/// Call this to draw shapes and other debug draw data.
public void DrawDebugData()
{
if (m_debugDraw == null)
{
return;
}
Draw.DrawFlags flags = m_debugDraw.GetFlags();
if (flags.HasFlag(Draw.DrawFlags.e_shapeBit))
{
foreach (Body b in m_bodyList)
{
Transform xf = b.GetTransform();
foreach (Fixture f in b.GetFixtureList())
{
if (b.IsActive() == false)
{
DrawShape(f, xf, Color.FromArgb(128, 128, 75));
}
else if (b.GetBodyType() == BodyType._staticBody)
{
DrawShape(f, xf, Color.FromArgb(128, 225, 128));
}
else if (b.GetBodyType() == BodyType._kinematicBody)
{
DrawShape(f, xf, Color.FromArgb(128, 128, 225));
}
else if (b.IsAwake() == false)
{
DrawShape(f, xf, Color.FromArgb(150, 150, 150));
}
else
{
DrawShape(f, xf, Color.FromArgb(225, 175, 175));
}
}
}
}
if (flags.HasFlag(Draw.DrawFlags.e_jointBit))
{
foreach (Joint j in m_jointList)
{
DrawJoint(j);
}
}
if (flags.HasFlag(Draw.DrawFlags.e_pairBit))
{
Color color = Color.FromArgb(75, 225, 225);
foreach (Contact c in m_contactManager.m_contactList)
{
//Fixture fixtureA = c.FixtureA;
//Fixture fixtureB = c.FixtureB;
//Vec2 cA = fixtureA.GetAABB().GetCenter();
//Vec2 cB = fixtureB.GetAABB().GetCenter();
//m_debugDraw.DrawSegment(cA, cB, color);
}
}
if (flags.HasFlag(Draw.DrawFlags.e_aabbBit))
{
Color color = Color.FromArgb(225, 75, 225);
BroadPhase bp = m_contactManager.m_broadPhase;
foreach (Body b in m_bodyList)
{
if (b.IsActive() == false)
{
continue;
}
foreach (Fixture f in b.GetFixtureList())
{
for (int i = 0; i < f.m_proxies.Count(); ++i)
{
FixtureProxy proxy = f.m_proxies[i];
AABB aabb = bp.GetFatAABB(proxy.proxyId);
Vec2[] vs = new Vec2[4];
vs[0].Set(aabb.lowerBound.X, aabb.lowerBound.Y);
vs[1].Set(aabb.upperBound.X, aabb.lowerBound.Y);
vs[2].Set(aabb.upperBound.X, aabb.upperBound.Y);
vs[3].Set(aabb.lowerBound.X, aabb.upperBound.Y);
m_debugDraw.DrawPolygon(vs, 4, color);
}
}
}
}
if (flags.HasFlag(Draw.DrawFlags.e_centerOfMassBit))
{
foreach (Body b in m_bodyList)
{
Transform xf = b.GetTransform();
xf.p = b.GetWorldCenter();
m_debugDraw.DrawTransform(xf);
}
}
}
public virtual void Step(TestSettings settings)
{
float timeStep = settings.hz > 0.0f ? 1.0f / settings.hz : 0.0f;
if (settings.pause)
{
if (settings.singleStep)
{
settings.singleStep = false;
}
else
{
timeStep = 0.0f;
}
m_debugDraw.DrawString("****PAUSED****");
}
Draw.DrawFlags flags = 0;
flags |= settings.drawShapes ? Draw.DrawFlags.e_shapeBit : 0;
flags |= settings.drawJoints ? Draw.DrawFlags.e_jointBit : 0;
flags |= settings.drawAABBs ? Draw.DrawFlags.e_aabbBit : 0;
flags |= settings.drawCOMs ? Draw.DrawFlags.e_centerOfMassBit : 0;
m_debugDraw.SetFlags(flags);
m_world.SetAllowSleeping(settings.enableSleep);
m_world.SetWarmStarting(settings.enableWarmStarting);
m_world.SetContinuousPhysics(settings.enableContinuous);
m_world.SetSubStepping(settings.enableSubStepping);
m_pointCount = 0;
m_world.Step(timeStep, settings.velocityIterations, settings.positionIterations);
m_world.DrawDebugData();
if (timeStep > 0.0f)
{
++m_stepCount;
}
if (settings.drawStats)
{
int bodyCount = m_world.GetBodyCount();
int contactCount = m_world.GetContactCount();
int jointCount = m_world.GetJointCount();
m_debugDraw.DrawString("bodies/contacts/joints = {0}/{1}/{2}", bodyCount, contactCount, jointCount);
int proxyCount = m_world.GetProxyCount();
int height = m_world.GetTreeHeight();
int balance = m_world.GetTreeBalance();
float quality = m_world.GetTreeQuality();
m_debugDraw.DrawString("proxies/height/balance/quality = {0}/{1}/{2}/{3}", proxyCount, height, balance, quality);
}
// Track maximum profile times
{
Profile p = m_world.GetProfile();
m_maxProfile.step = Math.Max(m_maxProfile.step, p.step);
m_maxProfile.collide = Math.Max(m_maxProfile.collide, p.collide);
m_maxProfile.solve = Math.Max(m_maxProfile.solve, p.solve);
m_maxProfile.solveInit = Math.Max(m_maxProfile.solveInit, p.solveInit);
m_maxProfile.solveVelocity = Math.Max(m_maxProfile.solveVelocity, p.solveVelocity);
m_maxProfile.solvePosition = Math.Max(m_maxProfile.solvePosition, p.solvePosition);
m_maxProfile.solveTOI = Math.Max(m_maxProfile.solveTOI, p.solveTOI);
m_maxProfile.broadphase = Math.Max(m_maxProfile.broadphase, p.broadphase);
m_totalProfile.step += p.step;
m_totalProfile.collide += p.collide;
m_totalProfile.solve += p.solve;
m_totalProfile.solveInit += p.solveInit;
m_totalProfile.solveVelocity += p.solveVelocity;
m_totalProfile.solvePosition += p.solvePosition;
m_totalProfile.solveTOI += p.solveTOI;
m_totalProfile.broadphase += p.broadphase;
}
if (settings.drawProfile)
{
Profile p = m_world.GetProfile();
Profile aveProfile = new Profile();
if (m_stepCount > 0)
{
float scale = 1.0f / m_stepCount;
aveProfile.step = scale * m_totalProfile.step;
aveProfile.collide = scale * m_totalProfile.collide;
aveProfile.solve = scale * m_totalProfile.solve;
aveProfile.solveInit = scale * m_totalProfile.solveInit;
aveProfile.solveVelocity = scale * m_totalProfile.solveVelocity;
aveProfile.solvePosition = scale * m_totalProfile.solvePosition;
aveProfile.solveTOI = scale * m_totalProfile.solveTOI;
aveProfile.broadphase = scale * m_totalProfile.broadphase;
}
m_debugDraw.DrawString("step [ave] (max) = %5.2f [%6.2f] (%6.2f)", p.step, aveProfile.step, m_maxProfile.step);
m_debugDraw.DrawString("collide [ave] (max) = %5.2f [%6.2f] (%6.2f)", p.collide, aveProfile.collide, m_maxProfile.collide);
m_debugDraw.DrawString("solve [ave] (max) = %5.2f [%6.2f] (%6.2f)", p.solve, aveProfile.solve, m_maxProfile.solve);
m_debugDraw.DrawString("solve init [ave] (max) = %5.2f [%6.2f] (%6.2f)", p.solveInit, aveProfile.solveInit, m_maxProfile.solveInit);
m_debugDraw.DrawString("solve velocity [ave] (max) = %5.2f [%6.2f] (%6.2f)", p.solveVelocity, aveProfile.solveVelocity, m_maxProfile.solveVelocity);
m_debugDraw.DrawString("solve position [ave] (max) = %5.2f [%6.2f] (%6.2f)", p.solvePosition, aveProfile.solvePosition, m_maxProfile.solvePosition);
m_debugDraw.DrawString("solveTOI [ave] (max) = %5.2f [%6.2f] (%6.2f)", p.solveTOI, aveProfile.solveTOI, m_maxProfile.solveTOI);
m_debugDraw.DrawString("broad-phase [ave] (max) = %5.2f [%6.2f] (%6.2f)", p.broadphase, aveProfile.broadphase, m_maxProfile.broadphase);
}
if (m_mouseJoint != null)
{
Vec2 p1 = m_mouseJoint.GetAnchorB();
Vec2 p2 = m_mouseJoint.GetTarget();
Color c = Color.FromArgb(0, 255, 0);
m_debugDraw.DrawPoint(p1, 4.0f, c);
m_debugDraw.DrawPoint(p2, 4.0f, c);
c = Color.FromArgb(204, 204, 204);
m_debugDraw.DrawSegment(p1, p2, c);
}
if (m_bombSpawning)
{
Color c = Color.FromArgb(0, 0, 255);
m_debugDraw.DrawPoint(m_bombSpawnPoint, 4.0f, c);
c = Color.FromArgb(200, 200, 200);
m_debugDraw.DrawSegment(m_mouseWorld, m_bombSpawnPoint, c);
}
if (settings.drawContactPoints)
{
const float k_impulseScale = 0.1f;
const float k_axisScale = 0.3f;
for (int i = 0; i < m_pointCount; ++i)
{
ContactPoint point = m_points[i];
if (point.state == PointState._addState)
{
// Add
m_debugDraw.DrawPoint(point.position, 10.0f, Color.FromArgb(75, 242, 75));
}
else if (point.state == PointState._persistState)
{
// Persist
m_debugDraw.DrawPoint(point.position, 5.0f, Color.FromArgb(75, 75, 242));
}
if (settings.drawContactNormals)
{
Vec2 p1 = point.position;
Vec2 p2 = p1 + k_axisScale * point.normal;
m_debugDraw.DrawSegment(p1, p2, Color.FromArgb(242, 242, 242));
}
else if (settings.drawContactImpulse)
{
Vec2 p1 = point.position;
Vec2 p2 = p1 + k_impulseScale * point.normalImpulse * point.normal;
m_debugDraw.DrawSegment(p1, p2, Color.FromArgb(242, 242, 75));
}
if (settings.drawFrictionImpulse)
{
Vec2 tangent = Utilities.Cross(point.normal, 1.0f);
Vec2 p1 = point.position;
Vec2 p2 = p1 + k_impulseScale * point.tangentImpulse * tangent;
m_debugDraw.DrawSegment(p1, p2, Color.FromArgb(242, 242, 75));
}
}
}
}
