/// <summary>
/// Computes the toi using the specified sweep a
/// </summary>
/// <param name="sweepA">The sweep</param>
/// <param name="sweepB">The sweep</param>
/// <returns>The float</returns>
public float ComputeToi(Sweep sweepA, Sweep sweepB)
{
ToiInput input = new ToiInput();
input.SweepA = sweepA;
input.SweepB = sweepB;
input.SweepRadiusA = FixtureA.ComputeSweepRadius(sweepA.LocalCenter);
input.SweepRadiusB = FixtureB.ComputeSweepRadius(sweepB.LocalCenter);
input.Tolerance = Settings.LinearSlop;
return(Collision.Collision.TimeOfImpact(input, FixtureA.Shape, FixtureB.Shape));
}
protected override void OnRender()
{
var sweepA = new Sweep();
sweepA.C0.Set(24.0f, -60.0f);
sweepA.A0 = 2.95f;
sweepA.C = sweepA.C0;
sweepA.A = sweepA.A0;
sweepA.LocalCenter.SetZero();
var sweepB = new Sweep();
sweepB.C0.Set(53.474274f, -50.252514f);
sweepB.A0 = 513.36676f; // - 162.0f * _pi;
sweepB.C.Set(54.595478f, -51.083473f);
sweepB.A = 513.62781f; // - 162.0f * _pi;
sweepB.LocalCenter.SetZero();
//sweepB.A0 -= 300.0f * _pi;
//sweepB.A -= 300.0f * _pi;
var input = new ToiInput();
input.ProxyA.Set(_shapeA, 0);
input.ProxyB.Set(_shapeB, 0);
input.SweepA = sweepA;
input.SweepB = sweepB;
input.Tmax = 1.0f;
TimeOfImpact.ComputeTimeOfImpact(out var output, input, World.ToiProfile, World.GJkProfile);
DrawString($"toi = {output.Time}");
DrawString($"max toi iters = {ToiMaxIters}, max root iters = {ToiMaxRootIters}");
var vertices = new Vector2[Settings.MaxPolygonVertices];
sweepA.GetTransform(out var transformA, 0.0f);
for (var i = 0; i < _shapeA.Count; ++i)
{
vertices[i] = MathUtils.Mul(transformA, _shapeA.Vertices[i]);
}
Drawer.DrawPolygon(vertices, _shapeA.Count, Color.FromArgb(230, 230, 230));
sweepB.GetTransform(out var transformB, 0.0f);
//Vec2 localPoint(2.0f, -0.1f);
for (var i = 0; i < _shapeB.Count; ++i)
{
vertices[i] = MathUtils.Mul(transformB, _shapeB.Vertices[i]);
}
Drawer.DrawPolygon(vertices, _shapeB.Count, Color.FromArgb(127, 230, 127));
sweepB.GetTransform(out transformB, output.Time);
for (var i = 0; i < _shapeB.Count; ++i)
{
vertices[i] = MathUtils.Mul(transformB, _shapeB.Vertices[i]);
}
Drawer.DrawPolygon(vertices, _shapeB.Count, Color.FromArgb(127, 178, 230));
sweepB.GetTransform(out transformB, 1.0f);
for (var i = 0; i < _shapeB.Count; ++i)
{
vertices[i] = MathUtils.Mul(transformB, _shapeB.Vertices[i]);
}
Drawer.DrawPolygon(vertices, _shapeB.Count, Color.FromArgb(230, 127, 127));
}
