/// <inheritdoc />
protected override void PostStep()
{
if (Input.GetKeyDown(KeyCode.A))
{
_positionB.X -= 0.1f;
}
if (Input.GetKeyDown(KeyCode.D))
{
_positionB.X += 0.1f;
}
if (Input.GetKeyDown(KeyCode.S))
{
_positionB.Y -= 0.1f;
}
if (Input.GetKeyDown(KeyCode.W))
{
_positionB.Y += 0.1f;
}
if (Input.GetKeyDown(KeyCode.Q))
{
_angleB += 0.1f * Settings.Pi;
}
if (Input.GetKeyDown(KeyCode.E))
{
_angleB -= 0.1f * Settings.Pi;
}
_transformB.Set(_positionB, _angleB);
var manifold = new Manifold();
manifold.Initialize();
CollisionUtils.CollidePolygons(ref manifold, _polygonA, _transformA, _polygonB, _transformB);
var worldManifold = new WorldManifold();
worldManifold.Initialize(manifold, _transformA, _polygonA.Radius, _transformB, _polygonB.Radius);
DrawString($"point count = {manifold.PointCount}");
{
var color = Color.FromArgb(230, 230, 230);
var v = new Vector2[Settings.MaxPolygonVertices];
for (var i = 0; i < _polygonA.Count; ++i)
{
v[i] = MathUtils.Mul(_transformA, _polygonA.Vertices[i]);
}
Drawer.DrawPolygon(v, _polygonA.Count, color);
for (var i = 0; i < _polygonB.Count; ++i)
{
v[i] = MathUtils.Mul(_transformB, _polygonB.Vertices[i]);
}
Drawer.DrawPolygon(v, _polygonB.Count, color);
}
for (var i = 0; i < manifold.PointCount; ++i)
{
Drawer.DrawPoint(worldManifold.Points[i], 4.0f, Color.FromArgb(230, 77, 77));
}
}