public void Draw(SpriteBatch sb, SpriteFont font)
{
var projection = Matrix.CreateOrthographicOffCenter(0f, ConvertUnits.ToSimUnits(sb.GraphicsDevice.Viewport.Width), ConvertUnits.ToSimUnits(sb.GraphicsDevice.Viewport.Height), 0f, 0f, 1f);
_debugView.RenderDebugData(projection, camera.getScaledViewMatrix());
var projection2 = Matrix.CreateOrthographicOffCenter(0f, sb.GraphicsDevice.Viewport.Width, sb.GraphicsDevice.Viewport.Height, 0f, 0f, 1f);
_debugView.BeginCustomDraw(projection2, camera.getViewMatrix());
foreach (var ray in player.controller.castList)
{
_debugView.DrawSegment(ray.from, ray.to, Color.Blue);
}
foreach (var p in platformList)
{
foreach (var ray in p.controller.castList)
{
_debugView.DrawSegment(ray.from, ray.to, Color.White);
}
}
var areaPoints = new Vector2[] {
ConvertUnits.ToDisplayUnits(new Vector2(camera.focusArea.left, camera.focusArea.top)),
ConvertUnits.ToDisplayUnits(new Vector2(camera.focusArea.right, camera.focusArea.top)),
ConvertUnits.ToDisplayUnits(new Vector2(camera.focusArea.right, camera.focusArea.bottom)),
ConvertUnits.ToDisplayUnits(new Vector2(camera.focusArea.left, camera.focusArea.bottom))
};
_debugView.DrawSolidPolygon(areaPoints, 4, Color.Red);
_debugView.DrawPoint(ConvertUnits.ToDisplayUnits(camera.focusPosition), 3, Color.White);
_debugView.DrawPoint(camera.Position, 3, Color.Pink);
var cameraBounds = new Vector2[] {
new Vector2(camera.Bounds.Left, camera.Bounds.Top),
new Vector2(camera.Bounds.Right, camera.Bounds.Top),
new Vector2(camera.Bounds.Right, camera.Bounds.Bottom),
new Vector2(camera.Bounds.Left, camera.Bounds.Bottom)
};
_debugView.DrawPolygon(cameraBounds, 4, Color.Green);
_debugView.EndCustomDraw();
}
public override void Update(GameSettings settings, GameTime gameTime)
{
DrawString("Use the mouse to create a polygon.");
DrawString("Simple: " + _vertices.IsSimple());
DrawString("Convex: " + _vertices.IsConvex());
DrawString("CCW: " + _vertices.IsCounterClockWise());
DrawString("Area: " + _vertices.GetArea());
PolygonError returnCode = _vertices.CheckPolygon();
if (returnCode == PolygonError.NoError)
DrawString("Polygon is supported in Velcro Physics");
else
DrawString("Polygon is NOT supported in Velcro Physics. Reason: " + returnCode);
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
for (int i = 0; i < _vertices.Count; i++)
{
Vector2 currentVertex = _vertices[i];
Vector2 nextVertex = _vertices.NextVertex(i);
DebugView.DrawPoint(currentVertex, 0.1f, Color.Yellow);
DebugView.DrawSegment(currentVertex, nextVertex, Color.Red);
}
DebugView.DrawPoint(_vertices.GetCentroid(), 0.1f, Color.Green);
AABB aabb = _vertices.GetAABB();
DebugView.DrawAABB(ref aabb, Color.HotPink);
DebugView.EndCustomDraw();
base.Update(settings, gameTime);
}
public override void Update(GameSettings settings, GameTime gameTime)
{
base.Update(settings, gameTime);
DistanceInput input = new DistanceInput();
input.ProxyA.Set(_polygonA, 0);
input.ProxyB.Set(_polygonB, 0);
input.TransformA = _transformA;
input.TransformB = _transformB;
input.UseRadii = true;
SimplexCache cache;
cache.Count = 0;
DistanceOutput output;
Distance.ComputeDistance(out output, out cache, input);
DebugView.DrawString(50, TextLine, "Distance = {0:n7}", output.Distance);
TextLine += 15;
DebugView.DrawString(50, TextLine, "Iterations = {0:n0}", output.Iterations);
TextLine += 15;
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);
}
Vector2 x1 = output.PointA;
Vector2 x2 = output.PointB;
DebugView.DrawPoint(x1, 0.5f, new Color(1.0f, 0.0f, 0.0f));
DebugView.DrawPoint(x2, 0.5f, new Color(1.0f, 0.0f, 0.0f));
DebugView.DrawSegment(x1, x2, new Color(1.0f, 1.0f, 0.0f));
DebugView.EndCustomDraw();
}
public void RenderDebug(DebugView debugView, Matrix view, Matrix projection)
{
foreach (Car car in cars)
{
foreach (CastedRay ray in car.Rays)
{
debugView.BeginCustomDraw(projection, view);
if (ray.Hit)
{
debugView.DrawPoint(ray.P1, .25f, new Color(0.9f, 0.4f, 0.4f));
debugView.DrawSegment(ray.P2, ray.P1, new Color(0.8f, 0.4f, 0.4f));
}
else
{
debugView.DrawPoint(ray.P1, .25f, new Color(0.4f, 0.9f, 0.4f));
debugView.DrawSegment(ray.P2, ray.P1, new Color(0.8f, 0.8f, 0.8f));
}
debugView.EndCustomDraw();
}
car.Rays.Clear();
}
}
public override void Update(GameSettings settings, GameTime gameTime)
{
DrawString("Press A,S,W,D move endpoint");
DrawString("Press Enter to cut");
DrawString("Press TAB to change endpoint");
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
DebugView.DrawSegment(_start, _end, Color.Red);
DebugView.EndCustomDraw();
List <Fixture> fixtures = new List <Fixture>();
List <Vector2> entryPoints = new List <Vector2>();
List <Vector2> exitPoints = new List <Vector2>();
//Get the entry points
World.RayCast((f, p, n, fr) =>
{
fixtures.Add(f);
entryPoints.Add(p);
return(1);
}, _start, _end);
//Reverse the ray to get the exitpoints
World.RayCast((f, p, n, fr) =>
{
exitPoints.Add(p);
return(1);
}, _end, _start);
DrawString("Fixtures: " + fixtures.Count);
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
foreach (Vector2 entryPoint in entryPoints)
{
DebugView.DrawPoint(entryPoint, 0.5f, Color.Yellow);
}
foreach (Vector2 exitPoint in exitPoints)
{
DebugView.DrawPoint(exitPoint, 0.5f, Color.PowderBlue);
}
DebugView.EndCustomDraw();
base.Update(settings, gameTime);
}
public override void Update(GameSettings settings, float elapsedSeconds)
{
base.Update(settings, elapsedSeconds);
DistanceInput input;
input.ProxyA = new DistanceProxy(_polygonA, 0);
input.ProxyB = new DistanceProxy(_polygonB, 0);
input.TransformA = _transformA;
input.TransformB = _transformB;
input.UseRadii = true;
SimplexCache cache;
cache.Count = 0;
DistanceOutput output;
Distance.ComputeDistance(out output, out cache, input);
DrawString("Distance = " + output.Distance);
DrawString("Iterations = " + output.Iterations);
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
{
Color color = ColorHelper.FromPercentages(0.9f, 0.9f, 0.9f);
Vector2[] v = new Vector2[Settings.MaxPolygonVertices];
for (int i = 0; i < _polygonA.Vertices.Count; ++i)
{
v[i] = Transform.Multiply(_polygonA.Vertices[i], ref _transformA);
}
DebugView.DrawPolygon(v, _polygonA.Vertices.Count, color);
for (int i = 0; i < _polygonB.Vertices.Count; ++i)
{
v[i] = Transform.Multiply(_polygonB.Vertices[i], ref _transformB);
}
DebugView.DrawPolygon(v, _polygonB.Vertices.Count, color);
}
Vector2 x1 = output.PointA;
Vector2 x2 = output.PointB;
DebugView.DrawPoint(x1, 0.5f, ColorHelper.FromPercentages(1.0f, 0.0f, 0.0f));
DebugView.DrawPoint(x2, 0.5f, ColorHelper.FromPercentages(1.0f, 0.0f, 0.0f));
DebugView.DrawSegment(x1, x2, ColorHelper.FromPercentages(1.0f, 1.0f, 0.0f));
DebugView.EndCustomDraw();
}
public override void Update(FarseerPhysicsGameSettings settings)
{
base.Update(settings);
DistanceInput input = new DistanceInput();
input.ProxyA.Set(_polygonA, 0);
input.ProxyB.Set(_polygonB, 0);
input.TransformA = _transformA;
input.TransformB = _transformB;
input.UseRadii = true;
SimplexCache cache;
cache.Count = 0;
DistanceOutput output;
Distance.ComputeDistance(out output, out cache, input);
DrawString("Distance = " + output.Distance);
DrawString("Iterations = " + output.Iterations);
{
Color color = new ColorR(0.9f, 0.9f, 0.9f);
Vector2[] v = new Vector2[Alt.FarseerPhysics.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);
}
Vector2 x1 = output.PointA;
Vector2 x2 = output.PointB;
DebugView.DrawPoint(x1, 0.5f, new ColorR(1.0f, 0.0f, 0.0f));
DebugView.DrawPoint(x2, 0.5f, new ColorR(1.0f, 0.0f, 0.0f));
DebugView.DrawSegment(x1, x2, new ColorR(1.0f, 1.0f, 0.0f));
}
public override void Update(FarseerPhysicsGameSettings settings)
{
bool advanceRay = settings.Pause == false || settings.SingleStep;
base.Update(settings);
DrawString("Press 1-5 to drop stuff");
const double l = 25.0f;
Vector2 point1 = new Vector2(0.0f, 10.0f);
Vector2 d = new Vector2(l * (double)Math.Cos(_angle), -l * Math.Abs((double)Math.Sin(_angle)));
Vector2 point2 = point1 + d;
_fixture = null;
World.RayCast((fixture, point, normal, fraction) =>
{
_fixture = fixture;
_point = point;
_normal = normal;
return(fraction);
}, point1, point2);
if (_fixture != null)
{
DebugView.DrawPoint(_point, 0.5f, new ColorR(0.4f, 0.9f, 0.4f));
DebugView.DrawSegment(point1, _point, new ColorR(0.8f, 0.8f, 0.8f));
Vector2 head = _point + 0.5f * _normal;
DebugView.DrawSegment(_point, head, new ColorR(0.9f, 0.9f, 0.4f));
}
else
{
DebugView.DrawSegment(point1, point2, new ColorR(0.8f, 0.8f, 0.8f));
}
if (advanceRay)
{
_angle += 0.25f * Alt.FarseerPhysics.Settings.Pi / 180.0f;
}
}
public override void Update(GameSettings settings, GameTime gameTime)
{
bool advanceRay = settings.Pause == false || settings.SingleStep;
base.Update(settings, gameTime);
DrawString("Press 1-5 to drop stuff");
const float l = 25.0f;
Vector2 point1 = new Vector2(0.0f, 10.0f);
Vector2 d = new Vector2(l * (float)Math.Cos(_angle), -l * Math.Abs((float)Math.Sin(_angle)));
Vector2 point2 = point1 + d;
_fixture = null;
World.RayCast((fixture, point, normal, fraction) =>
{
_fixture = fixture;
_point = point;
_normal = normal;
return(fraction);
}, point1, point2);
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
if (_fixture != null)
{
DebugView.DrawPoint(_point, 0.5f, new Color(0.4f, 0.9f, 0.4f));
DebugView.DrawSegment(point1, _point, new Color(0.8f, 0.8f, 0.8f));
Vector2 head = _point + 0.5f * _normal;
DebugView.DrawSegment(_point, head, new Color(0.9f, 0.9f, 0.4f));
}
else
{
DebugView.DrawSegment(point1, point2, new Color(0.8f, 0.8f, 0.8f));
}
DebugView.EndCustomDraw();
if (advanceRay)
{
_angle += 0.25f * MathHelper.Pi / 180.0f;
}
}
public override void Update(FarseerPhysicsGameSettings settings)
{
DrawString("Use the mouse to create a polygon.");
DrawString("Simple: " + _vertices.IsSimple());
DrawString("Convex: " + _vertices.IsConvex());
DrawString("CCW: " + _vertices.IsCounterClockWise());
DrawString("Area: " + _vertices.GetArea());
PolygonError returnCode = _vertices.CheckPolygon();
if (returnCode == PolygonError.NoError)
{
DrawString("Polygon is supported in Farseer Physics Engine");
}
else
{
DrawString("Polygon is NOT supported in Farseer Physics Engine. Reason: " + returnCode);
}
for (int i = 0; i < _vertices.Count; i++)
{
Vector2 currentVertex = _vertices[i];
Vector2 nextVertex = _vertices.NextVertex(i);
DebugView.DrawPoint(currentVertex, 0.1f, Color.Yellow);
DebugView.DrawSegment(currentVertex, nextVertex, Color.Red);
}
DebugView.DrawPoint(_vertices.GetCentroid(), 0.1f, Color.Green);
AABB aabb = _vertices.GetAABB();
DebugView.DrawAABB(ref aabb, Color.HotPink);
base.Update(settings);
}
public override void Update(GameSettings settings, GameTime gameTime)
{
bool advanceRay = !settings.Pause || settings.SingleStep;
base.Update(settings, gameTime);
DrawString("Press 1-5 to drop stuff");
float L = 25.0f;
Vector2 point1 = new Vector2(0.0f, 10.0f);
Vector2 d = new Vector2(L * MathUtils.Cosf(_angle), -L * MathUtils.Abs(MathUtils.Sinf(_angle)));
Vector2 point2 = point1 + d;
EdgeShapesCallback callback = new EdgeShapesCallback();
World.RayCast(callback.ReportFixture, point1, point2);
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
if (callback._fixture != null)
{
DebugView.DrawPoint(callback._point, 5f, new Color(0.4f, 0.9f, 0.4f));
DebugView.DrawSegment(point1, callback._point, new Color(0.8f, 0.8f, 0.8f));
Vector2 head = callback._point + 0.5f * callback._normal;
DebugView.DrawSegment(callback._point, head, new Color(0.9f, 0.9f, 0.4f));
}
else
{
DebugView.DrawSegment(point1, point2, new Color(0.8f, 0.8f, 0.8f));
}
DebugView.EndCustomDraw();
if (advanceRay)
{
_angle += 0.25f * MathConstants.Pi / 180.0f;
}
}
public override void Update(GameSettings settings, GameTime gameTime)
{
_rayActor = null;
for (int i = 0; i < ActorCount; ++i)
{
_actors[i].Fraction = 1.0f;
_actors[i].Overlap = false;
}
if (_automated)
{
int actionCount = Math.Max(1, ActorCount >> 2);
for (int i = 0; i < actionCount; ++i)
{
Action();
}
}
Query();
RayCast();
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
for (int i = 0; i < ActorCount; ++i)
{
Actor actor = _actors[i];
if (actor.ProxyId == -1)
{
continue;
}
Color ca = new Color(0.9f, 0.9f, 0.9f);
if (actor == _rayActor && actor.Overlap)
{
ca = new Color(0.9f, 0.6f, 0.6f);
}
else if (actor == _rayActor)
{
ca = new Color(0.6f, 0.9f, 0.6f);
}
else if (actor.Overlap)
{
ca = new Color(0.6f, 0.6f, 0.9f);
}
DebugView.DrawAABB(ref actor.AABB, ca);
}
Color c = new Color(0.7f, 0.7f, 0.7f);
DebugView.DrawAABB(ref _queryAABB, c);
DebugView.DrawSegment(_rayCastInput.Point1, _rayCastInput.Point2, c);
Color c1 = new Color(0.2f, 0.9f, 0.2f);
Color c2 = new Color(0.9f, 0.2f, 0.2f);
DebugView.DrawPoint(_rayCastInput.Point1, 0.1f, c1);
DebugView.DrawPoint(_rayCastInput.Point2, 0.1f, c2);
if (_rayActor != null)
{
Color cr = new Color(0.2f, 0.2f, 0.9f);
Vector2 p = _rayCastInput.Point1 + _rayActor.Fraction * (_rayCastInput.Point2 - _rayCastInput.Point1);
DebugView.DrawPoint(p, 0.1f, cr);
}
DebugView.EndCustomDraw();
int height = _tree.Height;
DrawString("Dynamic tree height = " + height);
}
public override void Update(GameSettings settings, GameTime gameTime)
{
bool advanceRay = settings.Pause == false || settings.SingleStep;
base.Update(settings, gameTime);
DebugView.DrawString(50, TextLine, "Press 1-5 to drop stuff, m to change the mode");
TextLine += 15;
DebugView.DrawString(50, TextLine, string.Format("Mode = {0}", _mode));
TextLine += 15;
const float l = 11.0f;
Vector2 point1 = new Vector2(0.0f, 10.0f);
Vector2 d = new Vector2(l * (float)Math.Cos(_angle), l * (float)Math.Sin(_angle));
Vector2 point2 = point1 + d;
Vector2 point = Vector2.Zero, normal = Vector2.Zero;
switch (_mode)
{
case RayCastMode.Closest:
bool hitClosest = false;
World.RayCast((f, p, n, fr) =>
{
Body body = f.Body;
if (body.UserData != null)
{
int index = (int)body.UserData;
if (index == 0)
{
// filter
return(-1.0f);
}
}
hitClosest = true;
point = p;
normal = n;
return(fr);
}, point1, point2);
if (hitClosest)
{
DebugView.BeginCustomDraw();
DebugView.DrawPoint(point, .5f, new Color(0.4f, 0.9f, 0.4f));
DebugView.DrawSegment(point1, point, new Color(0.8f, 0.8f, 0.8f));
Vector2 head = point + 0.5f * normal;
DebugView.DrawSegment(point, head, new Color(0.9f, 0.9f, 0.4f));
DebugView.EndCustomDraw();
}
else
{
DebugView.BeginCustomDraw();
DebugView.DrawSegment(point1, point2, new Color(0.8f, 0.8f, 0.8f));
DebugView.EndCustomDraw();
}
break;
case RayCastMode.Any:
bool hitAny = false;
World.RayCast((f, p, n, fr) =>
{
Body body = f.Body;
if (body.UserData != null)
{
int index = (int)body.UserData;
if (index == 0)
{
// filter
return(-1.0f);
}
}
hitAny = true;
point = p;
normal = n;
return(0);
}, point1, point2);
if (hitAny)
{
DebugView.BeginCustomDraw();
DebugView.DrawPoint(point, .5f, new Color(0.4f, 0.9f, 0.4f));
DebugView.DrawSegment(point1, point, new Color(0.8f, 0.8f, 0.8f));
Vector2 head = point + 0.5f * normal;
DebugView.DrawSegment(point, head, new Color(0.9f, 0.9f, 0.4f));
DebugView.EndCustomDraw();
}
else
{
DebugView.BeginCustomDraw();
DebugView.DrawSegment(point1, point2, new Color(0.8f, 0.8f, 0.8f));
DebugView.EndCustomDraw();
}
break;
case RayCastMode.Multiple:
List <Vector2> points = new List <Vector2>();
List <Vector2> normals = new List <Vector2>();
World.RayCast((f, p, n, fr) =>
{
Body body = f.Body;
if (body.UserData != null)
{
int index = (int)body.UserData;
if (index == 0)
{
// filter
return(-1.0f);
}
}
points.Add(p);
normals.Add(n);
return(1.0f);
}, point1, point2);
DebugView.BeginCustomDraw();
DebugView.DrawSegment(point1, point2, new Color(0.8f, 0.8f, 0.8f));
for (int i = 0; i < points.Count; i++)
{
DebugView.DrawPoint(points[i], .5f, new Color(0.4f, 0.9f, 0.4f));
DebugView.DrawSegment(point1, points[i], new Color(0.8f, 0.8f, 0.8f));
Vector2 head = points[i] + 0.5f * normals[i];
DebugView.DrawSegment(points[i], head, new Color(0.9f, 0.9f, 0.4f));
}
DebugView.EndCustomDraw();
break;
default:
break;
}
if (advanceRay)
{
_angle += 0.25f * Settings.Pi / 180.0f;
}
}
public override void Update(GameSettings settings, float elapsedSeconds)
{
bool advanceRay = settings.Pause == false || settings.SingleStep;
base.Update(settings, elapsedSeconds);
DrawString("Press 1-5 to drop stuff, m to change the mode");
DrawString(string.Format("Mode = {0}", _mode));
const float l = 11.0f;
Vector2 point1 = new Vector2(0.0f, 10.0f);
Vector2 d = new Vector2(l * (float)Math.Cos(_angle), l * (float)Math.Sin(_angle));
Vector2 point2 = point1 + d;
Vector2 point = Vector2.Zero, normal = Vector2.Zero;
switch (_mode)
{
case RayCastMode.Closest:
bool hitClosest = false;
World.RayCast((f, p, n, fr) =>
{
Body body = f.Body;
if (body.Tag != null)
{
int index = (int)body.Tag;
if (index == 0)
{
// filter
return(-1.0f);
}
}
hitClosest = true;
point = p;
normal = n;
return(fr);
}, point1, point2);
if (hitClosest)
{
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
DebugView.DrawPoint(point, .5f, ColorHelper.FromPercentages(0.4f, 0.9f, 0.4f));
DebugView.DrawSegment(point1, point, ColorHelper.FromPercentages(0.8f, 0.8f, 0.8f));
Vector2 head = point + 0.5f * normal;
DebugView.DrawSegment(point, head, ColorHelper.FromPercentages(0.9f, 0.9f, 0.4f));
DebugView.EndCustomDraw();
}
else
{
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
DebugView.DrawSegment(point1, point2, ColorHelper.FromPercentages(0.8f, 0.8f, 0.8f));
DebugView.EndCustomDraw();
}
break;
case RayCastMode.Any:
bool hitAny = false;
World.RayCast((f, p, n, fr) =>
{
Body body = f.Body;
if (body.Tag != null)
{
int index = (int)body.Tag;
if (index == 0)
{
// filter
return(-1.0f);
}
}
hitAny = true;
point = p;
normal = n;
return(0);
}, point1, point2);
if (hitAny)
{
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
DebugView.DrawPoint(point, .5f, ColorHelper.FromPercentages(0.4f, 0.9f, 0.4f));
DebugView.DrawSegment(point1, point, ColorHelper.FromPercentages(0.8f, 0.8f, 0.8f));
Vector2 head = point + 0.5f * normal;
DebugView.DrawSegment(point, head, ColorHelper.FromPercentages(0.9f, 0.9f, 0.4f));
DebugView.EndCustomDraw();
}
else
{
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
DebugView.DrawSegment(point1, point2, ColorHelper.FromPercentages(0.8f, 0.8f, 0.8f));
DebugView.EndCustomDraw();
}
break;
case RayCastMode.Multiple:
List <Vector2> points = new List <Vector2>();
List <Vector2> normals = new List <Vector2>();
World.RayCast((f, p, n, fr) =>
{
Body body = f.Body;
if (body.Tag != null)
{
int index = (int)body.Tag;
if (index == 0)
{
// filter
return(-1.0f);
}
}
points.Add(p);
normals.Add(n);
return(1.0f);
}, point1, point2);
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
DebugView.DrawSegment(point1, point2, ColorHelper.FromPercentages(0.8f, 0.8f, 0.8f));
for (int i = 0; i < points.Count; i++)
{
DebugView.DrawPoint(points[i], .5f, ColorHelper.FromPercentages(0.4f, 0.9f, 0.4f));
DebugView.DrawSegment(point1, points[i], ColorHelper.FromPercentages(0.8f, 0.8f, 0.8f));
Vector2 head = points[i] + 0.5f * normals[i];
DebugView.DrawSegment(points[i], head, ColorHelper.FromPercentages(0.9f, 0.9f, 0.4f));
}
DebugView.EndCustomDraw();
break;
}
if (advanceRay)
{
_angle += 0.25f * MathHelper.Pi / 180.0f;
}
}
public override void Update(FarseerPhysicsGameSettings settings)
{
_rayActor = null;
for (int i = 0; i < ActorCount; ++i)
{
_actors[i].Fraction = 1.0f;
_actors[i].Overlap = false;
}
if (_automated)
{
int actionCount = Math.Max(1, ActorCount >> 2);
for (int i = 0; i < actionCount; ++i)
{
Action();
}
}
Query();
RayCast();
for (int i = 0; i < ActorCount; ++i)
{
Actor actor = _actors[i];
if (actor.ProxyId == -1)
{
continue;
}
Color ca = new ColorR(0.9, 0.9, 0.9);
if (actor == _rayActor && actor.Overlap)
{
ca = new ColorR(0.9, 0.6, 0.6);
}
else if (actor == _rayActor)
{
ca = new ColorR(0.6, 0.9, 0.6);
}
else if (actor.Overlap)
{
ca = new ColorR(0.6, 0.6, 0.9);
}
DebugView.DrawAABB(ref actor.AABB, ca);
}
Color c = new ColorR(0.7, 0.7, 0.7);
DebugView.DrawAABB(ref _queryAABB, c);
DebugView.DrawSegment(_rayCastInput.Point1, _rayCastInput.Point2, c);
Color c1 = new ColorR(0.2, 0.9, 0.2);
Color c2 = new ColorR(0.9, 0.2, 0.2);
DebugView.DrawPoint(_rayCastInput.Point1, 0.1f, c1);
DebugView.DrawPoint(_rayCastInput.Point2, 0.1f, c2);
if (_rayActor != null)
{
Color cr = new ColorR(0.2f, 0.2f, 0.9f);
Vector2 p = _rayCastInput.Point1 + _rayActor.Fraction * (_rayCastInput.Point2 - _rayCastInput.Point1);
DebugView.DrawPoint(p, 0.1f, cr);
}
int height = _tree.Height;
DrawString("Dynamic tree Height = " + height);
}
public override void Update(GameSettings settings, GameTime gameTime)
{
//B2_NOT_USED(settings);
_rayActor = null;
for (int i = 0; i < _actorCount; ++i)
{
_actors[i].fraction = 1.0f;
_actors[i].overlap = false;
}
if (_automated)
{
int actionCount = MathUtils.Max(1, _actorCount >> 2);
for (int i = 0; i < actionCount; ++i)
{
Action();
}
}
Query();
RayCast();
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
for (int i = 0; i < _actorCount; ++i)
{
Actor actor = _actors[i];
if (actor.proxyId == DynamicTree <Actor> .NullNode)
{
continue;
}
Color c = new Color(0.9f, 0.9f, 0.9f);
if (actor == _rayActor && actor.overlap)
{
c = new Color(0.9f, 0.6f, 0.6f);
}
else if (actor == _rayActor)
{
c = new Color(0.6f, 0.9f, 0.6f);
}
else if (actor.overlap)
{
c = new Color(0.6f, 0.6f, 0.9f);
}
DebugView.DrawAABB(ref actor.aabb, c);
}
{
Color c = new Color(0.7f, 0.7f, 0.7f);
DebugView.DrawAABB(ref _queryAABB, c);
DebugView.DrawSegment(_rayCastInput.Point1, _rayCastInput.Point2, c);
}
Color c1 = new Color(0.2f, 0.9f, 0.2f);
Color c2 = new Color(0.9f, 0.2f, 0.2f);
DebugView.DrawPoint(_rayCastInput.Point1, 6.0f, c1);
DebugView.DrawPoint(_rayCastInput.Point2, 6.0f, c2);
if (_rayActor != null)
{
Color cr = new Color(0.2f, 0.2f, 0.9f);
Vector2 p = _rayCastInput.Point1 + _rayActor.fraction * (_rayCastInput.Point2 - _rayCastInput.Point1);
DebugView.DrawPoint(p, 6.0f, cr);
}
{
int height = _tree.Height;
DrawString("dynamic tree height = " + height);
}
DebugView.EndCustomDraw();
++_stepCount;
base.Update(settings, gameTime);
}
//void UpdateUI()
//{
// ImGui::SetNextWindowPos(ImVec2(10.0f, 100.0f));
// ImGui::SetNextWindowSize(ImVec2(210.0f, 285.0f));
// ImGui::Begin("Ray-cast Controls", nullptr, ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoResize);
// if (ImGui::Button("Shape 1"))
// {
// Create(0);
// }
// if (ImGui::Button("Shape 2"))
// {
// Create(1);
// }
// if (ImGui::Button("Shape 3"))
// {
// Create(2);
// }
// if (ImGui::Button("Shape 4"))
// {
// Create(3);
// }
// if (ImGui::Button("Shape 5"))
// {
// Create(4);
// }
// if (ImGui::Button("Shape 6"))
// {
// Create(5);
// }
// if (ImGui::Button("Destroy Shape"))
// {
// DestroyBody();
// }
// ImGui::RadioButton("Any", _mode, Any);
// ImGui::RadioButton("Closest", _mode, Closest);
// ImGui::RadioButton("Multiple", _mode, Multiple);
// ImGui::SliderFloat("Angle", _degrees, 0.0f, 360.0f, "%.0f");
// ImGui::End();
//}
public override void Update(GameSettings settings, GameTime gameTime)
{
base.Update(settings, gameTime);
DrawString("Shape 1 is intentionally ignored by the ray");
switch (_mode)
{
case Mode.Closest:
DrawString("Ray-cast mode: closest - find closest fixture along the ray");
break;
case Mode.Any:
DrawString("Ray-cast mode: any - check for obstruction");
break;
case Mode.Multiple:
DrawString("Ray-cast mode: multiple - gather multiple fixtures");
break;
}
float angle = MathConstants.Pi * _degrees / 180.0f;
float L = 11.0f;
Vector2 point1 = new Vector2(0.0f, 10.0f);
Vector2 d = new Vector2(L * MathUtils.Cosf(angle), L * MathUtils.Sinf(angle));
Vector2 point2 = point1 + d;
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
if (_mode == Mode.Closest)
{
RayCastClosestCallback callback = new RayCastClosestCallback();
World.RayCast(callback.ReportFixture, point1, point2);
if (callback._hit)
{
DebugView.DrawPoint(callback._point, 5.0f, new Color(0.4f, 0.9f, 0.4f));
DebugView.DrawSegment(point1, callback._point, new Color(0.8f, 0.8f, 0.8f));
Vector2 head = callback._point + 0.5f * callback._normal;
DebugView.DrawSegment(callback._point, head, new Color(0.9f, 0.9f, 0.4f));
}
else
{
DebugView.DrawSegment(point1, point2, new Color(0.8f, 0.8f, 0.8f));
}
}
else if (_mode == Mode.Any)
{
RayCastAnyCallback callback = new RayCastAnyCallback();
World.RayCast(callback.ReportFixture, point1, point2);
if (callback._hit)
{
DebugView.DrawPoint(callback._point, 5.0f, new Color(0.4f, 0.9f, 0.4f));
DebugView.DrawSegment(point1, callback._point, new Color(0.8f, 0.8f, 0.8f));
Vector2 head = callback._point + 0.5f * callback._normal;
DebugView.DrawSegment(callback._point, head, new Color(0.9f, 0.9f, 0.4f));
}
else
{
DebugView.DrawSegment(point1, point2, new Color(0.8f, 0.8f, 0.8f));
}
}
else if (_mode == Mode.Multiple)
{
RayCastMultipleCallback callback = new RayCastMultipleCallback();
World.RayCast(callback.ReportFixture, point1, point2);
DebugView.DrawSegment(point1, point2, new Color(0.8f, 0.8f, 0.8f));
for (int i = 0; i < callback._count; ++i)
{
Vector2 p = callback._points[i];
Vector2 n = callback._normals[i];
DebugView.DrawPoint(p, 5.0f, new Color(0.4f, 0.9f, 0.4f));
DebugView.DrawSegment(point1, p, new Color(0.8f, 0.8f, 0.8f));
Vector2 head = p + 0.5f * n;
DebugView.DrawSegment(p, head, new Color(0.9f, 0.9f, 0.4f));
}
}
DebugView.EndCustomDraw();
#if false
// This case was failing.
{
b2Vec2 vertices[4];
public override void Update(GameSettings settings, GameTime gameTime)
{
base.Update(settings, gameTime);
ShapeCastInput input = new ShapeCastInput();
input.ProxyA = new DistanceProxy(_vAs, _radiusA);
input.ProxyB = new DistanceProxy(_vBs, _radiusB);
input.TransformA = _transformA;
input.TransformB = _transformB;
input.TranslationB = _translationB;
ShapeCastOutput output;
bool hit = DistanceGJK.ShapeCast(ref input, out output);
Transform transformB2;
transformB2.q = _transformB.q;
transformB2.p = _transformB.p + output.Lambda * input.TranslationB;
DistanceInput distanceInput = new DistanceInput();
distanceInput.ProxyA = new DistanceProxy(_vAs, _radiusA);
distanceInput.ProxyB = new DistanceProxy(_vBs, _radiusB);
distanceInput.TransformA = _transformA;
distanceInput.TransformB = transformB2;
distanceInput.UseRadii = false;
SimplexCache simplexCache;
DistanceOutput distanceOutput;
DistanceGJK.ComputeDistance(ref distanceInput, out distanceOutput, out simplexCache);
DrawString($"hit = {(hit ? "true" : "false")}, iters = {output.Iterations}, lambda = {output.Lambda}, distance = {distanceOutput.Distance}");
Vector2[] vertices = new Vector2[Settings.MaxPolygonVertices];
for (int i = 0; i < _countA; ++i)
{
vertices[i] = MathUtils.Mul(ref _transformA, _vAs[i]);
}
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
if (_countA == 1)
{
DebugView.DrawCircle(vertices[0], _radiusA, new Color(0.9f, 0.9f, 0.9f));
}
else
{
DebugView.DrawPolygon(vertices, _countA, new Color(0.9f, 0.9f, 0.9f));
}
for (int i = 0; i < _countB; ++i)
{
vertices[i] = MathUtils.Mul(ref _transformB, _vBs[i]);
}
if (_countB == 1)
{
DebugView.DrawCircle(vertices[0], _radiusB, new Color(0.5f, 0.9f, 0.5f));
}
else
{
DebugView.DrawPolygon(vertices, _countB, new Color(0.5f, 0.9f, 0.5f));
}
for (int i = 0; i < _countB; ++i)
{
vertices[i] = MathUtils.Mul(ref transformB2, _vBs[i]);
}
if (_countB == 1)
{
DebugView.DrawCircle(vertices[0], _radiusB, new Color(0.5f, 0.7f, 0.9f));
}
else
{
DebugView.DrawPolygon(vertices, _countB, new Color(0.5f, 0.7f, 0.9f));
}
if (hit)
{
Vector2 p1 = output.Point;
DebugView.DrawPoint(p1, 10.0f, new Color(0.9f, 0.3f, 0.3f));
Vector2 p2 = p1 + output.Normal;
DebugView.DrawSegment(p1, p2, new Color(0.9f, 0.3f, 0.3f));
}
DebugView.EndCustomDraw();
}