public override void Update(GameSettings settings, GameTime gameTime)
{
Manifold manifold = new Manifold();
CollidePolygon.CollidePolygons(ref manifold, _polygonA, ref _transformA, _polygonB, ref _transformB);
WorldManifold.Initialize(ref manifold, ref _transformA, _polygonA.Radius, ref _transformB, _polygonB.Radius, out _, out FixedArray2 <Vector2> points, out _);
DrawString("Point count = " + manifold.PointCount);
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
{
Color color = new Color(0.9f, 0.9f, 0.9f);
Vector2[] v = new Vector2[Settings.MaxPolygonVertices];
for (int i = 0; i < _polygonA.Vertices.Count; ++i)
{
v[i] = MathUtils.Mul(ref _transformA, _polygonA.Vertices[i]);
}
DebugView.DrawPolygon(v, _polygonA.Vertices.Count, color);
for (int i = 0; i < _polygonB.Vertices.Count; ++i)
{
v[i] = MathUtils.Mul(ref _transformB, _polygonB.Vertices[i]);
}
DebugView.DrawPolygon(v, _polygonB.Vertices.Count, color);
}
for (int i = 0; i < manifold.PointCount; ++i)
{
DebugView.DrawPoint(points[i], 0.1f, new Color(0.9f, 0.3f, 0.3f));
DrawString(points[i].ToString());
}
DebugView.EndCustomDraw();
}
/// <summary>
/// Evaluate this contact with your own manifold and transforms.
/// </summary>
/// <param name="manifold">The manifold.</param>
/// <param name="transformA">The first transform.</param>
/// <param name="transformB">The second transform.</param>
private void Evaluate(ref Manifold manifold, ref Transform transformA, ref Transform transformB)
{
switch (_type)
{
case ContactType.Polygon:
CollidePolygon.CollidePolygons(ref manifold, (PolygonShape)FixtureA.Shape, ref transformA, (PolygonShape)FixtureB.Shape, ref transformB);
break;
case ContactType.PolygonAndCircle:
CollideCircle.CollidePolygonAndCircle(ref manifold, (PolygonShape)FixtureA.Shape, ref transformA, (CircleShape)FixtureB.Shape, ref transformB);
break;
case ContactType.EdgeAndCircle:
CollideEdge.CollideEdgeAndCircle(ref manifold, (EdgeShape)FixtureA.Shape, ref transformA, (CircleShape)FixtureB.Shape, ref transformB);
break;
case ContactType.EdgeAndPolygon:
CollideEdge.CollideEdgeAndPolygon(ref manifold, (EdgeShape)FixtureA.Shape, ref transformA, (PolygonShape)FixtureB.Shape, ref transformB);
break;
case ContactType.ChainAndCircle:
ChainShape chain = (ChainShape)FixtureA.Shape;
chain.GetChildEdge(_edge, ChildIndexA);
CollideEdge.CollideEdgeAndCircle(ref manifold, _edge, ref transformA, (CircleShape)FixtureB.Shape, ref transformB);
break;
case ContactType.ChainAndPolygon:
ChainShape loop2 = (ChainShape)FixtureA.Shape;
loop2.GetChildEdge(_edge, ChildIndexA);
CollideEdge.CollideEdgeAndPolygon(ref manifold, _edge, ref transformA, (PolygonShape)FixtureB.Shape, ref transformB);
break;
case ContactType.Circle:
CollideCircle.CollideCircles(ref manifold, (CircleShape)FixtureA.Shape, ref transformA, (CircleShape)FixtureB.Shape, ref transformB);
break;
default:
throw new ArgumentException("You are using an unsupported contact type.");
}
}
