public override void Step(Framework.Settings settings)
{
base.Step(settings);
PolyShapesCallback callback = new PolyShapesCallback();
callback._circle._radius = 2.0f;
callback._circle._p = new Vector2(0.0f, 2.1f);
callback._transform.SetIdentity();
callback._debugDraw = _debugDraw;
AABB aabb;
callback._circle.ComputeAABB(out aabb, ref callback._transform, 0);
_world.QueryAABB(callback.ReportFixture, ref aabb);
Color color = new ColorR(0.4, 0.7, 0.8);
_debugDraw.DrawCircle(callback._circle._p, callback._circle._radius, color);
_debugDraw.DrawString(50, _textLine, "Press 1-5 to drop stuff");
_textLine += 15;
_debugDraw.DrawString(50, _textLine, "Press a to (de)activate some bodies");
_textLine += 15;
_debugDraw.DrawString(50, _textLine, "Press d to destroy a body");
_textLine += 15;
}
public override void Step(Framework.Settings settings)
{
Manifold manifold = new Manifold();
Collision.CollidePolygons(ref manifold, _polygonA, ref _transformA, _polygonB, ref _transformB);
WorldManifold worldManifold = new WorldManifold(ref manifold, ref _transformA, _polygonA._radius, ref _transformB, _polygonB._radius);
_debugDraw.DrawString(50, _textLine, "point count = {0:n}", manifold._pointCount);
_textLine += 15;
{
Color color = new Color(0.9f, 0.9f, 0.9f);
FixedArray8 <Vector2> v = new FixedArray8 <Vector2>();
for (int i = 0; i < _polygonA._vertexCount; ++i)
{
v[i] = MathUtils.Multiply(ref _transformA, _polygonA._vertices[i]);
}
_debugDraw.DrawPolygon(ref v, _polygonA._vertexCount, color);
for (int i = 0; i < _polygonB._vertexCount; ++i)
{
v[i] = MathUtils.Multiply(ref _transformB, _polygonB._vertices[i]);
}
_debugDraw.DrawPolygon(ref v, _polygonB._vertexCount, color);
}
for (int i = 0; i < manifold._pointCount; ++i)
{
_debugDraw.DrawPoint(worldManifold._points[i], 0.5f, new Color(0.9f, 0.3f, 0.3f));
}
}
public override void Step(Framework.Settings settings)
{
_debugDraw.DrawString(50, _textLine, "Keys: left = a, brake = s, right = d, toggle motor = m");
_textLine += 15;
base.Step(settings);
}
public override void Step(Framework.Settings settings)
{
base.Step(settings);
// Traverse the contact results. Apply a force on shapes
// that overlap the sensor.
for (int i = 0; i < e_count; ++i)
{
if (_touching[i] == false)
{
continue;
}
Body body = _bodies[i];
Body ground = _sensor.GetBody();
CircleShape circle = (CircleShape)_sensor.GetShape();
Vector2 center = ground.GetWorldPoint(circle._p);
Vector2 position = body.GetPosition();
Vector2 d = center - position;
if (d.LengthSquared < Alt.Box2D.Settings.b2_epsilon * Alt.Box2D.Settings.b2_epsilon)
{
continue;
}
d.Normalize();
Vector2 F = 100.0f * d;
body.ApplyForce(F, position);
}
}
public override void Step(Framework.Settings settings)
{
base.Step(settings);
_debugDraw.DrawString(50, _textLine, "This demonstrates a soft distance joint.");
_textLine += 15;
_debugDraw.DrawString(50, _textLine, "Press: (b) to delete a body, (j) to delete a joint");
_textLine += 15;
}
public override void Step(Framework.Settings settings)
{
base.Step(settings);
_debugDraw.DrawString(50, _textLine, "Keys: (l) limits, (a) left, (s) off, (d) right");
_textLine += 15;
//float torque1 = _joint1.GetMotorTorque();
//_debugDraw.DrawString(50, _textLine, "Motor Torque = %4.0f, %4.0f : Motor Force = %4.0f", (float) torque1, (float) torque2, (float) force3);
//_textLine += 15;
}
public override void Step(Framework.Settings settings)
{
base.Step(settings);
float ratio = _joint1.GetRatio();
float L = _joint1.GetLength1() + ratio * _joint1.GetLength2();
_debugDraw.DrawString(50, _textLine, "L1 + {0:n} * L2 = {1:n}", (float)ratio, (float)L);
_textLine += 15;
}
public override void Step(Framework.Settings settings)
{
base.Step(settings);
_debugDraw.DrawString(50, _textLine, "Keys: (l) limits, (m) motors, (p) speed");
_textLine += 15;
double force = _joint.GetMotorForce();
_debugDraw.DrawString(50, _textLine, "Motor Force = {0:n}", (double)force);
_textLine += 15;
}
public override void Step(Framework.Settings settings)
{
base.Step(settings);
_debugDraw.DrawString(50, _textLine, "Keys: (f) toggle friction, (m) toggle motor");
_textLine += 15;
double torque = _joint1.GetMotorTorque();
_debugDraw.DrawString(50, _textLine, "Motor Torque = {0:n}", (double)torque);
_textLine += 15;
}
public override void Step(Framework.Settings settings)
{
uint oldFlag = settings.enableContinuous;
settings.enableContinuous = 0;
base.Step(settings);
_debugDraw.DrawString(5, _textLine, "Press 'c' to create a circle.");
_textLine += 15;
settings.enableContinuous = oldFlag;
}
public override void Step(Framework.Settings settings)
{
ContactManager cm = _world.GetContactManager();
int height = cm.BroadPhase.ComputeHeight();
int leafCount = cm.BroadPhase.ProxyCount;
int minimumNodeCount = 2 * leafCount - 1;
double minimumHeight = (double)(Math.Ceiling(Math.Log((double)minimumNodeCount) / Math.Log(2.0)));
_debugDraw.DrawString(5, _textLine, string.Format("dynamic tree Height = {0}, min = {1}", height, minimumHeight));
_textLine += 15;
base.Step(settings);
}
public override void Step(Framework.Settings settings)
{
if (_stepCount == 12)
{
_stepCount += 0;
}
base.Step(settings);
if (_stepCount % 60 == 0)
{
Launch();
}
}
public override void Step(Framework.Settings settings)
{
base.Step(settings);
DistanceInput input = new DistanceInput();
input.proxyA.Set(_polygonA, 0);
input.proxyB.Set(_polygonB, 0);
input.transformA = _transformA;
input.transformB = _transformB;
input.useRadii = true;
SimplexCache cache = new SimplexCache();
cache.count = 0;
DistanceOutput output = new DistanceOutput();
Distance.ComputeDistance(out output, out cache, ref input);
_debugDraw.DrawString(50, _textLine, "distance = {0:n}", output.distance);
_textLine += 15;
_debugDraw.DrawString(50, _textLine, "iterations = {0:n}", output.iterations);
_textLine += 15;
{
Color color = new Color(0.9f, 0.9f, 0.9f);
FixedArray8 <Vector2> v = new FixedArray8 <Vector2>();
for (int i = 0; i < _polygonA._vertexCount; ++i)
{
v[i] = MathUtils.Multiply(ref _transformA, _polygonA._vertices[i]);
}
_debugDraw.DrawPolygon(ref v, _polygonA._vertexCount, color);
for (int i = 0; i < _polygonB._vertexCount; ++i)
{
v[i] = MathUtils.Multiply(ref _transformB, _polygonB._vertices[i]);
}
_debugDraw.DrawPolygon(ref v, _polygonB._vertexCount, color);
}
Vector2 x1 = output.pointA;
Vector2 x2 = output.pointB;
_debugDraw.DrawPoint(x1, 0.5f, new Color(1.0f, 0.0f, 0.0f));
_debugDraw.DrawPoint(x2, 0.5f, new Color(1.0f, 0.0f, 0.0f));
_debugDraw.DrawSegment(x1, x2, new Color(1.0f, 1.0f, 0.0f));
}
public override void Step(Framework.Settings settings)
{
base.Step(settings);
float ratio = 0.0f;
float value = 0.0f;
ratio = _joint4.GetRatio();
value = _joint1.GetJointAngle() + ratio * _joint2.GetJointAngle();
_debugDraw.DrawString(50, _textLine, "theta1 + {0:n} * theta2 = {1:n}", (float)ratio, (float)value);
_textLine += 15;
ratio = _joint5.GetRatio();
value = _joint2.GetJointAngle() + ratio * _joint3.GetJointTranslation();
_debugDraw.DrawString(50, _textLine, "theta2 + {0:n} * delta = {1:n}", (float)ratio, (float)value);
_textLine += 15;
}
public override void Step(Framework.Settings settings)
{
bool sleeping = true;
for (Body b = _world.GetBodyList(); b != null; b = b.GetNext())
{
if (b.GetType() != BodyType.Dynamic)
{
continue;
}
if (b.IsAwake())
{
sleeping = false;
}
}
if (_stepCount == 180)
{
_stepCount += 0;
}
//if (sleeping)
//{
// CreateCircle();
//}
base.Step(settings);
for (Body b = _world.GetBodyList(); b != null; b = b.GetNext())
{
if (b.GetType() != BodyType.Dynamic)
{
continue;
}
Vector2 p = b.GetPosition();
if (p.X <= -10.0f || 10.0f <= p.X || p.Y <= 0.0f || 20.0f <= p.Y)
{
p.X += 0.0f;
}
}
_debugDraw.DrawString(5, _textLine, "Press 'c' to create a circle.");
_textLine += 15;
}
public override void Step(Framework.Settings settings)
{
if (_break)
{
Break();
_broke = true;
_break = false;
}
// Cache velocities to improve movement on breakage.
if (_broke == false)
{
_velocity = _body1.GetLinearVelocity();
_angularVelocity = _body1.GetAngularVelocity();
}
base.Step(settings);
}
public override void Step(Framework.Settings settings)
{
bool advanceRay = settings.pause == 0 || settings.singleStep != 0;
base.Step(settings);
_debugDraw.DrawString(5, _textLine, "Press 1-5 to drop stuff");
_textLine += 15;
double L = 25.0;
Vector2 point1 = new Vector2(0.0f, 10.0f);
Vector2 d = new Vector2(L * (double)Math.Cos(_angle), -L * Math.Abs((double)Math.Sin(_angle)));
Vector2 point2 = point1 + d;
_world.RayCast((fixture, point, normal, fraction) =>
{
_fixture = fixture;
_point = point;
_normal = normal;
return(fraction);
}, point1, point2);
if (_fixture != null)
{
_debugDraw.DrawPoint(_point, .5f, new ColorR(0.4f, 0.9f, 0.4f));
_debugDraw.DrawSegment(point1, _point, new ColorR(0.8f, 0.8f, 0.8f));
Vector2 head = _point + 0.5f * _normal;
_debugDraw.DrawSegment(_point, head, new ColorR(0.9f, 0.9f, 0.4f));
}
else
{
_debugDraw.DrawSegment(point1, point2, new ColorR(0.8f, 0.8f, 0.8f));
}
if (advanceRay)
{
_angle += 0.25 * Math.PI / 180.0;
}
}
public override void Step(Framework.Settings settings)
{
// Drive the kinematic body.
if (_platform.GetType() == BodyType.Kinematic)
{
Alt.Box2D.Transform tf;
_platform.GetTransform(out tf);
Vector2 p = tf.Position;
Vector2 v = _platform.GetLinearVelocity();
if ((p.X < -10.0 && v.X < 0.0) ||
(p.X > 10.0 && v.X > 0.0))
{
v.X = -v.X;
_platform.SetLinearVelocity(v);
}
}
base.Step(settings);
_debugDraw.DrawString(5, _textLine, "Keys: (d) dynamic, (s) static, (k) kinematic");
_textLine += 15;
}
public override void Step(Framework.Settings settings)
{
base.Step(settings);
_debugDraw.DrawString(50, _textLine, "Press: (,) to launch a bullet.");
if (_stepCount == 300)
{
if (_bullet != null)
{
_world.DestroyBody(_bullet);
_bullet = null;
}
{
CircleShape shape = new CircleShape();
shape._radius = 0.25f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.restitution = 0.05f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.bullet = true;
bd.position = new Vector2(-31.0, 5.0);
_bullet = _world.CreateBody(bd);
_bullet.CreateFixture(fd);
_bullet.SetLinearVelocity(new Vector2(400.0, 0.0));
}
}
_textLine += 15;
}
public override void Step(Framework.Settings settings)
{
base.Step(settings);
_debugDraw.DrawString(5, _textLine, "Press: (c) create a shape, (d) destroy a shape.");
_textLine += 15;
}
public override void Step(Framework.Settings settings)
{
base.Step(settings);
_debugDraw.DrawString(5, _textLine, "This tests various character collision shapes");
_textLine += 15;
}
public override void Step(Framework.Settings settings)
{
base.Step(settings);
Sweep sweepA = new Sweep();
sweepA.c0 = new Vector2(24.0f, -60.0f);
sweepA.a0 = 2.95f;
sweepA.c = sweepA.c0;
sweepA.a = sweepA.a0;
sweepA.localCenter = Vector2.Zero;
Sweep sweepB = new Sweep();
sweepB.c0 = new Vector2(53.474274f, -50.252514f);
sweepB.a0 = 513.36676f;
sweepB.c = new Vector2(54.595478f, -51.083473f);
sweepB.a = 513.62781f;
sweepB.localCenter = Vector2.Zero;
TOIInput input = new TOIInput();
input.proxyA.Set(_shapeA, 0);
input.proxyB.Set(_shapeB, 0);
input.sweepA = sweepA;
input.sweepB = sweepB;
input.tMax = 1.0f;
TOIOutput output;
Alt.Box2D.TimeOfImpact.CalculateTimeOfImpact(out output, ref input);
_debugDraw.DrawString(50, _textLine, "toi = {0:n}", output.t);
_textLine += 15;
_debugDraw.DrawString(50, _textLine, "max toi iters = {0:n}, max root iters = {1:n}", Alt.Box2D.TimeOfImpact.b2_toiMaxIters, Alt.Box2D.TimeOfImpact.b2_toiMaxRootIters);
_textLine += 15;
FixedArray8 <Vector2> vertices = new FixedArray8 <Vector2>();
Alt.Box2D.Transform transformA;
sweepA.GetTransform(out transformA, 0.0f);
for (int i = 0; i < _shapeA._vertexCount; ++i)
{
vertices[i] = MathUtils.Multiply(ref transformA, _shapeA._vertices[i]);
}
_debugDraw.DrawPolygon(ref vertices, _shapeA._vertexCount, new ColorR(0.9, 0.9, 0.9));
Alt.Box2D.Transform transformB;
sweepB.GetTransform(out transformB, 0.0f);
//NoNeed Vector2 localPoint = new Vector2(2.0f, -0.1f);
//NoNeed Vector2 rB = MathUtils.Multiply(ref transformB, localPoint) - sweepB.c0;
//NoNeed double wB = sweepB.a - sweepB.a0;
//NoNeed Vector2 vB = sweepB.c - sweepB.c0;
//Vector2 v = vB + MathUtils.Cross(wB, rB);
for (int i = 0; i < _shapeB._vertexCount; ++i)
{
vertices[i] = MathUtils.Multiply(ref transformB, _shapeB._vertices[i]);
}
_debugDraw.DrawPolygon(ref vertices, _shapeB._vertexCount, new ColorR(0.5, 0.9, 0.5));
sweepB.GetTransform(out transformB, output.t);
for (int i = 0; i < _shapeB._vertexCount; ++i)
{
vertices[i] = MathUtils.Multiply(ref transformB, _shapeB._vertices[i]);
}
_debugDraw.DrawPolygon(ref vertices, _shapeB._vertexCount, new ColorR(0.5f, 0.7f, 0.9f));
sweepB.GetTransform(out transformB, 1.0f);
for (int i = 0; i < _shapeB._vertexCount; ++i)
{
vertices[i] = MathUtils.Multiply(ref transformB, _shapeB._vertices[i]);
}
_debugDraw.DrawPolygon(ref vertices, _shapeB._vertexCount, new ColorR(0.9, 0.5, 0.5));
}
public override void Step(Framework.Settings settings)
{
base.Step(settings);
Sweep sweepA = new Sweep();
sweepA.c0 = Vector2.Zero;
sweepA.a0 = 0.0f;
sweepA.c = sweepA.c0;
sweepA.a = sweepA.a0;
sweepA.localCenter = Vector2.Zero;
Sweep sweepB = new Sweep();
sweepB.c0 = new Vector2(-0.20382018f, 2.1368704f);
sweepB.a0 = -3.1664171f;
sweepB.c = new Vector2(-0.26699525f, 2.3552670f);
sweepB.a = -3.3926492f;
sweepB.localCenter = Vector2.Zero;
TOIInput input = new TOIInput();
input.proxyA.Set(_shapeA);
input.proxyB.Set(_shapeB);
input.sweepA = sweepA;
input.sweepB = sweepB;
input.tMax = 1.0f;
TOIOutput output;
XNA.TimeOfImpact.CalculateTimeOfImpact(out output, ref input);
_debugDraw.DrawString(50, _textLine, "toi = {0:n}", output.t);
_textLine += 15;
_debugDraw.DrawString(50, _textLine, "max toi iters = {0:n}, max root iters = {1:n}", XNA.TimeOfImpact.b2_toiMaxIters, XNA.TimeOfImpact.b2_toiMaxRootIters);
_textLine += 15;
FixedArray8 <Vector2> vertices = new FixedArray8 <Vector2>();
Transform transformA;
sweepA.GetTransform(out transformA, 0.0f);
for (int i = 0; i < _shapeA._vertexCount; ++i)
{
vertices[i] = MathUtils.Multiply(ref transformA, _shapeA._vertices[i]);
}
_debugDraw.DrawPolygon(ref vertices, _shapeA._vertexCount, new Color(0.9f, 0.9f, 0.9f));
Transform transformB;
sweepB.GetTransform(out transformB, 0.0f);
Vector2 localPoint = new Vector2(2.0f, -0.1f);
Vector2 rB = MathUtils.Multiply(ref transformB, localPoint) - sweepB.c0;
float wB = sweepB.a - sweepB.a0;
Vector2 vB = sweepB.c - sweepB.c0;
Vector2 v = vB + MathUtils.Cross(wB, rB);
for (int i = 0; i < _shapeB._vertexCount; ++i)
{
vertices[i] = MathUtils.Multiply(ref transformB, _shapeB._vertices[i]);
}
_debugDraw.DrawPolygon(ref vertices, _shapeB._vertexCount, new Color(0.5f, 0.9f, 0.5f));
sweepB.GetTransform(out transformB, output.t);
for (int i = 0; i < _shapeB._vertexCount; ++i)
{
vertices[i] = MathUtils.Multiply(ref transformB, _shapeB._vertices[i]);
}
_debugDraw.DrawPolygon(ref vertices, _shapeB._vertexCount, new Color(0.5f, 0.7f, 0.9f));
sweepB.GetTransform(out transformB, 1.0f);
for (int i = 0; i < _shapeB._vertexCount; ++i)
{
vertices[i] = MathUtils.Multiply(ref transformB, _shapeB._vertices[i]);
}
_debugDraw.DrawPolygon(ref vertices, _shapeB._vertexCount, new Color(0.9f, 0.5f, 0.5f));
}
public override void Step(Framework.Settings settings)
{
_rayActor = null;
for (int i = 0; i < e_actorCount; ++i)
{
_actors[i].fraction = 1.0f;
_actors[i].overlap = false;
}
if (_automated == true)
{
int actionCount = Math.Max(1, e_actorCount >> 2);
for (int i = 0; i < actionCount; ++i)
{
Action();
}
}
Query();
RayCast();
for (int i = 0; i < e_actorCount; ++i)
{
Actor actor = _actors[i];
if (actor.proxyId == -1)
{
continue;
}
Color ca = new ColorR(0.9, 0.9, 0.9);
if (actor == _rayActor && actor.overlap)
{
ca = new ColorR(0.9, 0.6, 0.6);
}
else if (actor == _rayActor)
{
ca = new ColorR(0.6, 0.9, 0.6);
}
else if (actor.overlap)
{
ca = new ColorR(0.6, 0.6, 0.9);
}
_debugDraw.DrawAABB(ref actor.aabb, ca);
}
Color c = new ColorR(0.7, 0.7, 0.7);
_debugDraw.DrawAABB(ref _queryAABB, c);
_debugDraw.DrawSegment(_rayCastInput.p1, _rayCastInput.p2, c);
Color c1 = new ColorR(0.2, 0.9, 0.2);
Color c2 = new ColorR(0.9, 0.2, 0.2);
_debugDraw.DrawPoint(_rayCastInput.p1, 6.0, c1);
_debugDraw.DrawPoint(_rayCastInput.p2, 6.0, c2);
if (_rayActor != null)
{
Color cr = new ColorR(0.2, 0.2, 0.9);
Vector2 p = _rayCastInput.p1 + _rayActor.fraction * (_rayCastInput.p2 - _rayCastInput.p1);
_debugDraw.DrawPoint(p, 6.0, cr);
}
{
int height = _tree.ComputeHeight();
_debugDraw.DrawString(5, _textLine, "dynamic tree Height = %d", height);
_textLine += 15;
}
++_stepCount;
}
public override void Step(Framework.Settings settings)
{
bool advanceRay = settings.pause == 0 || settings.singleStep != 0;
base.Step(settings);
_debugDraw.DrawString(5, _textLine, "Press 1-5 to drop stuff, m to change the mode");
_textLine += 15;
_debugDraw.DrawString(5, _textLine, string.Format("Mode = {0}", _mode));
_textLine += 15;
double L = 11.0f;
Vector2 point1 = new Vector2(0.0f, 10.0f);
Vector2 d = new Vector2(L * (double)Math.Cos(_angle), L * (double)Math.Sin(_angle));
Vector2 point2 = point1 + d;
Vector2 point = Vector2.Zero, normal = Vector2.Zero;
switch (_mode)
{
case RayCastMode.Closest:
bool hitClosest = false;
_world.RayCast((f, p, n, fr) =>
{
Body body = f.GetBody();
if (body.GetUserData() != null)
{
int index = (int)body.GetUserData();
if (index == 0)
{
// filter
return(-1.0f);
}
}
hitClosest = true;
point = p;
normal = n;
return(fr);
}, point1, point2);
if (hitClosest)
{
_debugDraw.DrawPoint(point, .5f, new ColorR(0.4f, 0.9f, 0.4f));
_debugDraw.DrawSegment(point1, point, new ColorR(0.8f, 0.8f, 0.8f));
Vector2 head = point + 0.5f * normal;
_debugDraw.DrawSegment(point, head, new ColorR(0.9f, 0.9f, 0.4f));
}
else
{
_debugDraw.DrawSegment(point1, point2, new ColorR(0.8f, 0.8f, 0.8f));
}
break;
case RayCastMode.Any:
bool hitAny = false;
_world.RayCast((f, p, n, fr) =>
{
Body body = f.GetBody();
if (body.GetUserData() != null)
{
int index = (int)body.GetUserData();
if (index == 0)
{
// filter
return(-1.0f);
}
}
hitAny = true;
point = p;
normal = n;
return(0);
}, point1, point2);
if (hitAny)
{
_debugDraw.DrawPoint(point, .5f, new ColorR(0.4f, 0.9f, 0.4f));
_debugDraw.DrawSegment(point1, point, new ColorR(0.8f, 0.8f, 0.8f));
Vector2 head = point + 0.5f * normal;
_debugDraw.DrawSegment(point, head, new ColorR(0.9f, 0.9f, 0.4f));
}
else
{
_debugDraw.DrawSegment(point1, point2, new ColorR(0.8f, 0.8f, 0.8f));
}
break;
case RayCastMode.Multiple:
var points = new List <Vector2>();
var normals = new List <Vector2>();
_world.RayCast((f, p, n, fr) =>
{
Body body = f.GetBody();
if (body.GetUserData() != null)
{
int index = (int)body.GetUserData();
if (index == 0)
{
// filter
return(-1.0f);
}
}
points.Add(p);
normals.Add(n);
return(1.0f);
}, point1, point2);
_debugDraw.DrawSegment(point1, point2, new ColorR(0.8f, 0.8f, 0.8f));
for (int i = 0; i < points.Count; i++)
{
_debugDraw.DrawPoint(points[i], .5f, new ColorR(0.4f, 0.9f, 0.4f));
_debugDraw.DrawSegment(point1, points[i], new ColorR(0.8f, 0.8f, 0.8f));
Vector2 head = points[i] + 0.5f * normals[i];
_debugDraw.DrawSegment(points[i], head, new ColorR(0.9f, 0.9f, 0.4f));
}
break;
default:
break;
}
if (advanceRay)
{
_angle += 0.25f * (double)Math.PI / 180.0f;
}
}
public override void Step(Framework.Settings settings)
{
_rayActor = null;
for (int i = 0; i < e_actorCount; ++i)
{
_actors[i].fraction = 1.0f;
_actors[i].overlap = false;
}
if (_automated == true)
{
int actionCount = Math.Max(1, e_actorCount >> 2);
for (int i = 0; i < actionCount; ++i)
{
Action();
}
}
Query();
RayCast();
for (int i = 0; i < e_actorCount; ++i)
{
Actor actor = _actors[i];
if (actor.proxyId == -1)
{
continue;
}
Color ca = new Color(0.9f, 0.9f, 0.9f);
if (actor == _rayActor && actor.overlap)
{
ca = new Color(0.9f, 0.6f, 0.6f);
}
else if (actor == _rayActor)
{
ca = new Color(0.6f, 0.9f, 0.6f);
}
else if (actor.overlap)
{
ca = new Color(0.6f, 0.6f, 0.9f);
}
_debugDraw.DrawAABB(ref actor.aabb, ca);
}
Color c = new Color(0.7f, 0.7f, 0.7f);
_debugDraw.DrawAABB(ref _queryAABB, c);
_debugDraw.DrawSegment(_rayCastInput.p1, _rayCastInput.p2, c);
Color c1 = new Color(0.2f, 0.9f, 0.2f);
Color c2 = new Color(0.9f, 0.2f, 0.2f);
_debugDraw.DrawPoint(_rayCastInput.p1, 6.0f, c1);
_debugDraw.DrawPoint(_rayCastInput.p2, 6.0f, c2);
if (_rayActor != null)
{
Color cr = new Color(0.2f, 0.2f, 0.9f);
Vector2 p = _rayCastInput.p1 + _rayActor.fraction * (_rayCastInput.p2 - _rayCastInput.p1);
_debugDraw.DrawPoint(p, 6.0f, cr);
}
++_stepCount;
}
public override void Step(Framework.Settings settings)
{
stepCount++;
base.Step(settings);
// We are going to destroy some bodies according to contact
// points. We must buffer the bodies that should be destroyed
// because they may belong to multiple contact points.
int k_maxNuke = 6;
Body[] nuke = new Body[k_maxNuke];
int nukeCount = 0;
// Traverse the contact results. Destroy bodies that
// are touching heavier bodies.
for (int i = 0; i < _pointCount; ++i)
{
ContactPoint point = _points[i];
Body body1 = point.fixtureA.GetBody();
Body body2 = point.fixtureB.GetBody();
float mass1 = body1.GetMass();
float mass2 = body2.GetMass();
if (mass1 > 0.0f && mass2 > 0.0f)
{
if (mass2 > mass1)
{
nuke[nukeCount++] = body1;
}
else
{
nuke[nukeCount++] = body2;
}
if (nukeCount == k_maxNuke)
{
break;
}
}
}
List <Body> dupes = new List <Body>();
// Destroy the bodies, skipping duplicates.
int j = 0;
while (j < nukeCount)
{
Body b = nuke[j++];
while (j < nukeCount && nuke[j] == b)
{
++j;
}
if (b != null && !dupes.Contains(b))
{
_world.DestroyBody(b);
dupes.Add(b);
}
}
}