public override void Step(Settings settings)
{
base.Step(settings);
OpenGLDebugDraw.DrawString(5, _textLine, "Press: (c) create a shape, (d) destroy a shape.");
_textLine += 15;
}
public override void Step(Settings settings)
{
OpenGLDebugDraw.DrawString(5, _textLine, "Keys: left = a, brake = s, right = d");
_textLine += 15;
base.Step(settings);
}
public override void Step(Settings settings)
{
base.Step(settings);
OpenGLDebugDraw.DrawString(5, _textLine, "This demonstrates a soft distance joint.");
_textLine += 15;
OpenGLDebugDraw.DrawString(5, _textLine, "Press: (b) to delete a body, (j) to delete a joint");
_textLine += 15;
}
public override void Step(Settings settings)
{
base.Step(settings);
OpenGLDebugDraw.DrawString(5, _textLine, "Keys: (l) limits, (m) motors, (p) speed");
_textLine += 15;
float force = _joint.MotorForce;
OpenGLDebugDraw.DrawString(5, _textLine, String.Format("Motor Force = {0}", force));
_textLine += 15;
}
public MainForm()
{
InitializeComponent();
#if GLRender
openGlControl.InitializeContexts();
OpenGLDebugDraw.InitTextRenderer(openGlControl);
#endif //GLRender
Init();
SetView();
}
public override void Step(Settings settings)
{
settings.pause = 1;
base.Step(settings);
settings.pause = 0;
Sweep sweep1 = new Sweep();
sweep1.C0.Set(0.0f, 20.0f);
sweep1.A0 = 0.0f;
sweep1.C = sweep1.C0;
sweep1.A = sweep1.A0;
sweep1.T0 = 0.0f;
sweep1.LocalCenter = _body1.GetLocalCenter();
Sweep sweep2 = new Sweep();
sweep2.C0.Set(9.6363468f, 28.050615f);
sweep2.A0 = 1.6408679f;
sweep2.C = sweep2.C0 + new Vec2(-0.075121880f, 0.27358246f);
sweep2.A = sweep2.A0 - 10.434675f;
sweep2.T0 = 0.0f;
sweep2.LocalCenter = _body2.GetLocalCenter();
TOIInput input = new TOIInput
{
SweepA = sweep1,
SweepB = sweep2
};
float toi = Collision.TimeOfImpact(input, _shape1, _shape2);
OpenGLDebugDraw.DrawString(5, _textLine, "toi = " + toi.ToString());
_textLine += 15;
XForm xf2 = new XForm();
sweep2.GetTransform(out xf2, toi);
int vertexCount = _shape2.VertexCount;
Vec2[] vertices = new Vec2[Box2DNet.Common.Settings.MaxPolygonVertices];
Vec2[] localVertices = _shape2.Vertices;
for (int i = 0; i < vertexCount; ++i)
{
vertices[i] = Box2DNet.Common.Math.Mul(xf2, localVertices[i]);
}
_debugDraw.DrawPolygon(vertices, vertexCount, new Color(0.5f, 0.7f, 0.9f));
localVertices = _shape2.CoreVertices;
for (int i = 0; i < vertexCount; ++i)
{
vertices[i] = Box2DNet.Common.Math.Mul(xf2, localVertices[i]);
}
_debugDraw.DrawPolygon(vertices, vertexCount, new Color(0.5f, 0.7f, 0.9f));
}
public override void Step(Settings settings)
{
//B2_NOT_USED(settings);
if (_automated == true)
{
int actionCount = Box2DXMath.Max(1, k_actorCount >> 2);
for (int i = 0; i < actionCount; ++i)
{
Action();
}
}
_broadPhase.Commit();
for (int i = 0; i < k_actorCount; ++i)
{
Actor actor = _actors[i];
if (actor.proxyId == PairManager.NullProxy)
{
continue;
}
Color c = new Color();
switch (actor.overlapCount)
{
case 0:
c.R = 0.9f; c.G = 0.9f; c.B = 0.9f;
break;
case 1:
c.R = 0.6f; c.G = 0.9f; c.B = 0.6f;
break;
default:
c.R = 0.9f; c.G = 0.6f; c.B = 0.6f;
break;
}
OpenGLDebugDraw.DrawAABB(actor.aabb, c);
}
StringBuilder strBld = new StringBuilder();
strBld.AppendFormat("overlaps = {0}, exact = {1}, diff = {2}",
new object[] { _overlapCount, _overlapCountExact, _overlapCount - _overlapCountExact });
OpenGLDebugDraw.DrawString(5, 30, strBld.ToString());
Validate();
++_stepCount;
}
public override void Step(Settings settings)
{
base.Step(settings);
float ratio = _joint1.Ratio;
float L = _joint1.Length1 + ratio * _joint1.Length2;
StringBuilder strBld = new StringBuilder();
strBld.AppendFormat("L1 + {0} * L2 = {1}",
new object[] { ratio, L });
OpenGLDebugDraw.DrawString(5, _textLine, strBld.ToString());
_textLine += 15;
}
public override void Step(Settings settings)
{
base.Step(settings);
OpenGLDebugDraw.DrawString(5, _textLine, "Keys: (f) toggle friction, (m) toggle motor");
_textLine += 15;
float torque = _joint1.MotorTorque;
StringBuilder strBld = new StringBuilder();
strBld.AppendFormat("Motor Torque = {0}",
new object[] { torque });
OpenGLDebugDraw.DrawString(5, _textLine, strBld.ToString());
_textLine += 15;
}
public override void Step(Settings settings)
{
base.Step(settings);
DistanceInput input = new DistanceInput();
input.TransformA = _transformA;
input.TransformB = _transformB;
input.UseRadii = true;
SimplexCache cache = new SimplexCache();
cache.Count = 0;
DistanceOutput output;
Collision.Distance(out output, ref cache, ref input, _polygonA, _polygonB);
StringBuilder strBld = new StringBuilder();
strBld.AppendFormat("distance = {0}", new object[] { output.Distance });
OpenGLDebugDraw.DrawString(5, _textLine, strBld.ToString());
_textLine += 15;
strBld = new StringBuilder();
strBld.AppendFormat("iterations = {0}", new object[] { output.Iterations });
OpenGLDebugDraw.DrawString(5, _textLine, strBld.ToString());
_textLine += 15;
{
Color color = new Color(0.9f, 0.9f, 0.9f);
int i;
for (i = 0; i < _polygonA.VertexCount; ++i)
{
_dv[i] = Math.Mul(_transformA, _polygonA.Vertices[i]);
}
_debugDraw.DrawPolygon(_dv, _polygonA.VertexCount, color);
for (i = 0; i < _polygonB.VertexCount; ++i)
{
_dv[i] = Math.Mul(_transformB, _polygonB.Vertices[i]);
}
_debugDraw.DrawPolygon(_dv, _polygonB.VertexCount, color);
}
Vec2 x1 = output.PointA;
Vec2 x2 = output.PointB;
OpenGLDebugDraw.DrawPoint(x1, 4.0f, new Color(1, 0, 0));
OpenGLDebugDraw.DrawSegment(x1, x2, new Color(1, 1, 0));
OpenGLDebugDraw.DrawPoint(x2, 4.0f, new Color(1, 0, 0));
}
public override void Step(Settings settings)
{
base.Step(settings);
OpenGLDebugDraw.DrawString(5, _textLine, "Keys: (l) limits, (m) motors, (p) prismatic speed");
_textLine += 15;
float torque1 = _joint1.MotorTorque;
float torque2 = _joint2.MotorTorque;
float force3 = _joint3.MotorForce;
StringBuilder strBld = new StringBuilder();
strBld.AppendFormat("Motor Torque = {0}, {1} : Motor Force = {2}",
new object[] { torque1, torque2, force3 });
OpenGLDebugDraw.DrawString(5, _textLine, strBld.ToString());
_textLine += 15;
}
private void SimulationLoop()
{
#if GLRender
GL.Clear(ClearBufferMask.ColorBufferBit | ClearBufferMask.DepthBufferBit);
CurrentTest.SetTextLine(30);
CurrentTest.Step(_settings);
OpenGLDebugDraw.DrawString(5, 15, _testEntry.Name);
openGlControl.Invalidate();//codeyu
ErrorCode errorCode = GL.GetError();
if (errorCode != ErrorCode.NoError)
{
redrawTimer.Stop();
}
#endif
}
private void SimulationLoop()
{
#if GLRender
Gl.glClear(Gl.GL_COLOR_BUFFER_BIT | Gl.GL_DEPTH_BUFFER_BIT);
CurrentTest.SetTextLine(30);
CurrentTest.Step(settings);
OpenGLDebugDraw.DrawString(5, 15, testEntry.Name);
openGlControl.Draw();
int errorCode = 0;
if ((errorCode = Gl.glGetError()) > 0)
{
redrawTimer.Stop();
}
#endif
}
private void MainForm_Load(object sender, EventArgs e)
{
#if GLRender
openGlControl_Resize(this, EventArgs.Empty);
OpenGLDebugDraw.InitTextRenderer(openGlControl);
#endif //GLRender
Init();
SetView();
chkbAabbs.Checked = _settings.drawAABBs == 1;
chkbCF.Checked = _settings.drawContactForces == 1;
chkbCN.Checked = _settings.drawContactNormals == 1;
chkbCom.Checked = _settings.drawCOMs == 1;
chkbCoreShapes.Checked = _settings.drawCoreShapes == 1;
chkbCP.Checked = _settings.drawContactPoints == 1;
chkbFF.Checked = _settings.drawFrictionForces == 1;
chkbJoints.Checked = _settings.drawJoints == 1 ? true : false;
chkbObbs.Checked = _settings.drawOBBs == 1 ? true : false;
chkbPairs.Checked = _settings.drawPairs == 1 ? true : false;
chkbShapes.Checked = _settings.drawShapes == 1 ? true : false;
chkbStatistics.Checked = _settings.drawStats == 1 ? true : false;
chkbToi.Checked = _settings.enableTOI == 1 ? true : false;
chkbWarmStart.Checked = _settings.enableWarmStarting == 1 ? true : false;
nudVelIters.Value = _settings.velocityIterations;
nudPosIters.Value = _settings.positionIterations;
nudHz.Value = (decimal)_settings.hz;
foreach (TestEntry t in Test.g_testEntries)
{
cmbbTests.Items.Add(t);
}
_testEntry = Test.g_testEntries[0];
CurrentTest = _testEntry.CreateFcn();
cmbbTests.SelectedIndex = 0;
redrawTimer.Interval = 16;
redrawTimer.Enabled = true;
}
public override void Step(Settings settings)
{
base.Step(settings);
float ratio, value;
ratio = _joint4.Ratio;
value = _joint1.JointAngle + ratio * _joint2.JointAngle;
StringBuilder strBld = new StringBuilder();
strBld.AppendFormat("theta1 + {0} * theta2 = {1}", new object[] { ratio, value });
OpenGLDebugDraw.DrawString(5, _textLine, strBld.ToString());
_textLine += 15;
ratio = _joint5.Ratio;
value = _joint2.JointAngle + ratio * _joint3.JointTranslation;
strBld = new StringBuilder();
strBld.AppendFormat("theta2 + {0} * delta = {1}", new object[] { ratio, value });
OpenGLDebugDraw.DrawString(5, _textLine, strBld.ToString());
_textLine += 15;
}
public override void Step(Settings settings)
{
settings.pause = 1;
base.Step(settings);
settings.pause = 0;
Vec2 x1, x2;
float distance = Collision.Distance(out x1, out x2, _shape1, _body1.GetXForm(), _shape2, _body2.GetXForm());
StringBuilder strBld = new StringBuilder();
strBld.AppendFormat("distance = {0}", new object[] { distance });
OpenGLDebugDraw.DrawString(5, _textLine, strBld.ToString());
_textLine += 15;
strBld = new StringBuilder();
strBld.AppendFormat("iterations = {0}", new object[] { Collision.GJKIterations });
OpenGLDebugDraw.DrawString(5, _textLine, strBld.ToString());
_textLine += 15;
OpenGLDebugDraw.DrawPoint(x1, 4.0f, new Color(1, 0, 0));
OpenGLDebugDraw.DrawSegment(x1, x2, new Color(1, 0, 0));
OpenGLDebugDraw.DrawPoint(x2, 4.0f, new Color(1, 0, 0));
}
/*public bool key_comp(MyContactPoint lhs, MyContactPoint rhs)
* {
* if( lhs.shape1 < rhs.shape1 ) return true;
* if( lhs.shape1 == rhs.shape1 && lhs.shape2 < rhs.shape2 ) return true;
* if( lhs.shape1 == rhs.shape1 && lhs.shape2 == rhs.shape2 && lhs.id.Key < rhs.id.Key ) return true;
* return false;
* }*/
public override void Step(Settings settings)
{
base.Step(settings);
string oss = string.Empty;
for (int i = 0; i < _pointCount; ++i)
{
switch (_points[i].state)
{
case ContactState.ContactAdded:
{
oss = string.Empty;
_set.Add(_points[i], null);
//if( ! m_set.insert( m_points[i] ).second )
//{
// oss << "ERROR ";
//}
//else
//{
// oss << " ";
//}
oss += "added: " + _points[i].shape1.ToString() + " -> " + _points[i].shape2.ToString();
oss += " : " + _points[i].id.Key.ToString();
_strings.Enqueue(oss);
break;
}
case ContactState.ContactRemoved:
{
oss = string.Empty;
if (!_set.ContainsKey(_points[i]))
{
oss += "ERROR ";
}
else
{
oss += " ";
}
oss += "removed: " + _points[i].shape1.ToString() + " -> " + _points[i].shape2.ToString();
oss += " : " + _points[i].id.Key.ToString();
_strings.Enqueue(oss);
_set.Remove(_points[i]);
break;
}
case ContactState.ContactPersisted:
{
oss = string.Empty;
if (!_set.ContainsKey(_points[i]))
{
oss += "ERROR persist: " + _points[i].shape1.ToString() + " -> ";
oss += _points[i].shape2.ToString() + " : " + _points[i].id.Key;
_strings.Enqueue(oss);
}
break;
}
}
}
while (_strings.Count > 15)
{
_strings.Dequeue();
}
foreach (string s in _strings)
{
OpenGLDebugDraw.DrawString(5, _textLine, s);
_textLine += 15;
}
}
public virtual void Step(Settings settings)
{
float timeStep = settings.hz > 0.0f ? 1.0f / settings.hz : 0.0f;
if (settings.pause != 0)
{
if (settings.singleStep != 0)
{
settings.singleStep = 0;
}
else
{
timeStep = 0.0f;
}
OpenGLDebugDraw.DrawString(5, _textLine, "****PAUSED****");
_textLine += 15;
}
uint flags = 0;
flags += (uint)settings.drawShapes * (uint)DebugDraw.DrawFlags.Shape;
flags += (uint)settings.drawJoints * (uint)DebugDraw.DrawFlags.Joint;
flags += (uint)settings.drawCoreShapes * (uint)DebugDraw.DrawFlags.CoreShape;
flags += (uint)settings.drawAABBs * (uint)DebugDraw.DrawFlags.Aabb;
flags += (uint)settings.drawOBBs * (uint)DebugDraw.DrawFlags.Obb;
flags += (uint)settings.drawPairs * (uint)DebugDraw.DrawFlags.Pair;
flags += (uint)settings.drawCOMs * (uint)DebugDraw.DrawFlags.CenterOfMass;
flags += (uint)settings.drawController * (uint)DebugDraw.DrawFlags.Controller;
_debugDraw.Flags = (DebugDraw.DrawFlags)flags;
_world.SetWarmStarting(settings.enableWarmStarting > 0);
_world.SetContinuousPhysics(settings.enableTOI > 0);
_pointCount = 0;
_world.Step(timeStep, settings.velocityIterations, settings.positionIterations);
_world.Validate();
if (_bomb != null && _bomb.IsFrozen())
{
_world.DestroyBody(_bomb);
_bomb = null;
}
if (settings.drawStats != 0)
{
OpenGLDebugDraw.DrawString(5, _textLine, String.Format("proxies(max) = {0}({1}), pairs(max) = {2}({3})",
new object[] { _world.GetProxyCount(), Box2DX.Common.Settings.MaxProxies,
_world.GetPairCount(), Box2DX.Common.Settings.MaxProxies }));
_textLine += 15;
OpenGLDebugDraw.DrawString(5, _textLine, String.Format("bodies/contacts/joints = {0}/{1}/{2}",
new object[] { _world.GetBodyCount(), _world.GetContactCount(), _world.GetJointCount() }));
_textLine += 15;
}
if (_mouseJoint != null)
{
Body body = _mouseJoint.GetBody2();
Vec2 p1 = body.GetWorldPoint(_mouseJoint._localAnchor);
Vec2 p2 = _mouseJoint._target;
Gl.glPointSize(4.0f);
Gl.glColor3f(0.0f, 1.0f, 0.0f);
Gl.glBegin(Gl.GL_POINTS);
Gl.glVertex2f(p1.X, p1.Y);
Gl.glVertex2f(p2.X, p2.Y);
Gl.glEnd();
Gl.glPointSize(1.0f);
Gl.glColor3f(0.8f, 0.8f, 0.8f);
Gl.glBegin(Gl.GL_LINES);
Gl.glVertex2f(p1.X, p1.Y);
Gl.glVertex2f(p2.X, p2.Y);
Gl.glEnd();
}
if (settings.drawContactPoints != 0)
{
//float k_forceScale = 0.01f;
float k_axisScale = 0.3f;
for (int i = 0; i < _pointCount; ++i)
{
MyContactPoint point = _points[i];
if (point.state == ContactState.ContactAdded)
{
// Add
OpenGLDebugDraw.DrawPoint(point.position, 10.0f, new Color(0.3f, 0.95f, 0.3f));
}
else if (point.state == ContactState.ContactPersisted)
{
// Persist
OpenGLDebugDraw.DrawPoint(point.position, 5.0f, new Color(0.3f, 0.3f, 0.95f));
}
else
{
// Remove
OpenGLDebugDraw.DrawPoint(point.position, 10.0f, new Color(0.95f, 0.3f, 0.3f));
}
if (settings.drawContactNormals == 1)
{
Vec2 p1 = point.position;
Vec2 p2 = p1 + k_axisScale * point.normal;
OpenGLDebugDraw.DrawSegment(p1, p2, new Color(0.4f, 0.9f, 0.4f));
}
else if (settings.drawContactForces == 1)
{
/*Vector2 p1 = point.position;
* Vector2 p2 = p1 + k_forceScale * point.normalForce * point.normal;
* OpenGLDebugDraw.DrawSegment(p1, p2, new Color(0.9f, 0.9f, 0.3f));*/
}
if (settings.drawFrictionForces == 1)
{
/*Vector2 tangent = Vector2.Cross(point.normal, 1.0f);
* Vector2 p1 = point.position;
* Vector2 p2 = p1 + k_forceScale * point.tangentForce * tangent;
* OpenGLDebugDraw.DrawSegment(p1, p2, new Color(0.9f, 0.9f, 0.3f));*/
}
}
}
}
public override void Step(Settings settings)
{
base.Step(settings);
OpenGLDebugDraw.DrawString(5, _textLine, "Press 1-5 to drop stuff");
_textLine += 15;
}
public override void Step(Settings settings)
{
base.Step(settings);
OpenGLDebugDraw.DrawString(5, _textLine, "Max toi iters = " + Box2DX.Collision.Collision.MaxToiIters +
", max root iters = " + Box2DX.Collision.Collision.MaxToiRootIters);
}
public override void Step(Settings settings)
{
base.Step(settings);
OpenGLDebugDraw.DrawString(5, _textLine, "Keys: (l) limits, (s) motor");
_textLine += 15;
}
public override void Step(Settings settings)
{
base.Step(settings);
OpenGLDebugDraw.DrawString(5, _textLine, "Press: B to launch a bullet.");
}
