protected override void Draw(Settings settings)
{
base.Draw(settings);
if (b2DistanceProxy.b2_gjkCalls > 0)
{
m_debugDraw.DrawString(5, m_textLine, "gjk calls = {0}, ave gjk iters = {1:000.0}, max gjk iters = {2}",
b2DistanceProxy.b2_gjkCalls,
b2DistanceProxy.b2_gjkIters / (float)(b2DistanceProxy.b2_gjkCalls),
b2DistanceProxy.b2_gjkMaxIters);
m_textLine += 15;
}
if (b2TimeOfImpact.b2_toiCalls > 0)
{
m_debugDraw.DrawString(5, m_textLine, "toi calls = {0}, ave toi iters = {1:000.0}, max toi iters = {2}",
b2TimeOfImpact.b2_toiCalls,
b2TimeOfImpact.b2_toiIters / (float)(b2TimeOfImpact.b2_toiCalls),
b2TimeOfImpact.b2_toiMaxRootIters);
m_textLine += 15;
m_debugDraw.DrawString(5, m_textLine, "ave toi root iters = {0:000.0}, max toi root iters = {1}",
b2TimeOfImpact.b2_toiRootIters / (float)(b2TimeOfImpact.b2_toiCalls),
b2TimeOfImpact.b2_toiMaxRootIters);
m_textLine += 15;
}
}
protected override void Draw(Settings settings)
{
base.Draw(settings);
b2Manifold manifold = new b2Manifold();
b2Collision.b2CollidePolygons(manifold, m_polygonA, ref m_transformA, m_polygonB, ref m_transformB);
b2WorldManifold worldManifold = new b2WorldManifold();
worldManifold.Initialize(manifold, ref m_transformA, m_polygonA.Radius, ref m_transformB, m_polygonB.Radius);
m_debugDraw.DrawString(5, m_textLine, "point count = {0}", manifold.pointCount);
m_textLine += 15;
{
b2Color color = new b2Color(0.9f, 0.9f, 0.9f);
b2Vec2[] v = new b2Vec2[b2Settings.b2_maxPolygonVertices];
for (int i = 0; i < m_polygonA.VertexCount; ++i)
{
v[i] = b2Math.b2Mul(m_transformA, m_polygonA.Vertices[i]);
}
m_debugDraw.DrawPolygon(v, m_polygonA.VertexCount, color);
for (int i = 0; i < m_polygonB.VertexCount; ++i)
{
v[i] = b2Math.b2Mul(m_transformB, m_polygonB.Vertices[i]);
}
m_debugDraw.DrawPolygon(v, m_polygonB.VertexCount, color);
}
for (int i = 0; i < manifold.pointCount; ++i)
{
m_debugDraw.DrawPoint(worldManifold.points[i], 4.0f, new b2Color(0.9f, 0.3f, 0.3f));
}
}
protected override void Draw(Settings settings)
{
base.Draw(settings);
m_debugDraw.DrawString(5, m_textLine, "Press: (c) create a shape, (d) destroy a shape.");
m_textLine += 15;
m_debugDraw.DrawString(5, m_textLine, "sensor = {0}", m_sensor);
m_textLine += 15;
}
protected override void Draw(Settings settings)
{
base.Draw(settings);
float ratio = m_joint1.GetRatio();
float L = m_joint1.GetLengthA() + ratio * m_joint1.GetLengthB();
m_debugDraw.DrawString(5, m_textLine, "L1 + {0:0000.00} * L2 = {1:0000.00}", ratio, L);
m_textLine += 15;
}
protected override void Draw(Settings settings)
{
base.Draw(settings);
m_debugDraw.DrawString(5, m_textLine, "Keys: (l) limits, (m) motors, (s) speed");
m_textLine += 15;
float force = m_joint.GetMotorForce(settings.hz);
m_debugDraw.DrawString(5, m_textLine, "Motor Force = {0:0000}", (float) force);
m_textLine += 15;
}
public override void Step(Settings settings)
{
base.Step(settings);
//b2DynamicTree* tree = &m_world->m_contactManager.m_broadPhase.m_tree;
//if (m_stepCount == 400)
//{
// tree->RebuildBottomUp();
//}
}
protected override void Draw(Settings settings)
{
base.Draw(settings);
m_rope.Draw(m_debugDraw);
m_debugDraw.DrawString(5, m_textLine, "Press (q,e) to adjust target angle");
m_textLine += 15;
m_debugDraw.DrawString(5, m_textLine, "Target angle = {0} degrees", m_angle * 180.0f / b2Settings.b2_pi);
m_textLine += 15;
}
public override void Step(Settings settings)
{
float dt = settings.hz > 0.0f ? 1.0f / settings.hz : 0.0f;
if (settings.pause && settings.singleStep)
{
dt = 0.0f;
}
m_rope.Step(dt, 1);
base.Step(settings);
}
protected override void Draw(Settings settings)
{
base.Draw(settings);
for (int i = 0; i < e_actorCount; ++i)
{
Actor actor = m_actors[i];
if (actor.proxyId == b2_nullNode)
continue;
b2Color c = new b2Color(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);
}
m_debugDraw.DrawAABB(actor.aabb, c);
}
b2Color cc = new b2Color(0.7f, 0.7f, 0.7f);
m_debugDraw.DrawAABB(m_queryAABB, cc);
m_debugDraw.DrawSegment(m_rayCastInput.p1, m_rayCastInput.p2, cc);
b2Color c1 = new b2Color(0.2f, 0.9f, 0.2f);
b2Color c2 = new b2Color(0.9f, 0.2f, 0.2f);
m_debugDraw.DrawPoint(m_rayCastInput.p1, 6.0f, c1);
m_debugDraw.DrawPoint(m_rayCastInput.p2, 6.0f, c2);
if (m_rayActor != null)
{
b2Color cr = new b2Color(0.2f, 0.2f, 0.9f);
b2Vec2 p = m_rayCastInput.p1 + m_rayActor.fraction * (m_rayCastInput.p2 - m_rayCastInput.p1);
m_debugDraw.DrawPoint(p, 6.0f, cr);
}
{
int height = m_tree.GetHeight();
m_debugDraw.DrawString(5, m_textLine, "dynamic tree height = {0}", height);
m_textLine += 15;
}
}
public override void Step(Settings settings)
{
base.Step(settings);
//for (int32 i = 0; i < e_count; ++i)
//{
// printf("%g ", m_bodies[i]->GetWorldCenter().y);
//}
//for (int32 i = 0; i < e_count; ++i)
//{
// printf("%g ", m_bodies[i]->GetLinearVelocity().y);
//}
//printf("\n");
}
protected override void Draw(Settings settings)
{
base.Draw(settings);
b2DistanceInput input = b2DistanceInput.Create();
input.proxyA.Set(m_polygonA, 0);
input.proxyB.Set(m_polygonB, 0);
input.transformA = m_transformA;
input.transformB = m_transformB;
input.useRadii = true;
b2SimplexCache cache = b2SimplexCache.Create();
cache.count = 0;
b2DistanceOutput output = new b2DistanceOutput();
b2Simplex.b2Distance(ref output, ref cache, ref input);
m_debugDraw.DrawString(5, m_textLine, "distance = {0}", output.distance);
m_textLine += 15;
m_debugDraw.DrawString(5, m_textLine, "iterations = {0}", output.iterations);
m_textLine += 15;
{
b2Color color = new b2Color(0.9f, 0.9f, 0.9f);
b2Vec2[] v = new b2Vec2[b2Settings.b2_maxPolygonVertices];
for (int i = 0; i < m_polygonA.VertexCount; ++i)
{
v[i] = b2Math.b2Mul(m_transformA, m_polygonA.Vertices[i]);
}
m_debugDraw.DrawPolygon(v, m_polygonA.VertexCount, color);
for (int i = 0; i < m_polygonB.VertexCount; ++i)
{
v[i] = b2Math.b2Mul(m_transformB, m_polygonB.Vertices[i]);
}
m_debugDraw.DrawPolygon(v, m_polygonB.VertexCount, color);
}
b2Vec2 x1 = output.pointA;
b2Vec2 x2 = output.pointB;
b2Color c1 = new b2Color(1.0f, 0.0f, 0.0f);
m_debugDraw.DrawPoint(x1, 4.0f, c1);
b2Color c2 = new b2Color(1.0f, 1.0f, 0.0f);
m_debugDraw.DrawPoint(x2, 4.0f, c2);
}
public override void Step(Settings settings)
{
base.Step(settings);
if (m_count < e_count)
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(0.0f, 10.0f);
b2Body body = m_world.CreateBody(bd);
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.125f, 0.125f);
body.CreateFixture(shape, 1.0f);
++m_count;
}
}
protected override void Draw(Settings settings)
{
base.Draw(settings);
m_debugDraw.DrawString(5, m_textLine, "Keys: left = a, brake = s, right = d, hz down = q, hz up = e");
m_textLine += 15;
m_debugDraw.DrawString(5, m_textLine, "frequency = {0} hz, damping ratio = {1}", m_hz, m_zeta);
m_textLine += 15;
}
public override void Step(Settings settings)
{
b2Vec2 v = m_character.LinearVelocity;
v.x = -5.0f;
m_character.LinearVelocity = v;
base.Step(settings);
}
protected override void Draw(Settings settings)
{
base.Draw(settings);
m_debugDraw.DrawString(5, m_textLine, "This demonstrates a soft distance joint.");
m_textLine += 15;
m_debugDraw.DrawString(5, m_textLine, "Press: (b) to delete a body, (j) to delete a joint");
m_textLine += 15;
}
protected override void Draw(Settings settings)
{
base.Draw(settings);
m_debugDraw.DrawString(5, m_textLine, "Keys: (l) limits, (m) motor");
m_textLine += 15;
//if (m_stepCount == 360)
//{
// m_ball->SetTransform(b2Vec2(0.0f, 0.5f), 0.0f);
//}
//float32 torque1 = m_joint1->GetMotorTorque();
//m_debugDraw.DrawString(5, m_textLine, "Motor Torque = %4.0f, %4.0f : Motor Force = %4.0f", (float) torque1, (float) torque2, (float) force3);
//m_textLine += 15;
}
protected override void Draw(Settings settings)
{
base.Draw(settings);
m_debugDraw.DrawString(5, m_textLine, "Keys: left = a, brake = s, right = d, toggle motor = m");
m_textLine += 15;
}
public override void Step(Settings settings)
{
settings.viewCenter.x = m_car.Position.x;
base.Step(settings);
}
public override void Step(Settings settings)
{
if (m_stepCount == 12)
{
m_stepCount += 0;
}
base.Step(settings);
if (m_stepCount % 60 == 0)
{
//Launch();
}
}
public override void Step(Settings settings)
{
//bool sleeping = true;
for (b2Body b = m_world.BodyList; b != null; b = b.Next)
{
if (b.BodyType != b2BodyType.b2_dynamicBody)
{
continue;
}
//if (b->IsAwake())
//{
// sleeping = false;
//}
}
if (m_stepCount == 180)
{
m_stepCount += 0;
}
//if (sleeping)
//{
// CreateCircle();
//}
base.Step(settings);
for (b2Body b = m_world.BodyList; b != null; b = b.Next)
{
if (b.BodyType != b2BodyType.b2_dynamicBody)
{
continue;
}
b2Vec2 p = b.Position;
if (p.x <= -10.0f || 10.0f <= p.x || p.y <= 0.0f || 20.0f <= p.y)
{
p.x += 0.0f;
}
}
}
protected override void Draw(Settings settings)
{
base.Draw(settings);
m_debugDraw.DrawString(5, m_textLine, "Press 1-5 to drop stuff");
m_textLine += 15;
float L = 25.0f;
b2Vec2 point1 = new b2Vec2(0.0f, 10.0f);
b2Vec2 d = new b2Vec2(L * (float)Math.Cos(m_angle), -L * b2Math.b2Abs((float)Math.Sin(m_angle)));
b2Vec2 point2 = point1 + d;
EdgeShapesCallback callback = new EdgeShapesCallback();
m_world.RayCast(callback, point1, point2);
if (callback.m_fixture != null)
{
m_debugDraw.DrawPoint(callback.m_point, 5.0f, new b2Color(0.4f, 0.9f, 0.4f));
m_debugDraw.DrawSegment(point1, callback.m_point, new b2Color(0.8f, 0.8f, 0.8f));
b2Vec2 head = callback.m_point + 0.5f * callback.m_normal;
m_debugDraw.DrawSegment(callback.m_point, head, new b2Color(0.9f, 0.9f, 0.4f));
}
else
{
m_debugDraw.DrawSegment(point1, point2, new b2Color(0.8f, 0.8f, 0.8f));
}
}
public override void Step(Settings 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 = Math.Max(1, e_actorCount >> 2);
for (int i = 0; i < actionCount; ++i)
{
Action();
}
}
Query();
RayCast();
++m_stepCount;
}
protected override void Draw(Settings settings)
{
base.Draw(settings);
b2ContactManager cm = m_world.ContactManager;
int height = cm.BroadPhase.GetTreeHeight();
int leafCount = cm.BroadPhase.GetProxyCount();
int minimumNodeCount = 2 * leafCount - 1;
float minimumHeight = (float)Math.Ceiling((float)Math.Log(minimumNodeCount) / (float)Math.Log(2.0f));
m_debugDraw.DrawString(5, m_textLine, "dynamic tree height = {0}, min = {1}", height, minimumHeight);
m_textLine += 15;
m_debugDraw.DrawString(5, m_textLine, "create time = {0:000000.00} ms, fixture count = {1}",
m_createTime, m_fixtureCount);
m_textLine += 15;
}
protected override void Draw(Settings settings)
{
base.Draw(settings);
float ratio, value;
ratio = m_joint4.GetRatio();
value = m_joint1.GetJointAngle() + ratio * m_joint2.GetJointAngle();
m_debugDraw.DrawString(5, m_textLine, "theta1 + {0:0000.00} * theta2 = {1:0000.00}", ratio, value);
m_textLine += 15;
ratio = m_joint5.GetRatio();
value = m_joint2.GetJointAngle() + ratio * m_joint3.GetJointTranslation();
m_debugDraw.DrawString(5, m_textLine, "theta2 + {0:0000.00} * delta = {1:0000.00}", ratio, value);
m_textLine += 15;
}
protected override void Draw(Settings settings)
{
base.Draw(settings);
m_debugDraw.DrawString(5, m_textLine, "Press 'a' to control the flippers");
m_textLine += 15;
}
protected override void Draw(Settings settings)
{
base.Draw(settings);
m_debugDraw.DrawString(5, m_textLine, "Keys: (f) toggle friction, (m) toggle motor");
m_textLine += 15;
float torque = m_joint1.GetMotorTorque(settings.hz);
m_debugDraw.DrawString(5, m_textLine, "Motor Torque = {0:00000}", torque);
m_textLine += 15;
}
public override void Step(Settings settings)
{
bool advanceRay = !settings.pause || settings.singleStep;
base.Step(settings);
if (advanceRay)
{
m_angle += 0.25f * b2Settings.b2_pi / 180.0f;
}
}
public override void Step(Settings settings)
{
if (m_button)
{
m_leftJoint.SetMotorSpeed(20.0f);
m_rightJoint.SetMotorSpeed(-20.0f);
}
else
{
m_leftJoint.SetMotorSpeed(-10.0f);
m_rightJoint.SetMotorSpeed(10.0f);
}
base.Step(settings);
}
protected override void Draw(Settings settings)
{
base.Draw(settings);
m_debugDraw.DrawString(5, m_textLine, "Press 'c' to create a circle.");
m_textLine += 15;
}
protected override void Draw(Settings settings)
{
base.Draw(settings);
b2Sweep sweepA = new b2Sweep();
sweepA.alpha0 = 0;
sweepA.c0.Set(24.0f, -60.0f);
sweepA.a0 = 2.95f;
sweepA.c = sweepA.c0;
sweepA.a = sweepA.a0;
sweepA.localCenter.SetZero();
b2Sweep sweepB = new b2Sweep();
sweepB.alpha0 = 0;
sweepB.c0.Set(53.474274f, -50.252514f);
sweepB.a0 = 513.36676f; // - 162.0f * b2_pi;
sweepB.c.Set(54.595478f, -51.083473f);
sweepB.a = 513.62781f; // - 162.0f * b2_pi;
sweepB.localCenter.SetZero();
//sweepB.a0 -= 300.0f * b2_pi;
//sweepB.a -= 300.0f * b2_pi;
b2TOIInput input = b2TOIInput.Create();
input.proxyA.Set(m_shapeA, 0);
input.proxyB.Set(m_shapeB, 0);
input.sweepA = sweepA;
input.sweepB = sweepB;
input.tMax = 1.0f;
b2TOIOutput output;
b2TimeOfImpact.Compute(out output, ref input);
m_debugDraw.DrawString(5, m_textLine, "toi = {0}", output.t);
m_textLine += 15;
m_debugDraw.DrawString(5, m_textLine, "max toi iters = {0}, max root iters = {1}",
b2TimeOfImpact.b2_toiMaxIters, b2TimeOfImpact.b2_toiMaxRootIters);
m_textLine += 15;
b2Vec2[] vertices = new b2Vec2[b2Settings.b2_maxPolygonVertices];
b2Transform transformA;
sweepA.GetTransform(out transformA, 0.0f);
for (int i = 0; i < m_shapeA.VertexCount; ++i)
{
vertices[i] = b2Math.b2Mul(transformA, m_shapeA.Vertices[i]);
}
m_debugDraw.DrawPolygon(vertices, m_shapeA.VertexCount, new b2Color(0.9f, 0.9f, 0.9f));
b2Transform transformB;
sweepB.GetTransform(out transformB, 0.0f);
b2Vec2 localPoint = new b2Vec2(2.0f, -0.1f);
for (int i = 0; i < m_shapeB.VertexCount; ++i)
{
vertices[i] = b2Math.b2Mul(transformB, m_shapeB.Vertices[i]);
}
m_debugDraw.DrawPolygon(vertices, m_shapeB.VertexCount, new b2Color(0.5f, 0.9f, 0.5f));
sweepB.GetTransform(out transformB, output.t);
for (int i = 0; i < m_shapeB.VertexCount; ++i)
{
vertices[i] = b2Math.b2Mul(transformB, m_shapeB.Vertices[i]);
}
m_debugDraw.DrawPolygon(vertices, m_shapeB.VertexCount, new b2Color(0.5f, 0.7f, 0.9f));
sweepB.GetTransform(out transformB, 1.0f);
for (int i = 0; i < m_shapeB.VertexCount; ++i)
{
vertices[i] = b2Math.b2Mul(transformB, m_shapeB.Vertices[i]);
}
m_debugDraw.DrawPolygon(vertices, m_shapeB.VertexCount, new b2Color(0.9f, 0.5f, 0.5f));
#if false
for (float t = 0.0f; t < 1.0f; t += 0.1f)
{
sweepB.GetTransform(ref transformB, t);
for (int i = 0; i < m_shapeB.VertexCount; ++i)
{
vertices[i] = b2Math.b2Mul(transformB, m_shapeB.Vertices[i]);
}
m_debugDraw.DrawPolygon(vertices, m_shapeB.VertexCount, new b2Color(0.9f, 0.5f, 0.5f));
}
#endif
}
