private void RenderBody(Graphics gfx, Body2 body)
{
if (body.Shape is Circle)
{
Circle c = body.Shape as Circle;
Vec2 beginning = body.Position.Sub(c.Radius);
gfx.DrawEllipse(Pens.Red, new Rectangle((int)beginning.X, (int)beginning.Y, (int)c.Radius * 2, (int)c.Radius * 2));
}
if (body.Shape is Poly2)
{
Poly2 p = body.Shape as Poly2;
for (int i = 0; i < p.Vertices.Count; ++i)
{
Math.Matrix.Mat2 rot = Math.Matrix.Mat2.Rotation(body.Rotation);
int j = i + 1 < p.Vertices.Count ? i + 1 : 0;
Vec2 v1 = body.Position.Add(rot.Mul(p.Vertices[i]));
Vec2 v2 = body.Position.Add(rot.Mul(p.Vertices[j]));
Vec2 mid = v1.Add(v2).Div(2);
Vec2 dir = mid.Add(rot.Mul(p.Normals[i]).Mul(10));
gfx.DrawLine(Pens.Red, new Point((int)v1.X, (int)v1.Y), new Point((int)v2.X, (int)v2.Y));
gfx.DrawLine(Pens.Green, new Point((int)mid.X, (int)mid.Y), new Point((int)dir.X, (int)dir.Y));
gfx.FillEllipse(Brushes.Blue, new Rectangle((int)v1.X - 1, (int)v1.Y - 2, 4, 4));
gfx.FillEllipse(Brushes.Blue, new Rectangle((int)v2.X - 1, (int)v2.Y - 2, 4, 4));
}
}
}
public Mat2 MulLeft(Mat2 m)
{
return(ToMat2(m.Mul(this)));
}
public Mat2 Mul(Mat2 m)
{
return(ToMat2(base.Mul(m)));
}