public override void Step(Settings settings)
{
settings.pause = 1;
base.Step(settings);
settings.pause = 0;
Sweep sweep1 = new Sweep();
sweep1.C0.Set(0.0f, 20.0f);
sweep1.A0 = 0.0f;
sweep1.C = sweep1.C0;
sweep1.A = sweep1.A0;
sweep1.T0 = 0.0f;
sweep1.LocalCenter = _body1.GetLocalCenter();
Sweep sweep2 = new Sweep();
sweep2.C0.Set(9.6363468f, 28.050615f);
sweep2.A0 = 1.6408679f;
sweep2.C = sweep2.C0 + new Vec2(-0.075121880f, 0.27358246f);
sweep2.A = sweep2.A0 - 10.434675f;
sweep2.T0 = 0.0f;
sweep2.LocalCenter = _body2.GetLocalCenter();
float toi = Collision.TimeOfImpact(_shape1, sweep1, _shape2, sweep2);
OpenGLDebugDraw.DrawString(5, _textLine, "toi = " + toi.ToString());
_textLine += 15;
XForm xf2 = new XForm();
sweep2.GetXForm(out xf2, toi);
int vertexCount = _shape2.VertexCount;
Vec2[] vertices = new Vec2[Box2DX.Common.Settings.MaxPolygonVertices];
Vec2[] localVertices = _shape2.GetVertices();
for (int i = 0; i < vertexCount; ++i)
{
vertices[i] = Box2DX.Common.Math.Mul(xf2, localVertices[i]);
}
_debugDraw.DrawPolygon(vertices, vertexCount, new Color(0.5f, 0.7f, 0.9f));
localVertices = _shape2.GetCoreVertices();
for (int i = 0; i < vertexCount; ++i)
{
vertices[i] = Box2DX.Common.Math.Mul(xf2, localVertices[i]);
}
_debugDraw.DrawPolygon(vertices, vertexCount, new Color(0.5f, 0.7f, 0.9f));
}
