/// <inheritdoc />
protected override void PostStep()
{
if (Input.GetKeyDown(KeyCode.A))
{
_positionB.X -= 0.1f;
}
if (Input.GetKeyDown(KeyCode.D))
{
_positionB.X += 0.1f;
}
if (Input.GetKeyDown(KeyCode.S))
{
_positionB.Y -= 0.1f;
}
if (Input.GetKeyDown(KeyCode.W))
{
_positionB.Y += 0.1f;
}
if (Input.GetKeyDown(KeyCode.Q))
{
_angleB += 0.1f * Settings.Pi;
}
if (Input.GetKeyDown(KeyCode.E))
{
_angleB -= 0.1f * Settings.Pi;
}
_transformB.Set(_positionB, _angleB);
var input = new DistanceInput();
input.ProxyA.Set(_polygonA, 0);
input.ProxyB.Set(_polygonB, 0);
input.TransformA = _transformA;
input.TransformB = _transformB;
input.UseRadii = true;
var cache = SimplexCache.Create();
cache.Count = 0;
DistanceAlgorithm.Distance(out var output, ref cache, input);
DrawString($"distance = {output.Distance}");
DrawString($"iterations = {output.Iterations}");
{
var color = Color.FromArgb(230, 230, 230);
var v = new Vector2[Settings.MaxPolygonVertices];
for (var i = 0; i < _polygonA.Count; ++i)
{
v[i] = MathUtils.Mul(_transformA, _polygonA.Vertices[i]);
}
Drawer.DrawPolygon(v, _polygonA.Count, color);
for (var i = 0; i < _polygonB.Count; ++i)
{
v[i] = MathUtils.Mul(_transformB, _polygonB.Vertices[i]);
}
Drawer.DrawPolygon(v, _polygonB.Count, color);
}
var x1 = output.PointA;
var x2 = output.PointB;
var c1 = Color.FromArgb(255, 0, 0);
Drawer.DrawPoint(x1, 4.0f, c1);
var c2 = Color.FromArgb(255, 255, 0);
Drawer.DrawPoint(x2, 4.0f, c2);
}
/// <inheritdoc />
protected override void PostStep()
{
var transformA = new Transform {
Position = new Vector2(0.0f, 0.25f)
};
transformA.Rotation.SetIdentity();
var transformB = new Transform();
transformB.SetIdentity();
var input = new ShapeCastInput();
input.ProxyA.Set(_vAs, _countA, _radiusA);
input.ProxyB.Set(_vBs, _countB, _radiusB);
input.TransformA = transformA;
input.TransformB = transformB;
input.TranslationB.Set(8.0f, 0.0f);
var hit = DistanceAlgorithm.ShapeCast(out var output, input);
var transformB2 = new Transform
{
Rotation = transformB.Rotation, Position = transformB.Position + output.Lambda * input.TranslationB
};
var distanceInput = new DistanceInput
{
TransformA = transformA,
TransformB = transformB2,
UseRadii = false
};
distanceInput.ProxyA.Set(_vAs, _countA, _radiusA);
distanceInput.ProxyB.Set(_vBs, _countB, _radiusB);
var simplexCache = SimplexCache.Create();
DistanceAlgorithm.Distance(out var distanceOutput, ref simplexCache, distanceInput);
DrawString(
$"hit = {hit}, iters = {output.Iterations}, lambda = {output.Lambda}, distance = {distanceOutput.Distance}");
var vertices = new Vector2[Settings.MaxPolygonVertices];
for (var i = 0; i < _countA; ++i)
{
vertices[i] = MathUtils.Mul(transformA, _vAs[i]);
}
//g_debugDraw.DrawCircle(vertices[0], _radiusA, b2Color(0.9f, 0.9f, 0.9f));
Drawer.DrawPolygon(vertices, _countA, Color.FromArgb(230, 230, 230));
for (var i = 0; i < _countB; ++i)
{
vertices[i] = MathUtils.Mul(transformB, _vBs[i]);
}
//g_debugDraw.DrawCircle(vertices[0], _radiusB, b2Color(0.5f, 0.9f, 0.5f));
Drawer.DrawPolygon(vertices, _countB, Color.FromArgb(127, 230, 127));
for (var i = 0; i < _countB; ++i)
{
vertices[i] = MathUtils.Mul(transformB2, _vBs[i]);
}
//g_debugDraw.DrawCircle(vertices[0], _radiusB, b2Color(0.5f, 0.7f, 0.9f));
Drawer.DrawPolygon(vertices, _countB, Color.FromArgb(127, 129, 230));
if (hit)
{
var p1 = output.Point;
Drawer.DrawPoint(p1, 10.0f, Color.FromArgb(230, 77, 77));
var p2 = p1 + output.Normal;
Drawer.DrawSegment(p1, p2, Color.FromArgb(230, 77, 77));
}
}