public override byte[] Render(bool toRgbArray = false) { if (Viewer == null) { Viewer = new Rendering.Viewer(VIEWPORT_W, VIEWPORT_H); Viewer.SetBounds(0, VIEWPORT_W / SCALE, 0, VIEWPORT_H / SCALE); } foreach (var obj in particles) { var data = obj.GetUserData() as CustomBodyData; data.TimeToLive -= 0.15f; data.Color1 = new b2Vec3((float)Math.Max(0.2, 0.2 + data.TimeToLive), (float)Math.Max(0.2, 0.5 * data.TimeToLive), (float)Math.Max(0.2, 0.5 * data.TimeToLive)); data.Color2 = new b2Vec3((float)Math.Max(0.2, 0.2 + data.TimeToLive), (float)Math.Max(0.2, 0.5 * data.TimeToLive), (float)Math.Max(0.2, 0.5 * data.TimeToLive)); } CleanParticles(false); foreach (var p in sky_polys) { Viewer.DrawPolygon(p).SetColor(0, 0, 0); } foreach (var obj in particles.Concat(drawlist)) { for (b2Fixture f = obj.GetFixtureList(); f != null; f = f.GetNext()) { var xform = f.GetBody().GetTransform(); if (f.GetShape() is b2CircleShape) { var shape = (f.GetShape() as b2CircleShape); var customData = (obj.GetUserData() as CustomBodyData); var trans = Utils.b2Mul(xform, shape.m_p); var t = new Rendering.Transform(new float[] { trans[0], trans[1] }); Viewer.DrawCircle(shape.m_radius, 20).SetColor(customData.Color1.x, customData.Color1.y, customData.Color1.z).AddAttr(t); Viewer.DrawCircle(shape.m_radius, 20, false).SetColor(customData.Color2.x, customData.Color2.y, customData.Color2.z).SetLineWidth(2).AddAttr(t); } else { var shape = f.GetShape(); var customData = (obj.GetUserData() as CustomBodyData); var path = shape.GetVertices().Select(v => { var trans = Utils.b2Mul(xform, v); return(new float[] { trans[0], trans[1] }); }).ToList(); Viewer.DrawPolygon(path).SetColor(customData.Color1.x, customData.Color1.y, customData.Color1.z); path.Add(path[0]); Viewer.DrawPolyline(path).SetColor(customData.Color2.x, customData.Color2.y, customData.Color2.z).SetLineWidth(2); } } } foreach (var x in new[] { helipad_x1, helipad_x2 }) { var flagy1 = helipad_y; var flagy2 = flagy1 + 50 / SCALE; Viewer.DrawPolyline(new List <float[]> { new float[] { x, flagy1 }, new float[] { x, flagy2 } }).SetColor(1, 1, 1); Viewer.DrawPolygon(new List <float[]> { new float[] { x, flagy2 }, new float[] { x, flagy2 - 10 / SCALE }, new float[] { x + 25 / SCALE, flagy2 - 5 / SCALE } }).SetColor(0.8f, 0.8f, 0); } Viewer.Render(); return(null); }
public override byte[] Render(bool toRgbArray = false) { if (Viewer == null) { Viewer = new Rendering.Viewer(VIEWPORT_W, VIEWPORT_H); } Viewer.SetBounds(scroll, VIEWPORT_W / SCALE + scroll, 0, VIEWPORT_H / SCALE); Viewer.DrawPolygon(new List <float[]> { new float[] { scroll, 0 }, new float[] { scroll + VIEWPORT_W / SCALE, 0 }, new float[] { scroll + VIEWPORT_W / SCALE, VIEWPORT_H / SCALE }, new float[] { scroll, VIEWPORT_H / SCALE } }).SetColor(0.9f, 0.9f, 1.0f); foreach (var cloud_data in cloud_poly) { var poly = cloud_data.Item1; var pos_data = cloud_data.Item2; if (pos_data.y < scroll / 2) { continue; } if (pos_data.x > scroll / 2 + VIEWPORT_W / SCALE) { continue; } Viewer.DrawPolygon(poly.Select(p => new[] { p[0] + scroll / 2, p[1] }).ToList()).SetColor(1, 1, 1); } foreach (var terrain_data in terrain_poly) { var poly = terrain_data.Item1; var color = terrain_data.Item2; if (poly[1][0] < scroll) { continue; } if (poly[0][0] > scroll + VIEWPORT_W / SCALE) { continue; } Viewer.DrawPolygon(poly).SetColor(color.x, color.y, color.z); } lidar_render = (lidar_render + 1) % 100; int i = lidar_render; if (i < 2 * lidar.Length) { var l = i < lidar.Length ? lidar[i] : lidar[2 * lidar.Length - i - 1]; Viewer.DrawPolyline(new List <float[]> { new float[] { l.P1.x, l.P1.y }, new float[] { l.P2.x, l.P2.y } }).SetColor(1, 0, 0).SetLineWidth(1); } foreach (var obj in drawlist) { for (b2Fixture f = obj.GetFixtureList(); f != null; f = f.GetNext()) { var xform = f.GetBody().GetTransform(); if (f.GetShape() is b2CircleShape) { var shape = (f.GetShape() as b2CircleShape); var customData = (obj.GetUserData() as CustomBodyData); var trans = Utils.b2Mul(xform, shape.m_p); var t = new Rendering.Transform(new float[] { trans[0], trans[1] }); Viewer.DrawCircle(shape.m_radius, 30).SetColor(customData.Color1.x, customData.Color1.y, customData.Color1.z).AddAttr(t); Viewer.DrawCircle(shape.m_radius, 30, false).SetColor(customData.Color2.x, customData.Color2.y, customData.Color2.z).SetLineWidth(2).AddAttr(t); } else { var shape = f.GetShape(); var customData = (obj.GetUserData() as CustomBodyData); var path = shape.GetVertices().Select(v => { var trans = Utils.b2Mul(xform, v); return(new float[] { trans[0], trans[1] }); }).ToList(); Viewer.DrawPolygon(path).SetColor(customData.Color1.x, customData.Color1.y, customData.Color1.z); path.Add(path[0]); Viewer.DrawPolyline(path).SetColor(customData.Color2.x, customData.Color2.y, customData.Color2.z).SetLineWidth(2); } } } var flagy1 = TERRAIN_HEIGHT; var flagy2 = flagy1 + 50 / SCALE; var x = TERRAIN_STEP * 3; Viewer.DrawPolyline(new List <float[]> { new float[] { x, flagy1 }, new float[] { x, flagy2 } }).SetColor(0, 0, 0).SetLineWidth(2); var flagVert = new List <float[]> { new float[] { x, flagy2 }, new float[] { x, flagy2 - 10 / SCALE }, new float[] { x + 25 / SCALE, flagy2 - 5 / SCALE } }; Viewer.DrawPolygon(flagVert).SetColor(0.9f, 0.2f, 0); flagVert.Add(flagVert[0]); Viewer.DrawPolyline(flagVert).SetColor(0, 0, 0).SetLineWidth(2); Viewer.Render(); return(null); }
public override void Step(b2TimeStep step) { if (m_bodyList == null) { return; } if (useWorldGravity) { gravity = GetWorld().GetGravity().Copy(); } for (b2ControllerEdge i = m_bodyList; i != null; i = i.nextBody) { b2Body body = i.body; if (body.IsAwake() == false) { //Buoyancy force is just a function of position, //so unlike most forces, it is safe to ignore sleeping bodes continue; } b2Vec2 areac = new b2Vec2(); b2Vec2 massc = new b2Vec2(); float area = 0.0f; float mass = 0.0f; for (b2Fixture fixture = body.GetFixtureList(); fixture != null; fixture = fixture.GetNext()) { b2Vec2 sc = new b2Vec2(); float sarea = fixture.GetShape().ComputeSubmergedArea(normal, offset, body.GetTransform(), sc); area += sarea; areac.x += sarea * sc.x; areac.y += sarea * sc.y; float shapeDensity; if (useDensity) { //TODO: Figure out what to do now density is gone shapeDensity = 1.0f; } else { shapeDensity = 1.0f; } mass += sarea * shapeDensity; massc.x += sarea * sc.x * shapeDensity; massc.y += sarea * sc.y * shapeDensity; } areac.x /= area; areac.y /= area; massc.x /= mass; massc.y /= mass; if (area < float.MinValue) { continue; } //Buoyancy b2Vec2 buoyancyForce = gravity.GetNegative(); buoyancyForce.Multiply(density * area); body.ApplyForce(buoyancyForce, massc); //Linear drag b2Vec2 dragForce = body.GetLinearVelocityFromWorldPoint(areac); dragForce.Subtract(velocity); dragForce.Multiply(-linearDrag * area); body.ApplyForce(dragForce, areac); //Angular drag //TODO: Something that makes more physical sense? body.ApplyTorque(-body.GetInertia() / body.GetMass() * area * body.GetAngularVelocity() * angularDrag); } }