public override byte[] Render(bool toRgbArray = false)
{
if (Viewer == null)
{
Viewer = new Rendering.Viewer(VIEWPORT_W, VIEWPORT_H);
Viewer.SetBounds(0, VIEWPORT_W / SCALE, 0, VIEWPORT_H / SCALE);
}
foreach (var obj in particles)
{
var data = obj.GetUserData() as CustomBodyData;
data.TimeToLive -= 0.15f;
data.Color1 = new b2Vec3((float)Math.Max(0.2, 0.2 + data.TimeToLive), (float)Math.Max(0.2, 0.5 * data.TimeToLive), (float)Math.Max(0.2, 0.5 * data.TimeToLive));
data.Color2 = new b2Vec3((float)Math.Max(0.2, 0.2 + data.TimeToLive), (float)Math.Max(0.2, 0.5 * data.TimeToLive), (float)Math.Max(0.2, 0.5 * data.TimeToLive));
}
CleanParticles(false);
foreach (var p in sky_polys)
{
Viewer.DrawPolygon(p).SetColor(0, 0, 0);
}
foreach (var obj in particles.Concat(drawlist))
{
for (b2Fixture f = obj.GetFixtureList(); f != null; f = f.GetNext())
{
var xform = f.GetBody().GetTransform();
if (f.GetShape() is b2CircleShape)
{
var shape = (f.GetShape() as b2CircleShape);
var customData = (obj.GetUserData() as CustomBodyData);
var trans = Utils.b2Mul(xform, shape.m_p);
var t = new Rendering.Transform(new float[] { trans[0], trans[1] });
Viewer.DrawCircle(shape.m_radius, 20).SetColor(customData.Color1.x, customData.Color1.y, customData.Color1.z).AddAttr(t);
Viewer.DrawCircle(shape.m_radius, 20, false).SetColor(customData.Color2.x, customData.Color2.y, customData.Color2.z).SetLineWidth(2).AddAttr(t);
}
else
{
var shape = f.GetShape();
var customData = (obj.GetUserData() as CustomBodyData);
var path = shape.GetVertices().Select(v => { var trans = Utils.b2Mul(xform, v); return(new float[] { trans[0], trans[1] }); }).ToList();
Viewer.DrawPolygon(path).SetColor(customData.Color1.x, customData.Color1.y, customData.Color1.z);
path.Add(path[0]);
Viewer.DrawPolyline(path).SetColor(customData.Color2.x, customData.Color2.y, customData.Color2.z).SetLineWidth(2);
}
}
}
foreach (var x in new[] { helipad_x1, helipad_x2 })
{
var flagy1 = helipad_y;
var flagy2 = flagy1 + 50 / SCALE;
Viewer.DrawPolyline(new List <float[]> {
new float[] { x, flagy1 }, new float[] { x, flagy2 }
}).SetColor(1, 1, 1);
Viewer.DrawPolygon(new List <float[]> {
new float[] { x, flagy2 }, new float[] { x, flagy2 - 10 / SCALE }, new float[] { x + 25 / SCALE, flagy2 - 5 / SCALE }
}).SetColor(0.8f, 0.8f, 0);
}
Viewer.Render();
return(null);
}
public override byte[] Render(bool toRgbArray = false)
{
if (Viewer == null)
{
Viewer = new Rendering.Viewer(VIEWPORT_W, VIEWPORT_H);
}
Viewer.SetBounds(scroll, VIEWPORT_W / SCALE + scroll, 0, VIEWPORT_H / SCALE);
Viewer.DrawPolygon(new List <float[]> {
new float[] { scroll, 0 },
new float[] { scroll + VIEWPORT_W / SCALE, 0 },
new float[] { scroll + VIEWPORT_W / SCALE, VIEWPORT_H / SCALE },
new float[] { scroll, VIEWPORT_H / SCALE }
}).SetColor(0.9f, 0.9f, 1.0f);
foreach (var cloud_data in cloud_poly)
{
var poly = cloud_data.Item1;
var pos_data = cloud_data.Item2;
if (pos_data.y < scroll / 2)
{
continue;
}
if (pos_data.x > scroll / 2 + VIEWPORT_W / SCALE)
{
continue;
}
Viewer.DrawPolygon(poly.Select(p => new[] { p[0] + scroll / 2, p[1] }).ToList()).SetColor(1, 1, 1);
}
foreach (var terrain_data in terrain_poly)
{
var poly = terrain_data.Item1;
var color = terrain_data.Item2;
if (poly[1][0] < scroll)
{
continue;
}
if (poly[0][0] > scroll + VIEWPORT_W / SCALE)
{
continue;
}
Viewer.DrawPolygon(poly).SetColor(color.x, color.y, color.z);
}
lidar_render = (lidar_render + 1) % 100;
int i = lidar_render;
if (i < 2 * lidar.Length)
{
var l = i < lidar.Length ? lidar[i] : lidar[2 * lidar.Length - i - 1];
Viewer.DrawPolyline(new List <float[]> {
new float[] { l.P1.x, l.P1.y }, new float[] { l.P2.x, l.P2.y }
}).SetColor(1, 0, 0).SetLineWidth(1);
}
foreach (var obj in drawlist)
{
for (b2Fixture f = obj.GetFixtureList(); f != null; f = f.GetNext())
{
var xform = f.GetBody().GetTransform();
if (f.GetShape() is b2CircleShape)
{
var shape = (f.GetShape() as b2CircleShape);
var customData = (obj.GetUserData() as CustomBodyData);
var trans = Utils.b2Mul(xform, shape.m_p);
var t = new Rendering.Transform(new float[] { trans[0], trans[1] });
Viewer.DrawCircle(shape.m_radius, 30).SetColor(customData.Color1.x, customData.Color1.y, customData.Color1.z).AddAttr(t);
Viewer.DrawCircle(shape.m_radius, 30, false).SetColor(customData.Color2.x, customData.Color2.y, customData.Color2.z).SetLineWidth(2).AddAttr(t);
}
else
{
var shape = f.GetShape();
var customData = (obj.GetUserData() as CustomBodyData);
var path = shape.GetVertices().Select(v => { var trans = Utils.b2Mul(xform, v); return(new float[] { trans[0], trans[1] }); }).ToList();
Viewer.DrawPolygon(path).SetColor(customData.Color1.x, customData.Color1.y, customData.Color1.z);
path.Add(path[0]);
Viewer.DrawPolyline(path).SetColor(customData.Color2.x, customData.Color2.y, customData.Color2.z).SetLineWidth(2);
}
}
}
var flagy1 = TERRAIN_HEIGHT;
var flagy2 = flagy1 + 50 / SCALE;
var x = TERRAIN_STEP * 3;
Viewer.DrawPolyline(new List <float[]> {
new float[] { x, flagy1 }, new float[] { x, flagy2 }
}).SetColor(0, 0, 0).SetLineWidth(2);
var flagVert = new List <float[]> {
new float[] { x, flagy2 }, new float[] { x, flagy2 - 10 / SCALE }, new float[] { x + 25 / SCALE, flagy2 - 5 / SCALE }
};
Viewer.DrawPolygon(flagVert).SetColor(0.9f, 0.2f, 0);
flagVert.Add(flagVert[0]);
Viewer.DrawPolyline(flagVert).SetColor(0, 0, 0).SetLineWidth(2);
Viewer.Render();
return(null);
}
public override void Step(b2TimeStep step)
{
if (m_bodyList == null)
{
return;
}
if (useWorldGravity)
{
gravity = GetWorld().GetGravity().Copy();
}
for (b2ControllerEdge i = m_bodyList; i != null; i = i.nextBody)
{
b2Body body = i.body;
if (body.IsAwake() == false)
{
//Buoyancy force is just a function of position,
//so unlike most forces, it is safe to ignore sleeping bodes
continue;
}
b2Vec2 areac = new b2Vec2();
b2Vec2 massc = new b2Vec2();
float area = 0.0f;
float mass = 0.0f;
for (b2Fixture fixture = body.GetFixtureList(); fixture != null; fixture = fixture.GetNext())
{
b2Vec2 sc = new b2Vec2();
float sarea = fixture.GetShape().ComputeSubmergedArea(normal, offset, body.GetTransform(), sc);
area += sarea;
areac.x += sarea * sc.x;
areac.y += sarea * sc.y;
float shapeDensity;
if (useDensity)
{
//TODO: Figure out what to do now density is gone
shapeDensity = 1.0f;
}
else
{
shapeDensity = 1.0f;
}
mass += sarea * shapeDensity;
massc.x += sarea * sc.x * shapeDensity;
massc.y += sarea * sc.y * shapeDensity;
}
areac.x /= area;
areac.y /= area;
massc.x /= mass;
massc.y /= mass;
if (area < float.MinValue)
{
continue;
}
//Buoyancy
b2Vec2 buoyancyForce = gravity.GetNegative();
buoyancyForce.Multiply(density * area);
body.ApplyForce(buoyancyForce, massc);
//Linear drag
b2Vec2 dragForce = body.GetLinearVelocityFromWorldPoint(areac);
dragForce.Subtract(velocity);
dragForce.Multiply(-linearDrag * area);
body.ApplyForce(dragForce, areac);
//Angular drag
//TODO: Something that makes more physical sense?
body.ApplyTorque(-body.GetInertia() / body.GetMass() * area * body.GetAngularVelocity() * angularDrag);
}
}
