public override void Update()
{
base.Update();
// Dividers
DrawLine(new Vector2(0, HALF_H), new Vector2(0, -HALF_H), Color.White);
DrawLine(new Vector2(-HALF_W, 0), new Vector2(HALF_W, 0), Color.White);
// Goal markers
DrawCircle(goal, 10, 10, Color.Green);
DrawCircle(goal + new Vector2(HALF_W, 0), 10, 10, Color.Green);
DrawCircle(goal + new Vector2(0, -HALF_H), 10, 10, Color.Green);
DrawCircle(goal + new Vector2(HALF_W, -HALF_H), 10, 10, Color.Green);
// Solution Spaces
DrawCircle(hingeJT.DefaultPosition, hingeJT.SolutionSpaceRadius(), 30, Color.DarkRed);
DrawCircle(hingeJI.DefaultPosition, hingeJI.SolutionSpaceRadius(), 30, Color.DarkRed);
DrawCircle(hingeDLS.DefaultPosition, hingeDLS.SolutionSpaceRadius(), 30, Color.DarkRed);
DrawCircle(hingeCCD.DefaultPosition, hingeCCD.SolutionSpaceRadius(), 30, Color.DarkRed);
// Joints
Vertices.AddRange(hingeJT.GetVertices());
Vertices.AddRange(hingeJI.GetVertices());
Vertices.AddRange(hingeDLS.GetVertices());
Vertices.AddRange(hingeCCD.GetVertices());
}
public override void Update()
{
base.Update();
DrawCircle(goal, 10, 10, Color.Green);
DrawCircle(Vector2.Zero, baseJoint.SolutionSpaceRadius(), 100, Color.DarkRed);
Vertices.AddRange(baseJoint.GetVertices());
}
public override void Update()
{
base.Update();
// Goal Marker
DrawCircle(goal, 5, 5, Color.Green);
// Solution Spaces
DrawCircle(leftJoint.DefaultPosition, leftJoint.SolutionSpaceRadius(), 30, new Color(50, 0, 0));
DrawCircle(rightJoint.DefaultPosition, rightJoint.SolutionSpaceRadius(), 30, new Color(50, 0, 0));
// Joints
Vertices.AddRange(leftJoint.GetVertices());
Vertices.AddRange(rightJoint.GetVertices());
}
public override void Update()
{
vertices.Clear();
vertices.AddRange(baseJoint.GetVertices());
vertices.AddRange(GetCircle(goal, 5, 5, Color.Green));
vertices.AddRange(GetCircle(Vector2.Zero, baseJoint.SolutionSpaceRadius(), 100, Color.DarkRed));
UpdateEffect();
if (updateFocusJoint)
{
jointAngleText.Text = "Current Joint Angle: " + focusJoint.Angle;
jointAngleText.AutoAdjustWidth();
vertices.AddRange(GetCircle(focusJoint.GlobalPosition, 10, 10, Color.Purple));
}
goalText.Text = "Goal Position: " + goal.X + ", " + goal.Y;
goalText.AutoAdjustWidth();
base.Update();
}