public void DrawAABB(AABB aabb, Color color)
{
FP.Vector2[] verts = new FP.Vector2[4];
verts[0] = new FP.Vector2(aabb.LowerBound.X, aabb.LowerBound.Y);
verts[1] = new FP.Vector2(aabb.UpperBound.X, aabb.LowerBound.Y);
verts[2] = new FP.Vector2(aabb.UpperBound.X, aabb.UpperBound.Y);
verts[3] = new FP.Vector2(aabb.LowerBound.X, aabb.UpperBound.Y);
DrawPolygon(verts.ToMGVector2(), 4, color);
}
public void DrawShape(Fixture fixture, FP.Transform xf, Color color)
{
switch (fixture.Shape.ShapeType)
{
case ShapeType.Circle:
{
CircleShape circle = (CircleShape)fixture.Shape;
FP.Vector2 center = FP.MathUtils.Mul(ref xf, circle.Position);
float radius = circle.Radius;
FP.Vector2 axis = FP.MathUtils.Mul(xf.q, new FP.Vector2(1.0f, 0.0f));
DrawSolidCircle(center, radius, axis, color);
}
break;
case ShapeType.Polygon:
{
PolygonShape poly = (PolygonShape)fixture.Shape;
int vertexCount = poly.Vertices.Count;
Debug.Assert(vertexCount <= Settings.MaxPolygonVertices);
for (int i = 0; i < vertexCount; ++i)
{
_tempVertices[i] = FP.MathUtils.Mul(ref xf, poly.Vertices[i]);
}
DrawSolidPolygon(_tempVertices, vertexCount, color);
}
break;
case ShapeType.Edge:
{
EdgeShape edge = (EdgeShape)fixture.Shape;
FP.Vector2 v1 = FP.MathUtils.Mul(ref xf, edge.Vertex1);
FP.Vector2 v2 = FP.MathUtils.Mul(ref xf, edge.Vertex2);
DrawSegment(v1, v2, color);
}
break;
case ShapeType.Chain:
{
ChainShape chain = (ChainShape)fixture.Shape;
for (int i = 0; i < chain.Vertices.Count - 1; ++i)
{
FP.Vector2 v1 = FP.MathUtils.Mul(ref xf, chain.Vertices[i]);
FP.Vector2 v2 = FP.MathUtils.Mul(ref xf, chain.Vertices[i + 1]);
DrawSegment(v1, v2, color);
}
}
break;
}
}
public override void DrawTransform(ref FP.Transform transform)
{
const float axisScale = 0.4f;
FP.Vector2 p1 = transform.p;
FP.Vector2 p2 = p1 + axisScale * transform.q.GetXAxis();
debugRenderer.DrawSegment(p1, p2, Color.Red);
p2 = p1 + axisScale * transform.q.GetYAxis();
debugRenderer.DrawSegment(p1, p2, Color.Green);
}
public override void DrawSegment(FP.Vector2 start, FP.Vector2 end, float red, float green, float blue)
{
debugRenderer.DrawSegment(start, end, new Color(red, green, blue));
}
public override void DrawSolidCircle(FP.Vector2 center, float radius, FP.Vector2 axis, float red, float green, float blue)
{
debugRenderer.DrawSolidCircle(center.ToMGVector2(), ConvertUnits.ToDisplayUnits(radius), axis.ToMGVector2(), new Color(red, green, blue));
}
/// <summary>
/// Call this to draw shapes and other debug draw data.
/// </summary>
private void DrawDebugData()
{
if ((Flags & DebugViewFlags.Controllers) == DebugViewFlags.Controllers)
{
for (int i = 0; i < World.ControllerList.Count; i++)
{
Controller controller = World.ControllerList[i];
BuoyancyController buoyancy = controller as BuoyancyController;
if (buoyancy != null)
{
AABB container = buoyancy.Container;
debugRenderer.DrawAABB(container, Color.LightBlue);
}
SeaCurrentsController seaCurrents = controller as SeaCurrentsController;
if (seaCurrents != null)
{
debugRenderer.DrawCircle(seaCurrents.Position, seaCurrents.Radius, Color.LightBlue);
FP.Vector2 dir = seaCurrents.Direction;
dir.Normalize();
debugRenderer.DrawArrow(seaCurrents.Position, seaCurrents.Position + dir * seaCurrents.Strength, 5, 8, true, Color.Green);
}
}
}
if ((Flags & DebugViewFlags.Shape) == DebugViewFlags.Shape)
{
foreach (Body b in World.BodyList)
{
FP.Transform xf;
b.GetTransform(out xf);
foreach (Fixture f in b.FixtureList)
{
if (b.Enabled == false)
{
debugRenderer.DrawShape(f, xf, InactiveShapeColor);
}
else if (b.BodyType == BodyType.Static)
{
debugRenderer.DrawShape(f, xf, StaticShapeColor);
}
else if (b.BodyType == BodyType.Kinematic)
{
debugRenderer.DrawShape(f, xf, KinematicShapeColor);
}
else if (b.Awake == false)
{
debugRenderer.DrawShape(f, xf, SleepingShapeColor);
}
else
{
debugRenderer.DrawShape(f, xf, DefaultShapeColor);
}
if (f.Body == SelectedBody)
{
Color color = new Color(0.9f, 0.3f, 0.3f);
IBroadPhase bp = World.ContactManager.BroadPhase;
for (int t = 0; t < f.ProxyCount; ++t)
{
FixtureProxy proxy = f.Proxies[t];
AABB aabb;
bp.GetFatAABB(proxy.ProxyId, out aabb);
debugRenderer.DrawAABB(aabb, color);
}
}
}
}
}
if ((Flags & DebugViewFlags.ContactPoints) == DebugViewFlags.ContactPoints)
{
const float axisScale = 0.3f;
for (int i = 0; i < _pointCount; ++i)
{
ContactPoint point = _points[i];
if (point.State == PointState.Add)
{
debugRenderer.DrawPoint(point.Position, 0.1f, new Color(0.3f, 0.95f, 0.3f));
}
else if (point.State == PointState.Persist)
{
debugRenderer.DrawPoint(point.Position, 0.1f, new Color(0.3f, 0.3f, 0.95f));
}
if ((Flags & DebugViewFlags.ContactNormals) == DebugViewFlags.ContactNormals)
{
Vector2 p1 = point.Position;
Vector2 p2 = p1 + axisScale * point.Normal;
debugRenderer.DrawSegment(p1, p2, new Color(0.4f, 0.9f, 0.4f));
}
}
_pointCount = 0;
}
if ((Flags & DebugViewFlags.PolygonPoints) == DebugViewFlags.PolygonPoints)
{
foreach (Body body in World.BodyList)
{
foreach (Fixture f in body.FixtureList)
{
PolygonShape polygon = f.Shape as PolygonShape;
if (polygon != null)
{
FP.Transform xf;
body.GetTransform(out xf);
for (int i = 0; i < polygon.Vertices.Count; i++)
{
Vector2 tmp = FP.MathUtils.Mul(ref xf, polygon.Vertices[i]).ToMGVector2();
debugRenderer.DrawPoint(tmp, 0.1f, Color.Red);
}
}
}
}
}
if ((Flags & DebugViewFlags.Joint) == DebugViewFlags.Joint)
{
foreach (Joint j in World.JointList)
{
debugRenderer.DrawJoint(j);
}
}
if ((Flags & DebugViewFlags.AABB) == DebugViewFlags.AABB)
{
Color color = new Color(0.9f, 0.3f, 0.9f);
IBroadPhase bp = World.ContactManager.BroadPhase;
foreach (Body body in World.BodyList)
{
if (body.Enabled == false)
{
continue;
}
foreach (Fixture f in body.FixtureList)
{
for (int t = 0; t < f.ProxyCount; ++t)
{
FixtureProxy proxy = f.Proxies[t];
AABB aabb;
bp.GetFatAABB(proxy.ProxyId, out aabb);
debugRenderer.DrawAABB(aabb, color);
}
}
}
}
if ((Flags & DebugViewFlags.CenterOfMass) == DebugViewFlags.CenterOfMass)
{
foreach (Body b in World.BodyList)
{
FP.Transform xf;
b.GetTransform(out xf);
xf.p = b.WorldCenter;
DrawTransform(ref xf);
}
}
if (SelectedBody != null)
{
debugRenderer.DrawArrow(SelectedBody.Position, SelectedBody.Position + SelectedBody.LinearVelocity, 4, 8, false, Color.Green);
}
}
public void DrawJoint(Joint joint)
{
if (!joint.Enabled)
{
return;
}
Body b1 = joint.BodyA;
Body b2 = joint.BodyB;
FP.Transform xf1;
b1.GetTransform(out xf1);
FP.Vector2 x2 = FP.Vector2.Zero;
// WIP David
if (!joint.IsFixedType())
{
FP.Transform xf2;
b2.GetTransform(out xf2);
x2 = xf2.p;
}
FP.Vector2 p1 = joint.WorldAnchorA;
FP.Vector2 p2 = joint.WorldAnchorB;
FP.Vector2 x1 = xf1.p;
Color color = new Color(0.5f, 0.8f, 0.8f);
switch (joint.JointType)
{
case JointType.Distance:
DrawSegment(p1, p2, color);
break;
case JointType.Pulley:
PulleyJoint pulley = (PulleyJoint)joint;
FP.Vector2 s1 = b1.GetWorldPoint(pulley.LocalAnchorA);
FP.Vector2 s2 = b2.GetWorldPoint(pulley.LocalAnchorB);
DrawSegment(p1, p2, color);
DrawSegment(p1, s1, color);
DrawSegment(p2, s2, color);
break;
case JointType.FixedMouse:
DrawPoint(p1, 0.5f, new Color(0.0f, 1.0f, 0.0f));
DrawSegment(p1, p2, new Color(0.8f, 0.8f, 0.8f));
break;
case JointType.Revolute:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
DrawSegment(x2, p2, color);
DrawSolidCircle(p2, 0.1f, FP.Vector2.Zero, Color.Red);
DrawSolidCircle(p1, 0.1f, FP.Vector2.Zero, Color.Blue);
break;
case JointType.FixedAngle:
//Should not draw anything.
break;
case JointType.FixedRevolute:
DrawSegment(x1, p1, color);
DrawSolidCircle(p1, 0.1f, FP.Vector2.Zero, Color.Pink);
break;
case JointType.FixedLine:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.FixedDistance:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.FixedPrismatic:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.Gear:
DrawSegment(x1, x2, color);
break;
default:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
DrawSegment(x2, p2, color);
break;
}
}
public void DrawArrow(FP.Vector2 start, FP.Vector2 end, float length, float width, bool drawStartIndicator, Color color)
{
DrawArrow(start.ToMGVector2(), end.ToMGVector2(), length, width, drawStartIndicator, color);
}
public void DrawPoint(FP.Vector2 p, float size, Color color)
{
DrawPoint(p.ToMGVector2(), ConvertUnits.ToDisplayUnits(size), color);
}
public void DrawSegment(FP.Vector2 start, FP.Vector2 end, Color color)
{
DrawSegment(start.ToMGVector2(), end.ToMGVector2(), color);
}
public void DrawSolidCircle(FP.Vector2 center, float radius, FP.Vector2 axis, Color color)
{
DrawSolidCircle(center.ToMGVector2(), ConvertUnits.ToDisplayUnits(radius), new Vector2(axis.X, axis.Y), color);
}
public void DrawCircle(FP.Vector2 center, float radius, Color color)
{
DrawCircle(center.ToMGVector2(), ConvertUnits.ToDisplayUnits(radius), color);
}
