public override void Update(GameSettings settings, GameTime gameTime)
{
base.Update(settings, gameTime);
PolygonShape shape = new PolygonShape(new Vertices(_points), 0f);
DrawString("Press g to generate a new random convex hull");
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
DebugView.DrawPolygon(shape.Vertices.ToArray(), shape.Vertices.Count, new Color(0.9f, 0.9f, 0.9f));
for (int i = 0; i < _count; ++i)
{
DebugView.DrawPoint(_points[i], 0.1f, new Color(0.9f, 0.5f, 0.5f));
Vector2 position = GameInstance.ConvertWorldToScreen(_points[i]);
DebugView.DrawString((int)position.X, (int)position.Y, i.ToString());
}
DebugView.EndCustomDraw();
if (_auto)
{
Generate();
}
}
public override void Update(GameSettings settings, GameTime gameTime)
{
base.Update(settings, gameTime);
DebugView.DrawString(50, TextLine, "Press: left mouse button to remove at mouse position.");
TextLine += 15;
DebugView.DrawString(50, TextLine, "Press: (A) to decrease the removal radius, (S) to increase it.");
TextLine += 15;
// Fighting against float decimals
float radiusnumber = (float)((int)(Radius * 10)) / 10;
DebugView.DrawString(50, TextLine, "Radius: " + radiusnumber);
Color color = new Color(0.4f, 0.7f, 0.8f);
//Transform shape to mouseposition and then draw
Vertices tempshape = new Vertices(_clipCircle);
tempshape.Translate(ref _mousePos);
DebugView.BeginCustomDraw();
var ts = tempshape.ToList().Cast <CCVector2>();
DebugView.DrawPolygon(ts.ToArray(), _clipCircle.Count, color);
DebugView.EndCustomDraw();
}
public override void Update(GameSettings settings, GameTime gameTime)
{
Manifold manifold = new Manifold();
CollidePolygon.CollidePolygons(ref manifold, _polygonA, ref _transformA, _polygonB, ref _transformB);
WorldManifold.Initialize(ref manifold, ref _transformA, _polygonA.Radius, ref _transformB, _polygonB.Radius, out _, out FixedArray2 <Vector2> points, out _);
DrawString("Point count = " + manifold.PointCount);
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
{
Color color = new Color(0.9f, 0.9f, 0.9f);
Vector2[] v = new Vector2[Settings.MaxPolygonVertices];
for (int i = 0; i < _polygonA.Vertices.Count; ++i)
{
v[i] = MathUtils.Mul(ref _transformA, _polygonA.Vertices[i]);
}
DebugView.DrawPolygon(v, _polygonA.Vertices.Count, color);
for (int i = 0; i < _polygonB.Vertices.Count; ++i)
{
v[i] = MathUtils.Mul(ref _transformB, _polygonB.Vertices[i]);
}
DebugView.DrawPolygon(v, _polygonB.Vertices.Count, color);
}
for (int i = 0; i < manifold.PointCount; ++i)
{
DebugView.DrawPoint(points[i], 0.1f, new Color(0.9f, 0.3f, 0.3f));
DrawString(points[i].ToString());
}
DebugView.EndCustomDraw();
}
public override void Draw(GameTime gameTime)
{
DebugView.BeginCustomDraw(Camera.Projection, Camera.View);
foreach (Polygon p in _farseerPoly.Values)
{
DebugView.DrawPolygon(p.Vertices.ToArray(), p.Vertices.Count, Color.Black, p.Closed);
}
DebugView.EndCustomDraw();
base.Draw(gameTime);
}
public override void Update(GameSettings settings, GameTime gameTime)
{
foreach (Vertices vertex in _polygons)
{
if (vertex != null)
{
Vector2[] array = vertex.ToArray();
Color col = Color.SteelBlue;
if (!vertex.IsCounterClockWise())
{
col = Color.Aquamarine;
}
if (vertex == _selected)
{
col = Color.LightBlue;
}
if (vertex == _subject)
{
col = Color.Green;
if (vertex == _selected)
{
col = Color.LightGreen;
}
}
if (vertex == _clip)
{
col = Color.DarkRed;
if (vertex == _selected)
{
col = Color.IndianRed;
}
}
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
DebugView.DrawPolygon(array, vertex.Count, col);
for (int j = 0; j < vertex.Count; ++j)
{
DebugView.DrawPoint(vertex[j], .2f, Color.Red);
}
DebugView.EndCustomDraw();
}
}
DrawString("A,S,D = Create Rectangle");
DrawString("Q,W,E = Create Circle");
DrawString("Click to Drag polygons");
DrawString("1 = Select Subject while dragging [green]");
DrawString("2 = Select Clip while dragging [red]");
DrawString("Space = Union");
DrawString("Backspace = Subtract");
DrawString("Shift = Intersect");
DrawString("Holes are colored light blue");
}
public override void Update(GameSettings settings, GameTime gameTime)
{
base.Update(settings, gameTime);
DistanceInput input = new DistanceInput();
input.ProxyA = new DistanceProxy(_polygonA, 0);
input.ProxyB = new DistanceProxy(_polygonB, 0);
input.TransformA = _transformA;
input.TransformB = _transformB;
input.UseRadii = true;
SimplexCache cache = new SimplexCache();
cache.Count = 0;
DistanceOutput output;
DistanceGJK.ComputeDistance(ref input, out output, out cache);
DrawString($"distance = {output.Distance}");
DrawString($"iterations = {output.Iterations}");
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
{
Color color = new Color(0.9f, 0.9f, 0.9f);
Vector2[] v = new Vector2[Settings.MaxPolygonVertices];
for (int i = 0; i < _polygonA.Vertices.Count; ++i)
{
v[i] = MathUtils.Mul(ref _transformA, _polygonA.Vertices[i]);
}
DebugView.DrawPolygon(v, _polygonA.Vertices.Count, color);
for (int i = 0; i < _polygonB.Vertices.Count; ++i)
{
v[i] = MathUtils.Mul(ref _transformB, _polygonB.Vertices[i]);
}
DebugView.DrawPolygon(v, _polygonB.Vertices.Count, color);
}
Vector2 x1 = output.PointA;
Vector2 x2 = output.PointB;
Color c1 = new Color(1.0f, 0.0f, 0.0f);
DebugView.DrawPoint(x1, 4.0f, c1);
Color c2 = new Color(1.0f, 1.0f, 0.0f);
DebugView.DrawPoint(x2, 4.0f, c2);
DebugView.EndCustomDraw();
}
public override void Update(GameSettings settings, GameTime gameTime)
{
//If the message times out, remove it from the list.
for (int i = _messages.Count - 1; i >= 0; i--)
{
_messages[i].ElapsedTime += settings.Hz;
if (_messages[i].ElapsedTime > 5)
{
_messages.Remove(_messages[i]);
}
}
if (_left != null)
{
Vector2[] array = _left.ToArray();
DebugView.DrawPolygon(ref array, _left.Count, Color.Red);
}
if (_right != null)
{
Vector2[] array = _right.ToArray();
DebugView.DrawPolygon(ref array, _right.Count, Color.Red);
}
DebugView.DrawString(50, TextLine, "A,S,D = Create Rectangle");
TextLine += 15;
DebugView.DrawString(50, TextLine, "Q,W,E = Create Circle");
TextLine += 15;
DebugView.DrawString(50, TextLine, "Click to Drag polygons");
TextLine += 15;
DebugView.DrawString(50, TextLine, "Space = Union");
TextLine += 15;
DebugView.DrawString(50, TextLine, "Backspace = Subtract");
TextLine += 15;
DebugView.DrawString(50, TextLine, "Space = Union");
TextLine += 15;
DebugView.DrawString(50, TextLine, "Enter = Add to Simulation");
TextLine += 15;
for (int i = _messages.Count - 1; i >= 0; i--)
{
DebugView.DrawString(50, TextLine, _messages[i].Text);
TextLine += 15;
}
base.Update(settings, gameTime);
}
private void DrawVertices(Vertices vertices)
{
if (vertices.Count >= 1)
{
DebugView.DrawPolygon(vertices.ToArray(), vertices.Count, Color.Red);
foreach (Vector2 vector2 in vertices)
{
DebugView.DrawPoint(vector2, 0.1f, Color.Yellow);
}
}
}
public override void Update(GameSettings settings, GameTime gameTime)
{
base.Update(settings, gameTime);
DistanceInput input = new DistanceInput();
input.ProxyA.Set(_polygonA, 0);
input.ProxyB.Set(_polygonB, 0);
input.TransformA = _transformA;
input.TransformB = _transformB;
input.UseRadii = true;
SimplexCache cache;
cache.Count = 0;
DistanceOutput output;
Distance.ComputeDistance(out output, out cache, input);
DebugView.DrawString(50, TextLine, "Distance = {0:n7}", output.Distance);
TextLine += 15;
DebugView.DrawString(50, TextLine, "Iterations = {0:n0}", output.Iterations);
TextLine += 15;
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
{
Color color = new Color(0.9f, 0.9f, 0.9f);
Vector2[] v = new Vector2[Settings.MaxPolygonVertices];
for (int i = 0; i < _polygonA.Vertices.Count; ++i)
{
v[i] = MathUtils.Mul(ref _transformA, _polygonA.Vertices[i]);
}
DebugView.DrawPolygon(v, _polygonA.Vertices.Count, color);
for (int i = 0; i < _polygonB.Vertices.Count; ++i)
{
v[i] = MathUtils.Mul(ref _transformB, _polygonB.Vertices[i]);
}
DebugView.DrawPolygon(v, _polygonB.Vertices.Count, color);
}
Vector2 x1 = output.PointA;
Vector2 x2 = output.PointB;
DebugView.DrawPoint(x1, 0.5f, new Color(1.0f, 0.0f, 0.0f));
DebugView.DrawPoint(x2, 0.5f, new Color(1.0f, 0.0f, 0.0f));
DebugView.DrawSegment(x1, x2, new Color(1.0f, 1.0f, 0.0f));
DebugView.EndCustomDraw();
}
public void Draw(SpriteBatch sb, SpriteFont font)
{
var projection = Matrix.CreateOrthographicOffCenter(0f, ConvertUnits.ToSimUnits(sb.GraphicsDevice.Viewport.Width), ConvertUnits.ToSimUnits(sb.GraphicsDevice.Viewport.Height), 0f, 0f, 1f);
_debugView.RenderDebugData(projection, camera.getScaledViewMatrix());
var projection2 = Matrix.CreateOrthographicOffCenter(0f, sb.GraphicsDevice.Viewport.Width, sb.GraphicsDevice.Viewport.Height, 0f, 0f, 1f);
_debugView.BeginCustomDraw(projection2, camera.getViewMatrix());
foreach (var ray in player.controller.castList)
{
_debugView.DrawSegment(ray.from, ray.to, Color.Blue);
}
foreach (var p in platformList)
{
foreach (var ray in p.controller.castList)
{
_debugView.DrawSegment(ray.from, ray.to, Color.White);
}
}
var areaPoints = new Vector2[] {
ConvertUnits.ToDisplayUnits(new Vector2(camera.focusArea.left, camera.focusArea.top)),
ConvertUnits.ToDisplayUnits(new Vector2(camera.focusArea.right, camera.focusArea.top)),
ConvertUnits.ToDisplayUnits(new Vector2(camera.focusArea.right, camera.focusArea.bottom)),
ConvertUnits.ToDisplayUnits(new Vector2(camera.focusArea.left, camera.focusArea.bottom))
};
_debugView.DrawSolidPolygon(areaPoints, 4, Color.Red);
_debugView.DrawPoint(ConvertUnits.ToDisplayUnits(camera.focusPosition), 3, Color.White);
_debugView.DrawPoint(camera.Position, 3, Color.Pink);
var cameraBounds = new Vector2[] {
new Vector2(camera.Bounds.Left, camera.Bounds.Top),
new Vector2(camera.Bounds.Right, camera.Bounds.Top),
new Vector2(camera.Bounds.Right, camera.Bounds.Bottom),
new Vector2(camera.Bounds.Left, camera.Bounds.Bottom)
};
_debugView.DrawPolygon(cameraBounds, 4, Color.Green);
_debugView.EndCustomDraw();
}
public override void Update(GameSettings settings, float elapsedSeconds)
{
base.Update(settings, elapsedSeconds);
DistanceInput input;
input.ProxyA = new DistanceProxy(_polygonA, 0);
input.ProxyB = new DistanceProxy(_polygonB, 0);
input.TransformA = _transformA;
input.TransformB = _transformB;
input.UseRadii = true;
SimplexCache cache;
cache.Count = 0;
DistanceOutput output;
Distance.ComputeDistance(out output, out cache, input);
DrawString("Distance = " + output.Distance);
DrawString("Iterations = " + output.Iterations);
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
{
Color color = ColorHelper.FromPercentages(0.9f, 0.9f, 0.9f);
Vector2[] v = new Vector2[Settings.MaxPolygonVertices];
for (int i = 0; i < _polygonA.Vertices.Count; ++i)
{
v[i] = Transform.Multiply(_polygonA.Vertices[i], ref _transformA);
}
DebugView.DrawPolygon(v, _polygonA.Vertices.Count, color);
for (int i = 0; i < _polygonB.Vertices.Count; ++i)
{
v[i] = Transform.Multiply(_polygonB.Vertices[i], ref _transformB);
}
DebugView.DrawPolygon(v, _polygonB.Vertices.Count, color);
}
Vector2 x1 = output.PointA;
Vector2 x2 = output.PointB;
DebugView.DrawPoint(x1, 0.5f, ColorHelper.FromPercentages(1.0f, 0.0f, 0.0f));
DebugView.DrawPoint(x2, 0.5f, ColorHelper.FromPercentages(1.0f, 0.0f, 0.0f));
DebugView.DrawSegment(x1, x2, ColorHelper.FromPercentages(1.0f, 1.0f, 0.0f));
DebugView.EndCustomDraw();
}
public override void Update(FarseerPhysicsGameSettings settings)
{
base.Update(settings);
DistanceInput input = new DistanceInput();
input.ProxyA.Set(_polygonA, 0);
input.ProxyB.Set(_polygonB, 0);
input.TransformA = _transformA;
input.TransformB = _transformB;
input.UseRadii = true;
SimplexCache cache;
cache.Count = 0;
DistanceOutput output;
Distance.ComputeDistance(out output, out cache, input);
DrawString("Distance = " + output.Distance);
DrawString("Iterations = " + output.Iterations);
{
Color color = new ColorR(0.9f, 0.9f, 0.9f);
Vector2[] v = new Vector2[Alt.FarseerPhysics.Settings.MaxPolygonVertices];
for (int i = 0; i < _polygonA.Vertices.Count; ++i)
{
v[i] = MathUtils.Mul(ref _transformA, _polygonA.Vertices[i]);
}
DebugView.DrawPolygon(v, _polygonA.Vertices.Count, color);
for (int i = 0; i < _polygonB.Vertices.Count; ++i)
{
v[i] = MathUtils.Mul(ref _transformB, _polygonB.Vertices[i]);
}
DebugView.DrawPolygon(v, _polygonB.Vertices.Count, color);
}
Vector2 x1 = output.PointA;
Vector2 x2 = output.PointB;
DebugView.DrawPoint(x1, 0.5f, new ColorR(1.0f, 0.0f, 0.0f));
DebugView.DrawPoint(x2, 0.5f, new ColorR(1.0f, 0.0f, 0.0f));
DebugView.DrawSegment(x1, x2, new ColorR(1.0f, 1.0f, 0.0f));
}
public override void Update(GameSettings settings, GameTime gameTime)
{
DebugView.DrawString(50, TextLine, "Melkman: Red");
TextLine += 15;
DebugView.DrawString(50, TextLine, "Giftwrap: Green");
TextLine += 15;
DebugView.DrawString(50, TextLine, "ChainHull: Blue");
TextLine += 15;
DebugView.BeginCustomDraw();
for (int i = 0; i < 32; i++)
{
DebugView.DrawPoint(_pointCloud1[i], 0.1f, Color.Yellow);
DebugView.DrawPoint(_pointCloud2[i], 0.1f, Color.Yellow);
DebugView.DrawPoint(_pointCloud3[i], 0.1f, Color.Yellow);
}
var vector2List = new List <CCVector2>();
foreach (var v in _melkman)
{
vector2List.Add((CCVector2)v);
}
DebugView.DrawPolygon(vector2List.ToArray(), _melkman.Count, Color.Red);
vector2List.Clear();
foreach (var v in _giftWrap)
{
vector2List.Add((CCVector2)v);
}
DebugView.DrawPolygon(vector2List.ToArray(), _giftWrap.Count, Color.Green);
vector2List.Clear();
foreach (var v in _chainHull)
{
vector2List.Add((CCVector2)v);
}
DebugView.DrawPolygon(vector2List.ToArray(), _chainHull.Count, Color.Blue);
DebugView.EndCustomDraw();
base.Update(settings, gameTime);
}
public override void Update(GameSettings settings, GameTime gameTime)
{
DrawString("Melkman: Red");
DrawString("Giftwrap: Green");
DrawString("ChainHull: Blue");
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
for (int i = 0; i < PointCount; i++)
{
DebugView.DrawPoint(_pointCloud1[i], 0.1f, Color.Yellow);
DebugView.DrawPoint(_pointCloud2[i], 0.1f, Color.Yellow);
DebugView.DrawPoint(_pointCloud3[i], 0.1f, Color.Yellow);
}
DebugView.DrawPolygon(_melkman.ToArray(), _melkman.Count, Color.Red);
DebugView.DrawPolygon(_giftWrap.ToArray(), _giftWrap.Count, Color.Green);
DebugView.DrawPolygon(_chainHull.ToArray(), _chainHull.Count, Color.Blue);
DebugView.EndCustomDraw();
base.Update(settings, gameTime);
}
public override void Update(FarseerPhysicsGameSettings settings)
{
DrawString("Melkman: Red");
DrawString("Giftwrap: Green");
DrawString("ChainHull: Blue");
for (int i = 0; i < PointCount; i++)
{
DebugView.DrawPoint(_pointCloud1[i], 0.1f, Color.Yellow);
DebugView.DrawPoint(_pointCloud2[i], 0.1f, Color.Yellow);
DebugView.DrawPoint(_pointCloud3[i], 0.1f, Color.Yellow);
}
DebugView.DrawPolygon(_melkman.ToArray(), _melkman.Count, Color.Red);
DebugView.DrawPolygon(_giftWrap.ToArray(), _giftWrap.Count, Color.Green);
DebugView.DrawPolygon(_chainHull.ToArray(), _chainHull.Count, Color.Blue);
base.Update(settings);
}
public override void Update(GameSettings settings, GameTime gameTime)
{
Manifold manifold = new Manifold();
Collision.Collision.CollidePolygons(ref manifold, _polygonA, ref _transformA, _polygonB, ref _transformB);
Vector2 normal;
FixedArray2 <Vector2> points;
Collision.Collision.GetWorldManifold(ref manifold, ref _transformA, _polygonA.Radius,
ref _transformB, _polygonB.Radius, out normal, out points);
DebugView.DrawString(50, TextLine, "Point count = {0:n0}", manifold.PointCount);
TextLine += 15;
DebugView.BeginCustomDraw();
{
Color color = new Color(0.9f, 0.9f, 0.9f);
Vector2[] v = new Vector2[Settings.MaxPolygonVertices];
for (int i = 0; i < _polygonA.Vertices.Count; ++i)
{
v[i] = MathUtils.Multiply(ref _transformA, _polygonA.Vertices[i]);
}
DebugView.DrawPolygon(v, _polygonA.Vertices.Count, color);
for (int i = 0; i < _polygonB.Vertices.Count; ++i)
{
v[i] = MathUtils.Multiply(ref _transformB, _polygonB.Vertices[i]);
}
DebugView.DrawPolygon(v, _polygonB.Vertices.Count, color);
}
for (int i = 0; i < manifold.PointCount; ++i)
{
DebugView.DrawPoint(points[i], 0.1f, new Color(0.9f, 0.3f, 0.3f));
}
DebugView.EndCustomDraw();
}
public override void Update(GameSettings settings, float elapsedSeconds)
{
Manifold manifold = new Manifold();
Collision.Collision.CollidePolygons(ref manifold, _polygonA, ref _transformA, _polygonB, ref _transformB);
Vector2 normal;
FixedArray2 <Vector2> points;
ContactSolver.WorldManifold.Initialize(ref manifold, ref _transformA, _polygonA.Radius, ref _transformB, _polygonB.Radius, out normal, out points);
DrawString("Point count = " + manifold.PointCount);
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
{
Color color = ColorHelper.FromPercentages(0.9f, 0.9f, 0.9f);
Vector2[] v = new Vector2[Settings.MaxPolygonVertices];
for (int i = 0; i < _polygonA.Vertices.Count; ++i)
{
v[i] = Transform.Multiply(_polygonA.Vertices[i], ref _transformA);
}
DebugView.DrawPolygon(v, _polygonA.Vertices.Count, color);
for (int i = 0; i < _polygonB.Vertices.Count; ++i)
{
v[i] = Transform.Multiply(_polygonB.Vertices[i], ref _transformB);
}
DebugView.DrawPolygon(v, _polygonB.Vertices.Count, color);
}
for (int i = 0; i < manifold.PointCount; ++i)
{
DebugView.DrawPoint(points[i], 0.1f, ColorHelper.FromPercentages(0.9f, 0.3f, 0.3f));
DrawString(points[i].ToString());
}
DebugView.EndCustomDraw();
}
public override void Update(GameSettings settings, GameTime gameTime)
{
DebugView.DrawString(50, TextLine, "Melkman: Red");
TextLine += 15;
DebugView.DrawString(50, TextLine, "Giftwrap: Green");
TextLine += 15;
DebugView.DrawString(50, TextLine, "ChainHull: Blue");
TextLine += 15;
DebugView.BeginCustomDraw();
for (int i = 0; i < 32; i++)
{
DebugView.DrawPoint(_pointCloud1[i], 0.1f, Color.Yellow);
DebugView.DrawPoint(_pointCloud2[i], 0.1f, Color.Yellow);
DebugView.DrawPoint(_pointCloud3[i], 0.1f, Color.Yellow);
}
DebugView.DrawPolygon(_melkman.ToArray(), _melkman.Count, Color.Red);
DebugView.DrawPolygon(_giftWrap.ToArray(), _giftWrap.Count, Color.Green);
DebugView.DrawPolygon(_chainHull.ToArray(), _chainHull.Count, Color.Blue);
DebugView.EndCustomDraw();
base.Update(settings, gameTime);
}
public override void Update(FarseerPhysicsGameSettings settings)
{
base.Update(settings);
PolygonShape shape = new PolygonShape(new Vertices(_points), 0f);
DrawString("Press g to generate a new random convex hull");
DebugView.DrawPolygon(shape.Vertices.ToArray(), shape.Vertices.Count, new ColorR(0.9, 0.9, 0.9));
for (int i = 0; i < _count; ++i)
{
DebugView.DrawPoint(_points[i], 0.1f, new ColorR(0.9, 0.5, 0.5));
Vector2 position = ConvertWorldToScreen(_points[i]);
DebugView.DrawString((int)position.X, (int)position.Y, i.ToString());
}
if (_auto)
{
Generate();
}
}
public override void Update(FarseerPhysicsGameSettings settings)
{
Manifold manifold = new Manifold();
Alt.FarseerPhysics.Collision.Collision.CollidePolygons(ref manifold, _polygonA, ref _transformA, _polygonB, ref _transformB);
Vector2 normal;
FixedArray2 <Vector2> points;
ContactSolver.WorldManifold.Initialize(ref manifold, ref _transformA, _polygonA.Radius, ref _transformB, _polygonB.Radius, out normal, out points);
DrawString("Point count = " + manifold.PointCount);
{
Color color = new ColorR(0.9, 0.9, 0.9);
Vector2[] v = new Vector2[Alt.FarseerPhysics.Settings.MaxPolygonVertices];
for (int i = 0; i < _polygonA.Vertices.Count; ++i)
{
v[i] = MathUtils.Mul(ref _transformA, _polygonA.Vertices[i]);
}
DebugView.DrawPolygon(v, _polygonA.Vertices.Count, color);
for (int i = 0; i < _polygonB.Vertices.Count; ++i)
{
v[i] = MathUtils.Mul(ref _transformB, _polygonB.Vertices[i]);
}
DebugView.DrawPolygon(v, _polygonB.Vertices.Count, color);
}
for (int i = 0; i < manifold.PointCount; ++i)
{
DebugView.DrawPoint(points[i], 0.1f, new ColorR(0.9f, 0.3f, 0.3f));
DrawString(points[i].ToString());
}
}
public override void Update(GameSettings settings, GameTime gameTime)
{
for (int i = 0; i < _polygons.Count; ++i)
{
if (_polygons[i] != null)
{
CCVector2[] array = new CCVector2[_polygons.Count];
for (int p = 0; p < _polygons[i].Count; p++)
{
array[p] = (CCVector2)_polygons[i][p];
}
Color col = Color.SteelBlue;
if (!_polygons[i].IsCounterClockWise())
{
col = Color.Aquamarine;
}
if (_polygons[i] == _selected)
{
col = Color.LightBlue;
}
if (_polygons[i] == _subject)
{
col = Color.Green;
if (_polygons[i] == _selected)
{
col = Color.LightGreen;
}
}
if (_polygons[i] == _clip)
{
col = Color.DarkRed;
if (_polygons[i] == _selected)
{
col = Color.IndianRed;
}
}
DebugView.BeginCustomDraw();
DebugView.DrawPolygon(array, _polygons[i].Count, col);
for (int j = 0; j < _polygons[i].Count; ++j)
{
DebugView.DrawPoint(_polygons[i][j], .2f, Color.Red);
}
DebugView.EndCustomDraw();
}
}
DebugView.DrawString(500, TextLine, "A,S,D = Create Rectangle");
TextLine += 15;
DebugView.DrawString(500, TextLine, "Q,W,E = Create Circle");
TextLine += 15;
DebugView.DrawString(500, TextLine, "Click to Drag polygons");
TextLine += 15;
DebugView.DrawString(500, TextLine, "1 = Select Subject while dragging [green]");
TextLine += 15;
DebugView.DrawString(500, TextLine, "2 = Select Clip while dragging [red]");
TextLine += 15;
DebugView.DrawString(500, TextLine, "Space = Union");
TextLine += 15;
DebugView.DrawString(500, TextLine, "Backspace = Subtract");
TextLine += 15;
DebugView.DrawString(500, TextLine, "Shift = Intersect");
TextLine += 15;
DebugView.DrawString(500, TextLine, "Holes are colored light blue");
TextLine += 15;
}
public override void Update(GameSettings settings, GameTime gameTime)
{
base.Update(settings, gameTime);
Sweep sweepA = new Sweep();
sweepA.C0 = new Vector2(24.0f, -60.0f);
sweepA.A0 = 2.95f;
sweepA.C = sweepA.C0;
sweepA.A = sweepA.A0;
sweepA.LocalCenter = Vector2.Zero;
Sweep sweepB = new Sweep();
sweepB.C0 = new Vector2(53.474274f, -50.252514f);
sweepB.A0 = 513.36676f; // - 162.0f * b2_pi;
sweepB.C = new Vector2(54.595478f, -51.083473f);
sweepB.A = 513.62781f; // - 162.0f * b2_pi;
sweepB.LocalCenter = Vector2.Zero;
//sweepB.a0 -= 300.0f * b2_pi;
//sweepB.a -= 300.0f * b2_pi;
TOIInput input = new TOIInput();
input.ProxyA.Set(_shapeA, 0);
input.ProxyB.Set(_shapeB, 0);
input.SweepA = sweepA;
input.SweepB = sweepB;
input.TMax = 1.0f;
TOIOutput output;
TimeOfImpact.CalculateTimeOfImpact(out output, input);
DrawString("TOI = " + output.T);
DrawString(string.Format("Max TOI iters = {0:n}, Max root iters = {1:n}", TimeOfImpact.TOIMaxIters, TimeOfImpact.TOIMaxRootIters));
Vector2[] vertices = new Vector2[Settings.MaxPolygonVertices];
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
Transform transformA;
sweepA.GetTransform(out transformA, 0.0f);
for (int i = 0; i < _shapeA.Vertices.Count; ++i)
{
vertices[i] = MathUtils.Mul(ref transformA, _shapeA.Vertices[i]);
}
DebugView.DrawPolygon(vertices, _shapeA.Vertices.Count, new Color(0.9f, 0.9f, 0.9f));
Transform transformB;
sweepB.GetTransform(out transformB, 0.0f);
for (int i = 0; i < _shapeB.Vertices.Count; ++i)
{
vertices[i] = MathUtils.Mul(ref transformB, _shapeB.Vertices[i]);
}
DebugView.DrawPolygon(vertices, _shapeB.Vertices.Count, new Color(0.5f, 0.9f, 0.5f));
sweepB.GetTransform(out transformB, output.T);
for (int i = 0; i < _shapeB.Vertices.Count; ++i)
{
vertices[i] = MathUtils.Mul(ref transformB, _shapeB.Vertices[i]);
}
DebugView.DrawPolygon(vertices, _shapeB.Vertices.Count, new Color(0.5f, 0.7f, 0.9f));
sweepB.GetTransform(out transformB, 1.0f);
for (int i = 0; i < _shapeB.Vertices.Count; ++i)
{
vertices[i] = MathUtils.Mul(ref transformB, _shapeB.Vertices[i]);
}
DebugView.DrawPolygon(vertices, _shapeB.Vertices.Count, new Color(0.9f, 0.5f, 0.5f));
DebugView.EndCustomDraw();
}
public override void Update(GameSettings settings, GameTime gameTime)
{
base.Update(settings, gameTime);
Sweep sweepA = new Sweep();
sweepA.C0 = new Vector2(24.0f, -60.0f);
sweepA.A0 = 2.95f;
sweepA.C = sweepA.C0;
sweepA.A = sweepA.A0;
sweepA.LocalCenter = Vector2.Zero;
Sweep sweepB = new Sweep();
sweepB.C0 = new Vector2(53.474274f, -50.252514f);
sweepB.A0 = 513.36676f; // - 162.0f * MathConstants.Pi;
sweepB.C = new Vector2(54.595478f, -51.083473f);
sweepB.A = 513.62781f; // - 162.0f * MathConstants.Pi;
sweepB.LocalCenter = Vector2.Zero;
//sweepB.a0 -= 300.0f * MathConstants.Pi;
//sweepB.a -= 300.0f * MathConstants.Pi;
TOIInput input = new TOIInput();
input.ProxyA = new DistanceProxy(_shapeA, 0);
input.ProxyB = new DistanceProxy(_shapeB, 0);
input.SweepA = sweepA;
input.SweepB = sweepB;
input.TMax = 1.0f;
TOIOutput output;
TimeOfImpact.CalculateTimeOfImpact(ref input, out output);
DrawString("toi = " + output.T);
DrawString($"max toi iters = {TimeOfImpact.TOIMaxIters}, max root iters = {TimeOfImpact.TOIMaxRootIters}");
Vector2[] vertices = new Vector2[Settings.MaxPolygonVertices];
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
Transform transformA;
sweepA.GetTransform(out transformA, 0.0f);
for (int i = 0; i < _shapeA.Vertices.Count; ++i)
{
vertices[i] = MathUtils.Mul(ref transformA, _shapeA.Vertices[i]);
}
DebugView.DrawPolygon(vertices, _shapeA.Vertices.Count, new Color(0.9f, 0.9f, 0.9f));
Transform transformB;
sweepB.GetTransform(out transformB, 0.0f);
//b2Vec2 localPoint(2.0f, -0.1f);
for (int i = 0; i < _shapeB.Vertices.Count; ++i)
{
vertices[i] = MathUtils.Mul(ref transformB, _shapeB.Vertices[i]);
}
DebugView.DrawPolygon(vertices, _shapeB.Vertices.Count, new Color(0.5f, 0.9f, 0.5f));
sweepB.GetTransform(out transformB, output.T);
for (int i = 0; i < _shapeB.Vertices.Count; ++i)
{
vertices[i] = MathUtils.Mul(ref transformB, _shapeB.Vertices[i]);
}
DebugView.DrawPolygon(vertices, _shapeB.Vertices.Count, new Color(0.5f, 0.7f, 0.9f));
sweepB.GetTransform(out transformB, 1.0f);
for (int i = 0; i < _shapeB.Vertices.Count; ++i)
{
vertices[i] = MathUtils.Mul(ref transformB, _shapeB.Vertices[i]);
}
DebugView.DrawPolygon(vertices, _shapeB.Vertices.Count, new Color(0.9f, 0.5f, 0.5f));
DebugView.EndCustomDraw();
#if false
for (float t = 0.0f; t < 1.0f; t += 0.1f)
{
sweepB.GetTransform(&transformB, t);
for (int i = 0; i < _shapeB.m_count; ++i)
{
vertices[i] = MathUtils.Mul(transformB, _shapeB.m_vertices[i]);
}
DebugView.DrawPolygon(vertices, _shapeB.m_count, b2Color(0.9f, 0.5f, 0.5f));
}
#endif
}
public override void Update(GameSettings settings, GameTime gameTime)
{
base.Update(settings, gameTime);
ShapeCastInput input = new ShapeCastInput();
input.ProxyA = new DistanceProxy(_vAs, _radiusA);
input.ProxyB = new DistanceProxy(_vBs, _radiusB);
input.TransformA = _transformA;
input.TransformB = _transformB;
input.TranslationB = _translationB;
ShapeCastOutput output;
bool hit = DistanceGJK.ShapeCast(ref input, out output);
Transform transformB2;
transformB2.q = _transformB.q;
transformB2.p = _transformB.p + output.Lambda * input.TranslationB;
DistanceInput distanceInput = new DistanceInput();
distanceInput.ProxyA = new DistanceProxy(_vAs, _radiusA);
distanceInput.ProxyB = new DistanceProxy(_vBs, _radiusB);
distanceInput.TransformA = _transformA;
distanceInput.TransformB = transformB2;
distanceInput.UseRadii = false;
SimplexCache simplexCache;
DistanceOutput distanceOutput;
DistanceGJK.ComputeDistance(ref distanceInput, out distanceOutput, out simplexCache);
DrawString($"hit = {(hit ? "true" : "false")}, iters = {output.Iterations}, lambda = {output.Lambda}, distance = {distanceOutput.Distance}");
Vector2[] vertices = new Vector2[Settings.MaxPolygonVertices];
for (int i = 0; i < _countA; ++i)
{
vertices[i] = MathUtils.Mul(ref _transformA, _vAs[i]);
}
DebugView.BeginCustomDraw(ref GameInstance.Projection, ref GameInstance.View);
if (_countA == 1)
{
DebugView.DrawCircle(vertices[0], _radiusA, new Color(0.9f, 0.9f, 0.9f));
}
else
{
DebugView.DrawPolygon(vertices, _countA, new Color(0.9f, 0.9f, 0.9f));
}
for (int i = 0; i < _countB; ++i)
{
vertices[i] = MathUtils.Mul(ref _transformB, _vBs[i]);
}
if (_countB == 1)
{
DebugView.DrawCircle(vertices[0], _radiusB, new Color(0.5f, 0.9f, 0.5f));
}
else
{
DebugView.DrawPolygon(vertices, _countB, new Color(0.5f, 0.9f, 0.5f));
}
for (int i = 0; i < _countB; ++i)
{
vertices[i] = MathUtils.Mul(ref transformB2, _vBs[i]);
}
if (_countB == 1)
{
DebugView.DrawCircle(vertices[0], _radiusB, new Color(0.5f, 0.7f, 0.9f));
}
else
{
DebugView.DrawPolygon(vertices, _countB, new Color(0.5f, 0.7f, 0.9f));
}
if (hit)
{
Vector2 p1 = output.Point;
DebugView.DrawPoint(p1, 10.0f, new Color(0.9f, 0.3f, 0.3f));
Vector2 p2 = p1 + output.Normal;
DebugView.DrawSegment(p1, p2, new Color(0.9f, 0.3f, 0.3f));
}
DebugView.EndCustomDraw();
}