Пример #1
0
        public override void step(TestbedSettings settings)
        {
            lock (_stepLock)
            {
                base.step(settings);

                shape.set(m_points, m_count);

                addTextLine("Press g to generate a new random convex hull");

                getDebugDraw().drawPolygon(shape.m_vertices, shape.m_count, color);

                for (int i = 0; i < m_count; ++i)
                {
                    getDebugDraw().drawPoint(m_points[i], 2.0f, color2);
                    getDebugDraw().drawString(m_points[i].add(new Vec2(0.05f, 0.05f)), i + "", Color4f.WHITE);
                }

                Debug.Assert(shape.validate());

                if (m_auto)
                {
                    generate();
                }
            }
        }
Пример #2
0
 public override void step(TestbedSettings settings)
 {
     base.step(settings);
     float hz = settings.getSetting(TestbedSettings.Hz).value;
     if (hz > 0)
     {
         m_time += 1/hz;
     }
     m_joint.setMotorSpeed(0.05f*MathUtils.cos(m_time)*MathUtils.PI);
 }
Пример #3
0
        public override void step(TestbedSettings settings)
        {
            float hz = settings.getSetting(TestbedSettings.Hz).value;
            if (m_go && hz > 0.0f)
            {
                m_time += 1.0f/hz;
            }

            linearOffset.x = 6.0f*MathUtils.sin(2.0f*m_time);
            linearOffset.y = 8.0f + 4.0f*MathUtils.sin(1.0f*m_time);

            float angularOffset = 4.0f*m_time;

            m_joint.setLinearOffset(linearOffset);
            m_joint.setAngularOffset(angularOffset);

            getDebugDraw().drawPoint(linearOffset, 4.0f, color);
            base.step(settings);
            addTextLine("Keys: (s) pause");
        }
Пример #4
0
        public override void step(TestbedSettings settings)
        {
            base.step(settings);

            addTextLine("Keys: (f) toggle friction, (m) toggle motor");
            float torque = m_joint1.getMotorTorque(1);

            addTextLine(string.Format("Friction: {0}, Motor Force = {1:F0}, ", m_joint2.isMotorEnabled(), torque)
                .ToString());
        }
Пример #5
0
        public override void step(TestbedSettings settings)
        {
            base.step(settings);

            float ratio, value;

            ratio = m_joint4.getRatio();
            value = m_joint1.getJointAngle() + ratio*m_joint2.getJointAngle();

            addTextLine("theta1 + " + ratio + " * theta2 = " + value);

            ratio = m_joint5.getRatio();
            value = m_joint2.getJointAngle() + ratio*m_joint3.getJointTranslation();
            addTextLine("theta2 + " + ratio + " * delta = " + value);
        }
Пример #6
0
        public override void step(TestbedSettings settings)
        {
            base.step(settings);

            addTextLine("Use 'wasd' to move, 'e' and 's' drift.");
            if (getModel().getKeys()['w'])
            {
                Vec2 f = m_body.getWorldVector(new Vec2(0.0f, -30.0f));
                Vec2 p = m_body.getWorldPoint(m_body.getLocalCenter().add(new Vec2(0.0f, 2.0f)));
                m_body.applyForce(f, p);
            }
            else if (getModel().getKeys()['q'])
            {
                Vec2 f = m_body.getWorldVector(new Vec2(0.0f, -30.0f));
                Vec2 p = m_body.getWorldPoint(m_body.getLocalCenter().add(new Vec2(-.2f, 0f)));
                m_body.applyForce(f, p);
            }
            else if (getModel().getKeys()['e'])
            {
                Vec2 f = m_body.getWorldVector(new Vec2(0.0f, -30.0f));
                Vec2 p = m_body.getWorldPoint(m_body.getLocalCenter().add(new Vec2(.2f, 0f)));
                m_body.applyForce(f, p);
            }
            else if (getModel().getKeys()['s'])
            {
                Vec2 f = m_body.getWorldVector(new Vec2(0.0f, 30.0f));
                Vec2 p = m_body.getWorldCenter();
                m_body.applyForce(f, p);
            }

            if (getModel().getKeys()['a'])
            {
                m_body.applyTorque(20.0f);
            }

            if (getModel().getKeys()['d'])
            {
                m_body.applyTorque(-20.0f);
            }
        }
Пример #7
0
        public override void step(TestbedSettings settings)
        {
            // TODO Auto-generated method stub
            base.step(settings);

            // Traverse the contact results. Apply a force on shapes
            // that overlap the sensor.
            for (int i = 0; i < _e_count; ++i)
            {
                if (m_touching[i].tf == false)
                {
                    continue;
                }

                Body body = m_bodies[i];
                Body ground = m_sensor.getBody();

                CircleShape circle = (CircleShape) m_sensor.getShape();
                Vec2 center = ground.getWorldPoint(circle.m_p);

                Vec2 position = body.getPosition();

                Vec2 d = center.sub(position);
                if (d.lengthSquared() < Settings.EPSILON*Settings.EPSILON)
                {
                    continue;
                }

                d.normalize();
                d.mulLocal(100f);
                Vec2 F = d;
                body.applyForce(F, position);
            }
        }
Пример #8
0
 public override void step(TestbedSettings settings)
 {
     base.step(settings);
     addTextLine("Limits " + (m_joint.isLimitEnabled() ? "on" : "off") + ", Motor "
                 + (m_joint.isMotorEnabled() ? "on " : "off ") + (isLeft ? "left" : "right"));
     addTextLine("Keys: (l) limits, (m) motor, (a) left, (d) right");
 }
Пример #9
0
 public override void step(TestbedSettings settings)
 {
     base.step(settings);
     addTextLine("Keys: left = a, brake = s, right = d, toggle motor = m");
 }
Пример #10
0
        public override void step(TestbedSettings settings)
        {
            bool advanceRay = settings.pause == false || settings.singleStep;

            base.step(settings);

            addTextLine("Press 1-6 to drop stuff, m to change the mode");
            addTextLine("Polygon 1 is filtered");
            addTextLine("Mode = " + m_mode);

            float L = 11.0f;
            point1.set(0.0f, 10.0f);
            d.set(L*MathUtils.cos(m_angle), L*MathUtils.sin(m_angle));
            point2.set(point1);
            point2.addLocal(d);

            if (m_mode == Mode.e_closest)
            {
                ccallback.init();
                getWorld().raycast(ccallback, point1, point2);

                if (ccallback.m_hit)
                {
                    getDebugDraw().drawPoint(ccallback.m_point, 5.0f, new Color4f(0.4f, 0.9f, 0.4f));
                    getDebugDraw().drawSegment(point1, ccallback.m_point, new Color4f(0.8f, 0.8f, 0.8f));
                    pooledHead.set(ccallback.m_normal);
                    pooledHead.mulLocal(.5f);
                    pooledHead.addLocal(ccallback.m_point);
                    getDebugDraw().drawSegment(ccallback.m_point, pooledHead, new Color4f(0.9f, 0.9f, 0.4f));
                }
                else
                {
                    getDebugDraw().drawSegment(point1, point2, new Color4f(0.8f, 0.8f, 0.8f));
                }
            }
            else if (m_mode == Mode.e_any)
            {
                acallback.init();
                getWorld().raycast(acallback, point1, point2);

                if (acallback.m_hit)
                {
                    getDebugDraw().drawPoint(acallback.m_point, 5.0f, new Color4f(0.4f, 0.9f, 0.4f));
                    getDebugDraw().drawSegment(point1, acallback.m_point, new Color4f(0.8f, 0.8f, 0.8f));
                    pooledHead.set(acallback.m_normal);
                    pooledHead.mulLocal(.5f);
                    pooledHead.addLocal(acallback.m_point);
                    getDebugDraw().drawSegment(acallback.m_point, pooledHead, new Color4f(0.9f, 0.9f, 0.4f));
                }
                else
                {
                    getDebugDraw().drawSegment(point1, point2, new Color4f(0.8f, 0.8f, 0.8f));
                }
            }
            else if (m_mode == Mode.e_multiple)
            {
                mcallback.init();
                getWorld().raycast(mcallback, point1, point2);
                getDebugDraw().drawSegment(point1, point2, new Color4f(0.8f, 0.8f, 0.8f));

                for (int i = 0; i < mcallback.m_count; ++i)
                {
                    Vec2 p = mcallback.m_points[i];
                    Vec2 n = mcallback.m_normals[i];
                    getDebugDraw().drawPoint(p, 5.0f, new Color4f(0.4f, 0.9f, 0.4f));
                    getDebugDraw().drawSegment(point1, p, new Color4f(0.8f, 0.8f, 0.8f));
                    pooledHead.set(n);
                    pooledHead.mulLocal(.5f);
                    pooledHead.addLocal(p);
                    getDebugDraw().drawSegment(p, pooledHead, new Color4f(0.9f, 0.9f, 0.4f));
                }
            }

            if (advanceRay)
            {
                m_angle += 0.25f*MathUtils.PI/180.0f;
            }
        }
Пример #11
0
 public override void step(TestbedSettings settings)
 {
     base.step(settings);
     addTextLine("Press: (c) create a shape, (d) destroy a shape.");
 }
Пример #12
0
 public override void step(TestbedSettings settings)
 {
     base.step(settings);
     addTextLine("This demonstrates a soft distance joint.");
     addTextLine("Press: (b) to delete a body, (j) to delete a joint");
 }
Пример #13
0
        public override void step(TestbedSettings settings)
        {
            if (nextShape != null)
            {
                m_body.destroyFixture(currFixture);
                currFixture = m_body.createFixture(nextShape, 1f);
                nextShape = null;
            }
            // if (stepCount == 12){
            // stepCount += 0;
            // } what is this?

            base.step(settings);

            if (Distance.GJK_CALLS > 0)
            {
                addTextLine(string.Format("gjk calls = {0}, ave gjk iters = {1:F1}, max gjk iters = {2}",
                    Distance.GJK_CALLS, Distance.GJK_ITERS*(1f/Distance.GJK_CALLS), Distance.GJK_MAX_ITERS));
            }

            if (TimeOfImpact.toiCalls > 0)
            {
                int toiCalls = TimeOfImpact.toiCalls;
                int toiIters = TimeOfImpact.toiIters;
                int toiMaxIters = TimeOfImpact.toiMaxIters;
                int toiRootIters = TimeOfImpact.toiRootIters;
                int toiMaxRootIters = TimeOfImpact.toiMaxRootIters;
                addTextLine(string.Format("toi calls = {0}, ave toi iters = %3.1f, max toi iters = {2}",
                    toiCalls, toiIters*1f/toiCalls, toiMaxIters));

                addTextLine(string.Format("ave toi root iters = {0:F1}, max toi root iters = {1}", toiRootIters
                                                                                                   *(1f/toiCalls),
                    toiMaxRootIters));
            }

            addTextLine("Press 'c' to change launch shape");

            if (getStepCount()%60 == 0)
            {
                launch();
            }
        }
Пример #14
0
 public override void step(TestbedSettings settings)
 {
     base.step(settings);
     float ratio = m_joint1.getRatio();
     float L = m_joint1.getLength1() + ratio*m_joint1.getLength2();
     addTextLine("L1 + " + ratio + " * L2 = " + L);
     if (L >= 36)
     {
         addTextLine("Pulley is taught");
     }
 }
Пример #15
0
        public override void step(TestbedSettings settings)
        {
            base.step(settings);

            if (Distance.GJK_CALLS > 0)
            {
                addTextLine(String.Format("gjk calls = {0}, ave gjk iters = {1:F1}, max gjk iters = {2}",
                    Distance.GJK_CALLS, Distance.GJK_ITERS*1.0/(Distance.GJK_CALLS),
                    Distance.GJK_MAX_ITERS));
            }

            if (TimeOfImpact.toiCalls > 0)
            {
                addTextLine(String.Format("toi calls = {0}, ave toi iters = {1:F1}, max toi iters = {2}",
                    TimeOfImpact.toiCalls, TimeOfImpact.toiIters*1f/(TimeOfImpact.toiCalls),
                    TimeOfImpact.toiMaxRootIters));

                addTextLine(String.Format("ave toi root iters = {0:F1}, max toi root iters = {1}",
                    TimeOfImpact.toiRootIters*1f/(TimeOfImpact.toiCalls), TimeOfImpact.toiMaxRootIters.ToString()));
            }

            if (getStepCount()%60 == 0)
            {
                launch();
            }
        }
Пример #16
0
        public override void step(TestbedSettings settings)
        {
            // TODO Auto-generated method stub
            base.step(settings);

            addTextLine("Press 's' to stop, and '1' - '5' to change speeds");
        }
Пример #17
0
 public override void step(TestbedSettings settings)
 {
     base.step(settings);
     addTextLine("Press ',' to launch bullet.");
 }
Пример #18
0
        public override void step(TestbedSettings settings)
        {
            base.step(settings);

            addTextLine("Keys: (L) liquid, (E) elastic, (S) spring");
            addTextLine("(F) rigid, (W) wall, (V) viscous, (T) tensile");
            addTextLine("(Z) erase, (X) move");
        }
Пример #19
0
        public override void step(TestbedSettings settings)
        {
            base.step(settings);

            Vec2 p = circle.getTransform().p;
            Vec2 v = circle.getLinearVelocity();

            if ((p.x < -10.0f && v.x < 0.0f) || (p.x > 10.0f && v.x > 0.0f))
            {
                v.x = -v.x;
                circle.setLinearVelocity(v);
            }
            int[] flagsBuffer = m_world.getParticleFlagsBuffer();
            for (int i = 0; i < m_world.getParticleCount(); i++)
            {
                flagsBuffer[i] = flags;
            }

            addTextLine("'a' Clear");
            addTextLine("'e' Elastic " + ((flags & ParticleType.b2_elasticParticle) != 0));
            addTextLine("'q' Powder  " + ((flags & ParticleType.b2_powderParticle) != 0));
            addTextLine("'t' Tensile " + ((flags & ParticleType.b2_tensileParticle) != 0));
            addTextLine("'v' Viscous " + ((flags & ParticleType.b2_viscousParticle) != 0));
        }
Пример #20
0
        public override void step(TestbedSettings settings)
        {
            base.step(settings);

            addTextLine("Keys: (d) dynamic, (s) static, (k) kinematic");
            // Drive the kinematic body.
            if (m_platform.getType() == BodyType.KINEMATIC)
            {
                Vec2 p = m_platform.getTransform().p;
                Vec2 v = m_platform.getLinearVelocity();

                if ((p.x < -10.0f && v.x < 0.0f) || (p.x > 10.0f && v.x > 0.0f))
                {
                    v.x = -v.x;
                    m_platform.setLinearVelocity(v);
                }
            }
        }
Пример #21
0
        public override void step(TestbedSettings settings)
        {
            bool advanceRay = settings.pause == false || settings.singleStep;

            base.step(settings);
            addTextLine("Press 1-5 to drop stuff");

            float L = 25.0f;
            Vec2 point1 = new Vec2(0.0f, 10.0f);
            Vec2 d = new Vec2(L*MathUtils.cos(m_angle), -L*MathUtils.abs(MathUtils.sin(m_angle)));
            Vec2 point2 = point1.add(d);

            callback.m_fixture = null;
            getWorld().raycast(callback, point1, point2);

            if (callback.m_fixture != null)
            {
                getDebugDraw().drawPoint(callback.m_point, 5.0f, new Color4f(0.4f, 0.9f, 0.4f));

                getDebugDraw().drawSegment(point1, callback.m_point, new Color4f(0.8f, 0.8f, 0.8f));
                callback.m_normal.mul(.5f);
                callback.m_normal.addLocal(callback.m_point);
                Vec2 head = callback.m_normal;
                getDebugDraw().drawSegment(callback.m_point, head, new Color4f(0.9f, 0.9f, 0.4f));
            }
            else
            {
                getDebugDraw().drawSegment(point1, point2, new Color4f(0.8f, 0.8f, 0.8f));
            }

            if (advanceRay)
            {
                m_angle += 0.25f*MathUtils.PI/180.0f;
            }
        }
Пример #22
0
        public override void step(TestbedSettings settings)
        {
            base.step(settings);

            input.proxyA.set(m_polygonA, 0);
            input.proxyB.set(m_polygonB, 0);
            input.transformA.set(m_transformA);
            input.transformB.set(m_transformB);
            input.useRadii = true;
            cache.count = 0;
            getWorld().getPool().getDistance().distance(output, cache, input);

            addTextLine("distance = " + output.distance);
            addTextLine("iterations = " + output.iterations);

            {
                for (int i = 0; i < m_polygonA.m_count; ++i)
                {
                    Transform.mulToOutUnsafe(m_transformA, m_polygonA.m_vertices[i], ref v[i]);
                }
                getDebugDraw().drawPolygon(v, m_polygonA.m_count, color);

                for (int i = 0; i < m_polygonB.m_count; ++i)
                {
                    Transform.mulToOutUnsafe(m_transformB, m_polygonB.m_vertices[i], ref v[i]);
                }
                getDebugDraw().drawPolygon(v, m_polygonB.m_count, color);
            }

            Vec2 x1 = output.pointA;
            Vec2 x2 = output.pointB;

            getDebugDraw().drawPoint(x1, 4.0f, c1);

            getDebugDraw().drawPoint(x2, 4.0f, c2);
        }
Пример #23
0
        public override void step(TestbedSettings settings)
        {
            base.step(settings);

            for (Body b = getWorld().getBodyList(); b != null; b = b.getNext())
            {
                if (b.getType() != BodyType.DYNAMIC)
                {
                    continue;
                }

                Vec2 p = b.getPosition();
                if (p.x <= -10.0f || 10.0f <= p.x || p.y <= 0.0f || 20.0f <= p.y)
                {
                    p.x += 0.0f;
                }
            }

            addTextLine("Press 'c' to create a circle");
        }
Пример #24
0
        public override void step(TestbedSettings settings)
        {
            base.step(settings);

            // We are going to destroy some bodies according to contact
            // points. We must buffer the bodies that should be destroyed
            // because they may belong to multiple contact points.
            HashSet<Body> nuke = new HashSet<Body>();

            // Traverse the contact results. Destroy bodies that
            // are touching heavier bodies.
            for (int i = 0; i < getPointCount(); ++i)
            {
                ContactPoint point = points[i];

                Body body1 = point.fixtureA.getBody();
                Body body2 = point.fixtureB.getBody();
                float mass1 = body1.getMass();
                float mass2 = body2.getMass();

                if (mass1 > 0.0f && mass2 > 0.0f)
                {
                    if (mass2 > mass1)
                    {
                        nuke.Add(body1);
                    }
                    else
                    {
                        nuke.Add(body2);
                    }
                }
            }

            // Sort the nuke array to group duplicates.
            // Arrays.sort(nuke);

            // Destroy the bodies, skipping duplicates.
            foreach (Body b in nuke)
            {

                if (b != getBomb())
                {
                    getWorld().destroyBody(b);
                }
            }
        }
Пример #25
0
 public override void step(TestbedSettings settings)
 {
     base.step(settings);
     addTextLine("Keys: (l) limits, (m) motors, (s) speed");
     float force = m_joint.getMotorForce(1);
     addTextLine("Motor Force = " + force);
 }
Пример #26
0
        public virtual void step(TestbedSettings settings)
        {
            float hz = settings.getSetting(TestbedSettings.Hz).value;
            float timeStep = hz > 0f ? 1f/hz : 0;
            if (settings.singleStep && !settings.pause)
            {
                settings.pause = true;
            }

            DebugDraw debugDraw = model.getDebugDraw();
            m_textLine = 20;

            if (title != null)
            {
                debugDraw.drawString(camera.getTransform().getExtents().x, 15, title, Color4f.WHITE);
                m_textLine += TEXT_LINE_SPACE;
            }

            if (settings.pause)
            {
                if (settings.singleStep)
                {
                    settings.singleStep = false;
                }
                else
                {
                    timeStep = 0;
                }

                debugDraw.drawString(5, m_textLine, "****PAUSED****", Color4f.WHITE);
                m_textLine += TEXT_LINE_SPACE;
            }

            DebugDrawFlags flags = 0;
            flags |= settings.getSetting(TestbedSettings.DrawShapes).enabled ? DebugDrawFlags.Shapes : 0;
            flags |= settings.getSetting(TestbedSettings.DrawJoints).enabled ? DebugDrawFlags.Joints : 0;
            flags |= settings.getSetting(TestbedSettings.DrawAABBs).enabled ? DebugDrawFlags.AABB : 0;
            flags |=
                settings.getSetting(TestbedSettings.DrawCOMs).enabled ? DebugDrawFlags.CenterOfMass : 0;
            flags |= settings.getSetting(TestbedSettings.DrawTree).enabled ? DebugDrawFlags.DynamicTree : 0;
            flags |=
                settings.getSetting(TestbedSettings.DrawWireframe).enabled
                    ? DebugDrawFlags.Wireframe
                    : 0;
            debugDraw.setFlags(flags);

            m_world.setAllowSleep(settings.getSetting(TestbedSettings.AllowSleep).enabled);
            m_world.setWarmStarting(settings.getSetting(TestbedSettings.WarmStarting).enabled);
            m_world.setSubStepping(settings.getSetting(TestbedSettings.SubStepping).enabled);
            m_world.setContinuousPhysics(settings.getSetting(TestbedSettings.ContinuousCollision).enabled);

            pointCount = 0;

            m_world.step(timeStep, settings.getSetting(TestbedSettings.VelocityIterations).value,
                settings.getSetting(TestbedSettings.PositionIterations).value);

            m_world.drawDebugData();

            if (timeStep > 0f)
            {
                ++stepCount;
            }

            debugDraw.drawString(5, m_textLine, "Engine Info", color4);
            m_textLine += TEXT_LINE_SPACE;
            debugDraw.drawString(5, m_textLine, "Framerate: " + (int) model.getCalculatedFps(),
                Color4f.WHITE);
            m_textLine += TEXT_LINE_SPACE;

            if (settings.getSetting(TestbedSettings.DrawStats).enabled)
            {
                int particleCount = m_world.getParticleCount();
                int groupCount = m_world.getParticleGroupCount();
                debugDraw.drawString(
                    5,
                    m_textLine,
                    "bodies/contacts/joints/proxies/particles/groups = " + m_world.getBodyCount() + "/"
                    + m_world.getContactCount() + "/" + m_world.getJointCount() + "/"
                    + m_world.getProxyCount() + "/" + particleCount + "/" + groupCount, Color4f.WHITE);
                m_textLine += TEXT_LINE_SPACE;

                debugDraw.drawString(5, m_textLine, "World mouse position: " + mouseWorld.ToString(),
                    Color4f.WHITE);
                m_textLine += TEXT_LINE_SPACE;

                statsList.Clear();
                Dynamics.Profile profile = getWorld().getProfile();
                profile.toDebugStrings(statsList);

                foreach (string s in statsList)
                {
                    debugDraw.drawString(5, m_textLine, s, Color4f.WHITE);
                    m_textLine += TEXT_LINE_SPACE;
                }
                m_textLine += TEXT_SECTION_SPACE;
            }

            if (settings.getSetting(TestbedSettings.DrawHelp).enabled)
            {
                debugDraw.drawString(5, m_textLine, "Help", color4);
                m_textLine += TEXT_LINE_SPACE;
                List<string> help = model.getImplSpecificHelp();
                foreach (string s in help)
                {
                    debugDraw.drawString(5, m_textLine, s, Color4f.WHITE);
                    m_textLine += TEXT_LINE_SPACE;
                }
                m_textLine += TEXT_SECTION_SPACE;
            }

            if (textList.Count != 0)
            {
                debugDraw.drawString(5, m_textLine, "Test Info", color4);
                m_textLine += TEXT_LINE_SPACE;
                foreach (string s in textList)
                {
                    debugDraw.drawString(5, m_textLine, s, Color4f.WHITE);
                    m_textLine += TEXT_LINE_SPACE;
                }
                textList.Clear();
            }

            if (mouseTracing && mouseJoint == null)
            {
                float delay = 0.1f;
                acceleration.x =
                    2/delay*(1/delay*(mouseWorld.x - mouseTracerPosition.x) - mouseTracerVelocity.x);
                acceleration.y =
                    2/delay*(1/delay*(mouseWorld.y - mouseTracerPosition.y) - mouseTracerVelocity.y);
                mouseTracerVelocity.x += timeStep*acceleration.x;
                mouseTracerVelocity.y += timeStep*acceleration.y;
                mouseTracerPosition.x += timeStep*mouseTracerVelocity.x;
                mouseTracerPosition.y += timeStep*mouseTracerVelocity.y;
                pshape.m_p.set(mouseTracerPosition);
                pshape.m_radius = 2;
                pcallback.init(m_world, pshape, mouseTracerVelocity);
                pshape.computeAABB(paabb, identity, 0);
                m_world.queryAABB(pcallback, paabb);
            }

            if (mouseJoint != null)
            {
                mouseJoint.getAnchorB(ref p1);
                Vec2 p2 = mouseJoint.getTarget();

                debugDraw.drawSegment(p1, p2, mouseColor);
            }

            if (bombSpawning)
            {
                debugDraw.drawSegment(bombSpawnPoint, bombMousePoint, Color4f.WHITE);
            }

            if (settings.getSetting(TestbedSettings.DrawContactPoints).enabled)
            {
                float k_impulseScale = 0.1f;
                float axisScale = 0.3f;

                for (int i = 0; i < pointCount; i++)
                {

                    ContactPoint point = points[i];

                    if (point.state == Collision.Collision.PointState.ADD_STATE)
                    {
                        debugDraw.drawPoint(point.position, 10f, color1);
                    }
                    else if (point.state == Collision.Collision.PointState.PERSIST_STATE)
                    {
                        debugDraw.drawPoint(point.position, 5f, color2);
                    }

                    if (settings.getSetting(TestbedSettings.DrawContactNormals).enabled)
                    {
                        p1.set(point.position);
                        p2.set(point.normal);
                        p2.mulLocal(axisScale);
                        p2.addLocal(p1);
                        debugDraw.drawSegment(p1, p2, color3);

                    }
                    else if (settings.getSetting(TestbedSettings.DrawContactImpulses).enabled)
                    {
                        p1.set(point.position);
                        p2.set(point.normal);
                        p2.mulLocal(k_impulseScale);
                        p2.mulLocal(point.normalImpulse);
                        p2.addLocal(p1);
                        debugDraw.drawSegment(p1, p2, color5);
                    }

                    if (settings.getSetting(TestbedSettings.DrawFrictionImpulses).enabled)
                    {
                        Vec2.crossToOutUnsafe(point.normal, 1, ref tangent);
                        p1.set(point.position);
                        p2.set(tangent);
                        p2.mulLocal(k_impulseScale);
                        p2.mulLocal(point.tangentImpulse);
                        p2.addLocal(p1);
                        debugDraw.drawSegment(p1, p2, color5);
                    }
                }
            }
        }
Пример #27
0
        /**
           * @see org.jbox2d.testbed.framework.TestbedTest#step(org.jbox2d.testbed.framework.TestbedSettings)
           */
        public override void step(TestbedSettings settings)
        {
            base.step(settings);

            PolyShapesCallback callback = new PolyShapesCallback(getWorld().getPool());
            callback.m_circle.m_radius = 2.0f;
            callback.m_circle.m_p.set(0.0f, 2.1f);
            callback.m_transform.setIdentity();
            callback.debugDraw = getDebugDraw();

            AABB aabb = new AABB();
            callback.m_circle.computeAABB(aabb, callback.m_transform, 0);

            getWorld().queryAABB(callback, aabb);

            Color4f color = new Color4f(0.4f, 0.7f, 0.8f);
            getDebugDraw().drawCircle(callback.m_circle.m_p, callback.m_circle.m_radius, color);

            addTextLine("Press 1-5 to drop stuff");
            addTextLine("Press 'a' to (de)activate some bodies");
            addTextLine("Press 'd' to destroy a body");
            addTextLine("Up to 30 bodies in the target circle are highlighted");
        }
Пример #28
0
        public override void step(TestbedSettings settings)
        {
            Vec2 v = m_character.getLinearVelocity();
            v.x = -5f;

            base.step(settings);
            addTextLine("This tests various character collision shapes");
            addTextLine("Limitation: square and hexagon can snag on aligned boxes.");
            addTextLine("Feature: edge chains have smooth collision inside and out.");
        }
Пример #29
0
        public override void step(TestbedSettings settings)
        {
            base.step(settings);

            if (m_break)
            {
                Break();
                m_broke = true;
                m_break = false;
            }

            // Cache velocities to improve movement on breakage.
            if (m_broke == false)
            {
                m_velocity.set(m_body1.getLinearVelocity());
                m_angularVelocity = m_body1.getAngularVelocity();
            }
        }
Пример #30
0
        public override void step(TestbedSettings settings)
        {
            lock (_stepLock)
            {
                base.step(settings);
                addTextLine("Keys: left = a, brake = s, right = d, hz down = q, hz up = e");
                addTextLine("frequency = " + m_hz + " hz, damping ratio = " + m_zeta);

                getCamera().setCamera(m_car.getPosition());
            }
        }