public override void step(TestbedSettings settings)
{
base.step(settings);
float hz = settings.getSetting(TestbedSettings.Hz).value;
if (hz > 0)
{
m_time += 1/hz;
}
m_joint.setMotorSpeed(0.05f*MathUtils.cos(m_time)*MathUtils.PI);
}
public override void step(TestbedSettings settings)
{
float hz = settings.getSetting(TestbedSettings.Hz).value;
if (m_go && hz > 0.0f)
{
m_time += 1.0f/hz;
}
linearOffset.x = 6.0f*MathUtils.sin(2.0f*m_time);
linearOffset.y = 8.0f + 4.0f*MathUtils.sin(1.0f*m_time);
float angularOffset = 4.0f*m_time;
m_joint.setLinearOffset(linearOffset);
m_joint.setAngularOffset(angularOffset);
getDebugDraw().drawPoint(linearOffset, 4.0f, color);
base.step(settings);
addTextLine("Keys: (s) pause");
}
public virtual void step(TestbedSettings settings)
{
float hz = settings.getSetting(TestbedSettings.Hz).value;
float timeStep = hz > 0f ? 1f/hz : 0;
if (settings.singleStep && !settings.pause)
{
settings.pause = true;
}
DebugDraw debugDraw = model.getDebugDraw();
m_textLine = 20;
if (title != null)
{
debugDraw.drawString(camera.getTransform().getExtents().x, 15, title, Color4f.WHITE);
m_textLine += TEXT_LINE_SPACE;
}
if (settings.pause)
{
if (settings.singleStep)
{
settings.singleStep = false;
}
else
{
timeStep = 0;
}
debugDraw.drawString(5, m_textLine, "****PAUSED****", Color4f.WHITE);
m_textLine += TEXT_LINE_SPACE;
}
DebugDrawFlags flags = 0;
flags |= settings.getSetting(TestbedSettings.DrawShapes).enabled ? DebugDrawFlags.Shapes : 0;
flags |= settings.getSetting(TestbedSettings.DrawJoints).enabled ? DebugDrawFlags.Joints : 0;
flags |= settings.getSetting(TestbedSettings.DrawAABBs).enabled ? DebugDrawFlags.AABB : 0;
flags |=
settings.getSetting(TestbedSettings.DrawCOMs).enabled ? DebugDrawFlags.CenterOfMass : 0;
flags |= settings.getSetting(TestbedSettings.DrawTree).enabled ? DebugDrawFlags.DynamicTree : 0;
flags |=
settings.getSetting(TestbedSettings.DrawWireframe).enabled
? DebugDrawFlags.Wireframe
: 0;
debugDraw.setFlags(flags);
m_world.setAllowSleep(settings.getSetting(TestbedSettings.AllowSleep).enabled);
m_world.setWarmStarting(settings.getSetting(TestbedSettings.WarmStarting).enabled);
m_world.setSubStepping(settings.getSetting(TestbedSettings.SubStepping).enabled);
m_world.setContinuousPhysics(settings.getSetting(TestbedSettings.ContinuousCollision).enabled);
pointCount = 0;
m_world.step(timeStep, settings.getSetting(TestbedSettings.VelocityIterations).value,
settings.getSetting(TestbedSettings.PositionIterations).value);
m_world.drawDebugData();
if (timeStep > 0f)
{
++stepCount;
}
debugDraw.drawString(5, m_textLine, "Engine Info", color4);
m_textLine += TEXT_LINE_SPACE;
debugDraw.drawString(5, m_textLine, "Framerate: " + (int) model.getCalculatedFps(),
Color4f.WHITE);
m_textLine += TEXT_LINE_SPACE;
if (settings.getSetting(TestbedSettings.DrawStats).enabled)
{
int particleCount = m_world.getParticleCount();
int groupCount = m_world.getParticleGroupCount();
debugDraw.drawString(
5,
m_textLine,
"bodies/contacts/joints/proxies/particles/groups = " + m_world.getBodyCount() + "/"
+ m_world.getContactCount() + "/" + m_world.getJointCount() + "/"
+ m_world.getProxyCount() + "/" + particleCount + "/" + groupCount, Color4f.WHITE);
m_textLine += TEXT_LINE_SPACE;
debugDraw.drawString(5, m_textLine, "World mouse position: " + mouseWorld.ToString(),
Color4f.WHITE);
m_textLine += TEXT_LINE_SPACE;
statsList.Clear();
Dynamics.Profile profile = getWorld().getProfile();
profile.toDebugStrings(statsList);
foreach (string s in statsList)
{
debugDraw.drawString(5, m_textLine, s, Color4f.WHITE);
m_textLine += TEXT_LINE_SPACE;
}
m_textLine += TEXT_SECTION_SPACE;
}
if (settings.getSetting(TestbedSettings.DrawHelp).enabled)
{
debugDraw.drawString(5, m_textLine, "Help", color4);
m_textLine += TEXT_LINE_SPACE;
List<string> help = model.getImplSpecificHelp();
foreach (string s in help)
{
debugDraw.drawString(5, m_textLine, s, Color4f.WHITE);
m_textLine += TEXT_LINE_SPACE;
}
m_textLine += TEXT_SECTION_SPACE;
}
if (textList.Count != 0)
{
debugDraw.drawString(5, m_textLine, "Test Info", color4);
m_textLine += TEXT_LINE_SPACE;
foreach (string s in textList)
{
debugDraw.drawString(5, m_textLine, s, Color4f.WHITE);
m_textLine += TEXT_LINE_SPACE;
}
textList.Clear();
}
if (mouseTracing && mouseJoint == null)
{
float delay = 0.1f;
acceleration.x =
2/delay*(1/delay*(mouseWorld.x - mouseTracerPosition.x) - mouseTracerVelocity.x);
acceleration.y =
2/delay*(1/delay*(mouseWorld.y - mouseTracerPosition.y) - mouseTracerVelocity.y);
mouseTracerVelocity.x += timeStep*acceleration.x;
mouseTracerVelocity.y += timeStep*acceleration.y;
mouseTracerPosition.x += timeStep*mouseTracerVelocity.x;
mouseTracerPosition.y += timeStep*mouseTracerVelocity.y;
pshape.m_p.set(mouseTracerPosition);
pshape.m_radius = 2;
pcallback.init(m_world, pshape, mouseTracerVelocity);
pshape.computeAABB(paabb, identity, 0);
m_world.queryAABB(pcallback, paabb);
}
if (mouseJoint != null)
{
mouseJoint.getAnchorB(ref p1);
Vec2 p2 = mouseJoint.getTarget();
debugDraw.drawSegment(p1, p2, mouseColor);
}
if (bombSpawning)
{
debugDraw.drawSegment(bombSpawnPoint, bombMousePoint, Color4f.WHITE);
}
if (settings.getSetting(TestbedSettings.DrawContactPoints).enabled)
{
float k_impulseScale = 0.1f;
float axisScale = 0.3f;
for (int i = 0; i < pointCount; i++)
{
ContactPoint point = points[i];
if (point.state == Collision.Collision.PointState.ADD_STATE)
{
debugDraw.drawPoint(point.position, 10f, color1);
}
else if (point.state == Collision.Collision.PointState.PERSIST_STATE)
{
debugDraw.drawPoint(point.position, 5f, color2);
}
if (settings.getSetting(TestbedSettings.DrawContactNormals).enabled)
{
p1.set(point.position);
p2.set(point.normal);
p2.mulLocal(axisScale);
p2.addLocal(p1);
debugDraw.drawSegment(p1, p2, color3);
}
else if (settings.getSetting(TestbedSettings.DrawContactImpulses).enabled)
{
p1.set(point.position);
p2.set(point.normal);
p2.mulLocal(k_impulseScale);
p2.mulLocal(point.normalImpulse);
p2.addLocal(p1);
debugDraw.drawSegment(p1, p2, color5);
}
if (settings.getSetting(TestbedSettings.DrawFrictionImpulses).enabled)
{
Vec2.crossToOutUnsafe(point.normal, 1, ref tangent);
p1.set(point.position);
p2.set(tangent);
p2.mulLocal(k_impulseScale);
p2.mulLocal(point.tangentImpulse);
p2.addLocal(p1);
debugDraw.drawSegment(p1, p2, color5);
}
}
}
}
public override void step(TestbedSettings settings)
{
m_rayActor = null;
for (int i = 0; i < _e_actorCount; ++i)
{
m_actors[i].fraction = 1.0f;
m_actors[i].overlap = false;
}
if (m_automated == true)
{
int actionCount = MathUtils.max(1, _e_actorCount >> 2);
for (int i = 0; i < actionCount; ++i)
{
Action();
}
}
Query();
RayCast();
Vec2[] vecs = vecPool.get(4);
for (int i = 0; i < _e_actorCount; ++i)
{
Actor actor = m_actors[i];
if (actor.proxyId == -1)
continue;
Color4f c = new Color4f(0.9f, 0.9f, 0.9f);
if (actor == m_rayActor && actor.overlap)
{
c.set(0.9f, 0.6f, 0.6f);
}
else if (actor == m_rayActor)
{
c.set(0.6f, 0.9f, 0.6f);
}
else if (actor.overlap)
{
c.set(0.6f, 0.6f, 0.9f);
}
actor.aabb.getVertices(vecs);
getDebugDraw().drawPolygon(vecs, 4, c);
}
Color4f c2 = new Color4f(0.7f, 0.7f, 0.7f);
m_queryAABB.getVertices(vecs);
getDebugDraw().drawPolygon(vecs, 4, c2);
getDebugDraw().drawSegment(m_rayCastInput.p1, m_rayCastInput.p2, c2);
Color4f c1 = new Color4f(0.2f, 0.9f, 0.2f);
Color4f c3 = new Color4f(0.9f, 0.2f, 0.2f);
getDebugDraw().drawPoint(m_rayCastInput.p1, 6.0f, c1);
getDebugDraw().drawPoint(m_rayCastInput.p2, 6.0f, c3);
if (m_rayActor != null)
{
Color4f cr = new Color4f(0.2f, 0.2f, 0.9f);
m_rayCastInput.p2.sub(m_rayCastInput.p1);
m_rayCastInput.p2.mulLocal(m_rayActor.fraction);
m_rayCastInput.p2.addLocal(m_rayCastInput.p1);
Vec2 p = m_rayCastInput.p2;
getDebugDraw().drawPoint(p, 6.0f, cr);
}
++m_stepCount;
if (settings.getSetting(TestbedSettings.DrawTree).enabled)
{
m_tree.drawTree(getDebugDraw());
}
getDebugDraw().drawString(5, 30,
"(c)reate proxy, (d)estroy proxy, (a)utomate", Color4f.WHITE);
}
