public void applyForce(Vec2 f)
{
// force += f;
force.Addi(f);
}
void RenderGLImpulseEngine()
{
if (impulse == null)
{
return;
}
if (impulse.bodies.Count > 0)
{
foreach (Body b in impulse.bodies)
{
if (b.shape is Circle)
{
Circle c = (Circle)b.shape;
// Circle
GL.Begin(GL.LINE_STRIP);
material.SetPass(0);
GL.Color(Color.red);
for (int i = 0; i < 45; i++)
{
//xyz = p.vertices[i];// Vec2 don't reference when modifying take x, y values only
xyz.x = (float)Mathf.Cos((i / 45f) * 2 * Mathf.PI);
xyz.y = (float)Mathf.Sin((i / 45f) * 2 * Mathf.PI);
xyz.x *= c.radius;
xyz.y *= c.radius;
xyz.x += b.position.x;
xyz.y += b.position.y;
GL.Vertex(xyz);
}
GL.End();
rxyz.x = Mathf.Cos(b.orient) * c.radius;
rxyz.y = Mathf.Sin(b.orient) * c.radius;
// Line
GL.Begin(GL.LINES);
material.SetPass(0);
GL.Color(Color.red);
xyz.x = b.position.x;
xyz.y = b.position.y;
GL.Vertex(xyz);
rxyz.x = b.position.x + rxyz.x;
rxyz.y = b.position.y + rxyz.y;
GL.Vertex(rxyz);
GL.End();
}
else if (b.shape is Polygon)
{
Polygon p = (Polygon)b.shape;
// Polygon
GL.Begin(GL.LINE_STRIP);
material.SetPass(0);
GL.Color(Color.blue);
for (int i = 0; i < p.vertexCount; i++)
{
//vxy = p.vertices[i];// Vec2 don't reference when modifying take x, y values only
vxy.x = p.vertices[i].x;
vxy.y = p.vertices[i].y;
b.shape.u.Muli(vxy);
vxy.Addi(b.position);
xyz.x = vxy.x;
xyz.y = vxy.y;
GL.Vertex(xyz);
}
//vxy = p.vertices[i];// don't reference when modifying take x, y values only
vxy.x = p.vertices[0].x;
vxy.y = p.vertices[0].y;
b.shape.u.Muli(vxy);
vxy.Addi(b.position);
xyz.x = vxy.x;
xyz.y = vxy.y;
GL.Vertex(xyz);
GL.End();
}
}
}
GL.Color(Color.black);
if (impulse.contacts.Count > 0)
{
foreach (Manifold m in impulse.contacts)
{
for (int i = 0; i < m.contactCount; i++)
{
vxy.x = m.contacts[i].x;
vxy.y = m.contacts[i].y;
nxy.x = m.normal.x;
nxy.y = m.normal.y;
// Line
GL.Begin(GL.LINES);
material.SetPass(0);
GL.Color(Color.red);
xyz.x = vxy.x;
xyz.y = vxy.y;
GL.Vertex(xyz);
xyz.x = vxy.x + nxy.x * .4f;
xyz.y = vxy.y + nxy.y * .4f;
GL.Vertex(xyz);
GL.End();
}
}
}
}