/// <summary>
/// Draw the mouse joint (user interation via mouse events). This method can be removed to remove the dependency on OpenGL.
/// </summary>
private void DrawMouseJoint()
{
Body body = _mouseJoint.GetBody2();
Vec2 p1 = body.GetWorldPoint(_mouseJoint._localAnchor);
Vec2 p2 = _mouseJoint._target;
Gl.glPointSize(4.0f);
Gl.glColor3f(0.0f, 1.0f, 0.0f);
Gl.glBegin(Gl.GL_POINTS);
Gl.glVertex2f(p1.X, p1.Y);
Gl.glVertex2f(p2.X, p2.Y);
Gl.glEnd();
Gl.glPointSize(1.0f);
Gl.glColor3f(0.8f, 0.8f, 0.8f);
Gl.glBegin(Gl.GL_LINES);
Gl.glVertex2f(p1.X, p1.Y);
Gl.glVertex2f(p2.X, p2.Y);
Gl.glEnd();
}
public virtual void Step(Settings settings)
{
float timeStep = settings.hz > 0.0f ? 1.0f / settings.hz : 0.0f;
if (settings.pause != 0)
{
if (settings.singleStep != 0)
{
settings.singleStep = 0;
}
else
{
timeStep = 0.0f;
}
OpenGLDebugDraw.DrawString(5, _textLine, "****PAUSED****");
_textLine += 15;
}
uint flags = 0;
flags += (uint)settings.drawShapes * (uint)DebugDraw.DrawFlags.Shape;
flags += (uint)settings.drawJoints * (uint)DebugDraw.DrawFlags.Joint;
flags += (uint)settings.drawCoreShapes * (uint)DebugDraw.DrawFlags.CoreShape;
flags += (uint)settings.drawAABBs * (uint)DebugDraw.DrawFlags.Aabb;
flags += (uint)settings.drawOBBs * (uint)DebugDraw.DrawFlags.Obb;
flags += (uint)settings.drawPairs * (uint)DebugDraw.DrawFlags.Pair;
flags += (uint)settings.drawCOMs * (uint)DebugDraw.DrawFlags.CenterOfMass;
flags += (uint)settings.drawController * (uint)DebugDraw.DrawFlags.Controller;
_debugDraw.Flags = (DebugDraw.DrawFlags)flags;
_world.SetWarmStarting(settings.enableWarmStarting > 0);
_world.SetContinuousPhysics(settings.enableTOI > 0);
_pointCount = 0;
_world.Step(timeStep, settings.velocityIterations, settings.positionIterations);
_world.Validate();
if (_bomb != null && _bomb.IsFrozen())
{
_world.DestroyBody(_bomb);
_bomb = null;
}
if (settings.drawStats != 0)
{
OpenGLDebugDraw.DrawString(5, _textLine, String.Format("proxies(max) = {0}({1}), pairs(max) = {2}({3})",
new object[] { _world.GetProxyCount(), Box2DX.Common.Settings.MaxProxies,
_world.GetPairCount(), Box2DX.Common.Settings.MaxProxies }));
_textLine += 15;
OpenGLDebugDraw.DrawString(5, _textLine, String.Format("bodies/contacts/joints = {0}/{1}/{2}",
new object[] { _world.GetBodyCount(), _world.GetContactCount(), _world.GetJointCount() }));
_textLine += 15;
}
if (_mouseJoint != null)
{
Body body = _mouseJoint.GetBody2();
Vec2 p1 = body.GetWorldPoint(_mouseJoint._localAnchor);
Vec2 p2 = _mouseJoint._target;
Gl.glPointSize(4.0f);
Gl.glColor3f(0.0f, 1.0f, 0.0f);
Gl.glBegin(Gl.GL_POINTS);
Gl.glVertex2f(p1.X, p1.Y);
Gl.glVertex2f(p2.X, p2.Y);
Gl.glEnd();
Gl.glPointSize(1.0f);
Gl.glColor3f(0.8f, 0.8f, 0.8f);
Gl.glBegin(Gl.GL_LINES);
Gl.glVertex2f(p1.X, p1.Y);
Gl.glVertex2f(p2.X, p2.Y);
Gl.glEnd();
}
if (settings.drawContactPoints != 0)
{
//float k_forceScale = 0.01f;
float k_axisScale = 0.3f;
for (int i = 0; i < _pointCount; ++i)
{
MyContactPoint point = _points[i];
if (point.state == ContactState.ContactAdded)
{
// Add
OpenGLDebugDraw.DrawPoint(point.position, 10.0f, new Color(0.3f, 0.95f, 0.3f));
}
else if (point.state == ContactState.ContactPersisted)
{
// Persist
OpenGLDebugDraw.DrawPoint(point.position, 5.0f, new Color(0.3f, 0.3f, 0.95f));
}
else
{
// Remove
OpenGLDebugDraw.DrawPoint(point.position, 10.0f, new Color(0.95f, 0.3f, 0.3f));
}
if (settings.drawContactNormals == 1)
{
Vec2 p1 = point.position;
Vec2 p2 = p1 + k_axisScale * point.normal;
OpenGLDebugDraw.DrawSegment(p1, p2, new Color(0.4f, 0.9f, 0.4f));
}
else if (settings.drawContactForces == 1)
{
/*Vector2 p1 = point.position;
* Vector2 p2 = p1 + k_forceScale * point.normalForce * point.normal;
* OpenGLDebugDraw.DrawSegment(p1, p2, new Color(0.9f, 0.9f, 0.3f));*/
}
if (settings.drawFrictionForces == 1)
{
/*Vector2 tangent = Vector2.Cross(point.normal, 1.0f);
* Vector2 p1 = point.position;
* Vector2 p2 = p1 + k_forceScale * point.tangentForce * tangent;
* OpenGLDebugDraw.DrawSegment(p1, p2, new Color(0.9f, 0.9f, 0.3f));*/
}
}
}
}