}
public override void Step(Settings settings)
{
base.Step(settings);
Collision.DistanceInput input = new Collision.DistanceInput();
input.proxyA.Set(_polygonA);
input.proxyB.Set(_polygonB);
input.TransformA = _transformA;
input.TransformB = _transformB;
input.UseRadii = true;
Collision.SimplexCache cache = new Collision.SimplexCache();
cache.Count = 0;
Collision.DistanceOutput output;
Collision.Distance(out output, cache, input);
OpenGLDebugDraw.DrawString(5, _textLine, string.Format("distance = {0}", output.Distance));
_textLine += 15;
OpenGLDebugDraw.DrawString(5, _textLine, string.Format("iterations = {0}", output.Iterations));
_textLine += 15;
{
Color color = new Color(0.9f, 0.9f, 0.9f);
Vec2[] v = new Vec2[Box2DX.Common.Settings.MaxPolygonVertices];
for (int i = 0; i < _polygonA.VertexCount; ++i)
{
v[i] = Math.Mul(_transformA, _polygonA.Vertices[i]);
}
_debugDraw.DrawPolygon(v, _polygonA.VertexCount, color);
for (int i = 0; i < _polygonB.VertexCount; ++i)
{
v[i] = Math.Mul(_transformB, _polygonB.Vertices[i]);
}
_debugDraw.DrawPolygon(v, _polygonB.VertexCount, color);
}
Vec2 x1 = output.PointA;
Vec2 x2 = output.PointB;
Gl.glPointSize(4.0f);
Gl.glColor4f(1.0f, 0.0f, 0.0f, 1);
Gl.glBegin(Gl.GL_POINTS);
Gl.glVertex2f(x1.X, x1.Y);
Gl.glVertex2f(x2.X, x2.Y);
Gl.glEnd();
Gl.glPointSize(1.0f);
Gl.glColor4f(1.0f, 1.0f, 0.0f, 1);
Gl.glBegin(Gl.GL_LINES);
Gl.glVertex2f(x1.X, x1.Y);
Gl.glVertex2f(x2.X, x2.Y);
Gl.glEnd();
}
