|
public DrawSegment ( |
||
| p1 | ||
| p2 | ||
| color | ||
| return | void | |
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)
{
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 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));*/
}
}
}
}
