875 lines
33 KiB
C#
875 lines
33 KiB
C#
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Linq;
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using FarseerPhysics.Collision;
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using FarseerPhysics.Collision.Shapes;
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using FarseerPhysics.Common;
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using FarseerPhysics.Controllers;
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using FarseerPhysics.Dynamics;
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using FarseerPhysics.Dynamics.Contacts;
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using FarseerPhysics.Dynamics.Joints;
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using Microsoft.Xna.Framework;
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using Microsoft.Xna.Framework.Content;
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using Microsoft.Xna.Framework.Graphics;
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namespace FarseerPhysics.DebugViews
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{
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/// <summary>
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/// A debug view that works in XNA.
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/// A debug view shows you what happens inside the physics engine. You can view
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/// bodies, joints, fixtures and more.
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/// </summary>
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public class DebugViewXNA : DebugView, IDisposable
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{
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//Drawing
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private PrimitiveBatch _primitiveBatch;
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private SpriteBatch _batch;
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private SpriteFont _font;
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private GraphicsDevice _device;
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private Vector2[] _tempVertices = new Vector2[Settings.MaxPolygonVertices];
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private List<StringData> _stringData;
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private Matrix _localProjection;
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private Matrix _localView;
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//Shapes
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public Color DefaultShapeColor = new Color(0.9f, 0.7f, 0.7f);
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public Color InactiveShapeColor = new Color(0.5f, 0.5f, 0.3f);
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public Color KinematicShapeColor = new Color(0.5f, 0.5f, 0.9f);
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public Color SleepingShapeColor = new Color(0.6f, 0.6f, 0.6f);
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public Color StaticShapeColor = new Color(0.5f, 0.9f, 0.5f);
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public Color TextColor = Color.White;
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//Contacts
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private int _pointCount;
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private const int MaxContactPoints = 2048;
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private ContactPoint[] _points = new ContactPoint[MaxContactPoints];
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//Debug panel
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#if XBOX
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public Vector2 DebugPanelPosition = new Vector2(55, 100);
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#else
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public Vector2 DebugPanelPosition = new Vector2(40, 100);
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#endif
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private int _max;
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private int _avg;
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private int _min;
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//Performance graph
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public bool AdaptiveLimits = true;
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public int ValuesToGraph = 500;
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public int MinimumValue;
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public int MaximumValue = 1000;
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private List<float> _graphValues = new List<float>();
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#if XBOX
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public Rectangle PerformancePanelBounds = new Rectangle(265, 100, 200, 100);
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#else
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public Rectangle PerformancePanelBounds = new Rectangle(250, 100, 200, 100);
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#endif
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private Vector2[] _background = new Vector2[4];
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public bool Enabled = true;
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#if XBOX || WINDOWS_PHONE
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public const int CircleSegments = 16;
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#else
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public const int CircleSegments = 32;
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#endif
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public DebugViewXNA(World world)
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: base(world)
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{
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world.ContactManager.PreSolve += PreSolve;
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//Default flags
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AppendFlags(DebugViewFlags.Shape);
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AppendFlags(DebugViewFlags.Controllers);
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AppendFlags(DebugViewFlags.Joint);
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}
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public void BeginCustomDraw(ref Matrix projection, ref Matrix view)
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{
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_primitiveBatch.Begin(ref projection, ref view);
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}
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public void EndCustomDraw()
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{
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_primitiveBatch.End();
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}
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#region IDisposable Members
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public void Dispose()
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{
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World.ContactManager.PreSolve -= PreSolve;
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}
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#endregion
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private void PreSolve(Contact contact, ref Manifold oldManifold)
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{
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if ((Flags & DebugViewFlags.ContactPoints) == DebugViewFlags.ContactPoints)
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{
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Manifold manifold = contact.Manifold;
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if (manifold.PointCount == 0)
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{
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return;
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}
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Fixture fixtureA = contact.FixtureA;
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FixedArray2<PointState> state1, state2;
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Collision.Collision.GetPointStates(out state1, out state2, ref oldManifold, ref manifold);
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FixedArray2<Vector2> points;
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Vector2 normal;
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contact.GetWorldManifold(out normal, out points);
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for (int i = 0; i < manifold.PointCount && _pointCount < MaxContactPoints; ++i)
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{
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if (fixtureA == null)
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{
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_points[i] = new ContactPoint();
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}
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ContactPoint cp = _points[_pointCount];
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cp.Position = points[i];
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cp.Normal = normal;
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cp.State = state2[i];
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_points[_pointCount] = cp;
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++_pointCount;
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}
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}
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}
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/// <summary>
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/// Call this to draw shapes and other debug draw data.
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/// </summary>
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private void DrawDebugData()
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{
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if ((Flags & DebugViewFlags.Shape) == DebugViewFlags.Shape)
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{
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foreach (Body b in World.BodyList)
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{
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Transform xf;
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b.GetTransform(out xf);
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foreach (Fixture f in b.FixtureList)
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{
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if (b.Enabled == false)
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{
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DrawShape(f, xf, InactiveShapeColor);
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}
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else if (b.BodyType == BodyType.Static)
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{
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DrawShape(f, xf, StaticShapeColor);
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}
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else if (b.BodyType == BodyType.Kinematic)
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{
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DrawShape(f, xf, KinematicShapeColor);
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}
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else if (b.Awake == false)
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{
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DrawShape(f, xf, SleepingShapeColor);
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}
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else
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{
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DrawShape(f, xf, DefaultShapeColor);
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}
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}
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}
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}
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if ((Flags & DebugViewFlags.ContactPoints) == DebugViewFlags.ContactPoints)
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{
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const float axisScale = 0.3f;
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for (int i = 0; i < _pointCount; ++i)
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{
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ContactPoint point = _points[i];
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if (point.State == PointState.Add)
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{
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// Add
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DrawPoint(point.Position, 0.1f, new Color(0.3f, 0.95f, 0.3f));
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}
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else if (point.State == PointState.Persist)
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{
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// Persist
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DrawPoint(point.Position, 0.1f, new Color(0.3f, 0.3f, 0.95f));
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}
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if ((Flags & DebugViewFlags.ContactNormals) == DebugViewFlags.ContactNormals)
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{
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Vector2 p1 = point.Position;
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Vector2 p2 = p1 + axisScale * point.Normal;
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DrawSegment(p1, p2, new Color(0.4f, 0.9f, 0.4f));
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}
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}
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_pointCount = 0;
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}
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if ((Flags & DebugViewFlags.PolygonPoints) == DebugViewFlags.PolygonPoints)
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{
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foreach (Body body in World.BodyList)
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{
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foreach (Fixture f in body.FixtureList)
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{
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PolygonShape polygon = f.Shape as PolygonShape;
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if (polygon != null)
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{
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Transform xf;
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body.GetTransform(out xf);
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for (int i = 0; i < polygon.Vertices.Count; i++)
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{
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Vector2 tmp = MathUtils.Multiply(ref xf, polygon.Vertices[i]);
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DrawPoint(tmp, 0.1f, Color.Red);
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}
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}
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}
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}
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}
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if ((Flags & DebugViewFlags.Joint) == DebugViewFlags.Joint)
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{
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foreach (Joint j in World.JointList)
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{
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DrawJoint(j);
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}
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}
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if ((Flags & DebugViewFlags.Pair) == DebugViewFlags.Pair)
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{
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Color color = new Color(0.3f, 0.9f, 0.9f);
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for (int i = 0; i < World.ContactManager.ContactList.Count; i++)
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{
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Contact c = World.ContactManager.ContactList[i];
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Fixture fixtureA = c.FixtureA;
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Fixture fixtureB = c.FixtureB;
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AABB aabbA;
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fixtureA.GetAABB(out aabbA, 0);
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AABB aabbB;
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fixtureB.GetAABB(out aabbB, 0);
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Vector2 cA = aabbA.Center;
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Vector2 cB = aabbB.Center;
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DrawSegment(cA, cB, color);
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}
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}
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if ((Flags & DebugViewFlags.AABB) == DebugViewFlags.AABB)
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{
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Color color = new Color(0.9f, 0.3f, 0.9f);
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IBroadPhase bp = World.ContactManager.BroadPhase;
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foreach (Body b in World.BodyList)
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{
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if (b.Enabled == false)
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{
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continue;
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}
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foreach (Fixture f in b.FixtureList)
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{
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for (int t = 0; t < f.ProxyCount; ++t)
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{
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FixtureProxy proxy = f.Proxies[t];
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AABB aabb;
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bp.GetFatAABB(proxy.ProxyId, out aabb);
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DrawAABB(ref aabb, color);
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}
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}
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}
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}
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if ((Flags & DebugViewFlags.CenterOfMass) == DebugViewFlags.CenterOfMass)
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{
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foreach (Body b in World.BodyList)
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{
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Transform xf;
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b.GetTransform(out xf);
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xf.Position = b.WorldCenter;
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DrawTransform(ref xf);
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}
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}
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if ((Flags & DebugViewFlags.Controllers) == DebugViewFlags.Controllers)
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{
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for (int i = 0; i < World.ControllerList.Count; i++)
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{
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Controller controller = World.ControllerList[i];
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BuoyancyController buoyancy = controller as BuoyancyController;
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if (buoyancy != null)
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{
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AABB container = buoyancy.Container;
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DrawAABB(ref container, Color.LightBlue);
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}
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}
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}
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if ((Flags & DebugViewFlags.DebugPanel) == DebugViewFlags.DebugPanel)
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{
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DrawDebugPanel();
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}
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}
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private void DrawPerformanceGraph()
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{
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_graphValues.Add(World.UpdateTime);
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if (_graphValues.Count > ValuesToGraph + 1)
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_graphValues.RemoveAt(0);
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float x = PerformancePanelBounds.X;
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float deltaX = PerformancePanelBounds.Width / (float)ValuesToGraph;
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float yScale = PerformancePanelBounds.Bottom - (float)PerformancePanelBounds.Top;
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// we must have at least 2 values to start rendering
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if (_graphValues.Count > 2)
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{
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_max = (int)_graphValues.Max();
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_avg = (int)_graphValues.Average();
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_min = (int)_graphValues.Min();
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if (AdaptiveLimits)
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{
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MaximumValue = _max;
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MinimumValue = 0;
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}
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// start at last value (newest value added)
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// continue until no values are left
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for (int i = _graphValues.Count - 1; i > 0; i--)
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{
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float y1 = PerformancePanelBounds.Bottom -
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((_graphValues[i] / (MaximumValue - MinimumValue)) * yScale);
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float y2 = PerformancePanelBounds.Bottom -
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((_graphValues[i - 1] / (MaximumValue - MinimumValue)) * yScale);
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Vector2 x1 =
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new Vector2(MathHelper.Clamp(x, PerformancePanelBounds.Left, PerformancePanelBounds.Right),
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MathHelper.Clamp(y1, PerformancePanelBounds.Top, PerformancePanelBounds.Bottom));
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Vector2 x2 =
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new Vector2(
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MathHelper.Clamp(x + deltaX, PerformancePanelBounds.Left, PerformancePanelBounds.Right),
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MathHelper.Clamp(y2, PerformancePanelBounds.Top, PerformancePanelBounds.Bottom));
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DrawSegment(x1, x2, Color.LightGreen);
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x += deltaX;
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}
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}
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DrawString(PerformancePanelBounds.Right + 10, PerformancePanelBounds.Top, "Max: " + _max);
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DrawString(PerformancePanelBounds.Right + 10, PerformancePanelBounds.Center.Y - 7, "Avg: " + _avg);
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DrawString(PerformancePanelBounds.Right + 10, PerformancePanelBounds.Bottom - 15, "Min: " + _min);
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//Draw background.
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_background[0] = new Vector2(PerformancePanelBounds.X, PerformancePanelBounds.Y);
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_background[1] = new Vector2(PerformancePanelBounds.X,
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PerformancePanelBounds.Y + PerformancePanelBounds.Height);
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_background[2] = new Vector2(PerformancePanelBounds.X + PerformancePanelBounds.Width,
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PerformancePanelBounds.Y + PerformancePanelBounds.Height);
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_background[3] = new Vector2(PerformancePanelBounds.X + PerformancePanelBounds.Width,
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PerformancePanelBounds.Y);
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DrawSolidPolygon(_background, 4, Color.DarkGray, true);
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}
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private void DrawDebugPanel()
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{
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int fixtures = 0;
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for (int i = 0; i < World.BodyList.Count; i++)
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{
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fixtures += World.BodyList[i].FixtureList.Count;
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}
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int x = (int)DebugPanelPosition.X;
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int y = (int)DebugPanelPosition.Y;
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DrawString(x, y, "Objects:" +
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"\n- Bodies: " + World.BodyList.Count +
|
||
|
|
"\n- Fixtures: " + fixtures +
|
||
|
|
"\n- Contacts: " + World.ContactList.Count +
|
||
|
|
"\n- Joints: " + World.JointList.Count +
|
||
|
|
"\n- Controllers: " + World.ControllerList.Count +
|
||
|
|
"\n- Proxies: " + World.ProxyCount);
|
||
|
|
|
||
|
|
DrawString(x + 110, y, "Update time:" +
|
||
|
|
"\n- Body: " + World.SolveUpdateTime +
|
||
|
|
"\n- Contact: " + World.ContactsUpdateTime +
|
||
|
|
"\n- CCD: " + World.ContinuousPhysicsTime +
|
||
|
|
"\n- Joint: " + World.Island.JointUpdateTime +
|
||
|
|
"\n- Controller: " + World.ControllersUpdateTime +
|
||
|
|
"\n- Total: " + World.UpdateTime);
|
||
|
|
}
|
||
|
|
|
||
|
|
public void DrawAABB(ref AABB aabb, Color color)
|
||
|
|
{
|
||
|
|
Vector2[] verts = new Vector2[4];
|
||
|
|
verts[0] = new Vector2(aabb.LowerBound.X, aabb.LowerBound.Y);
|
||
|
|
verts[1] = new Vector2(aabb.UpperBound.X, aabb.LowerBound.Y);
|
||
|
|
verts[2] = new Vector2(aabb.UpperBound.X, aabb.UpperBound.Y);
|
||
|
|
verts[3] = new Vector2(aabb.LowerBound.X, aabb.UpperBound.Y);
|
||
|
|
|
||
|
|
DrawPolygon(verts, 4, color);
|
||
|
|
}
|
||
|
|
|
||
|
|
private void DrawJoint(Joint joint)
|
||
|
|
{
|
||
|
|
if (!joint.Enabled)
|
||
|
|
return;
|
||
|
|
|
||
|
|
Body b1 = joint.BodyA;
|
||
|
|
Body b2 = joint.BodyB;
|
||
|
|
Transform xf1, xf2;
|
||
|
|
b1.GetTransform(out xf1);
|
||
|
|
|
||
|
|
Vector2 x2 = Vector2.Zero;
|
||
|
|
|
||
|
|
// WIP David
|
||
|
|
if (!joint.IsFixedType())
|
||
|
|
{
|
||
|
|
b2.GetTransform(out xf2);
|
||
|
|
x2 = xf2.Position;
|
||
|
|
}
|
||
|
|
|
||
|
|
Vector2 p1 = joint.WorldAnchorA;
|
||
|
|
Vector2 p2 = joint.WorldAnchorB;
|
||
|
|
Vector2 x1 = xf1.Position;
|
||
|
|
|
||
|
|
Color color = new Color(0.5f, 0.8f, 0.8f);
|
||
|
|
|
||
|
|
switch (joint.JointType)
|
||
|
|
{
|
||
|
|
case JointType.Distance:
|
||
|
|
DrawSegment(p1, p2, color);
|
||
|
|
break;
|
||
|
|
case JointType.Pulley:
|
||
|
|
PulleyJoint pulley = (PulleyJoint)joint;
|
||
|
|
Vector2 s1 = pulley.GroundAnchorA;
|
||
|
|
Vector2 s2 = pulley.GroundAnchorB;
|
||
|
|
DrawSegment(s1, p1, color);
|
||
|
|
DrawSegment(s2, p2, color);
|
||
|
|
DrawSegment(s1, s2, color);
|
||
|
|
break;
|
||
|
|
case JointType.FixedMouse:
|
||
|
|
DrawPoint(p1, 0.5f, new Color(0.0f, 1.0f, 0.0f));
|
||
|
|
DrawSegment(p1, p2, new Color(0.8f, 0.8f, 0.8f));
|
||
|
|
break;
|
||
|
|
case JointType.Revolute:
|
||
|
|
//DrawSegment(x2, p1, color);
|
||
|
|
DrawSegment(p2, p1, color);
|
||
|
|
DrawSolidCircle(p2, 0.1f, Vector2.Zero, Color.Red);
|
||
|
|
DrawSolidCircle(p1, 0.1f, Vector2.Zero, Color.Blue);
|
||
|
|
break;
|
||
|
|
case JointType.FixedAngle:
|
||
|
|
//Should not draw anything.
|
||
|
|
break;
|
||
|
|
case JointType.FixedRevolute:
|
||
|
|
DrawSegment(x1, p1, color);
|
||
|
|
DrawSolidCircle(p1, 0.1f, Vector2.Zero, Color.Pink);
|
||
|
|
break;
|
||
|
|
case JointType.FixedLine:
|
||
|
|
DrawSegment(x1, p1, color);
|
||
|
|
DrawSegment(p1, p2, color);
|
||
|
|
break;
|
||
|
|
case JointType.FixedDistance:
|
||
|
|
DrawSegment(x1, p1, color);
|
||
|
|
DrawSegment(p1, p2, color);
|
||
|
|
break;
|
||
|
|
case JointType.FixedPrismatic:
|
||
|
|
DrawSegment(x1, p1, color);
|
||
|
|
DrawSegment(p1, p2, color);
|
||
|
|
break;
|
||
|
|
case JointType.Gear:
|
||
|
|
DrawSegment(x1, x2, color);
|
||
|
|
break;
|
||
|
|
//case JointType.Weld:
|
||
|
|
// break;
|
||
|
|
default:
|
||
|
|
DrawSegment(x1, p1, color);
|
||
|
|
DrawSegment(p1, p2, color);
|
||
|
|
DrawSegment(x2, p2, color);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
public void DrawShape(Fixture fixture, Transform xf, Color color)
|
||
|
|
{
|
||
|
|
switch (fixture.ShapeType)
|
||
|
|
{
|
||
|
|
case ShapeType.Circle:
|
||
|
|
{
|
||
|
|
CircleShape circle = (CircleShape)fixture.Shape;
|
||
|
|
|
||
|
|
Vector2 center = MathUtils.Multiply(ref xf, circle.Position);
|
||
|
|
float radius = circle.Radius;
|
||
|
|
Vector2 axis = xf.R.Col1;
|
||
|
|
|
||
|
|
DrawSolidCircle(center, radius, axis, color);
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
|
||
|
|
case ShapeType.Polygon:
|
||
|
|
{
|
||
|
|
PolygonShape poly = (PolygonShape)fixture.Shape;
|
||
|
|
int vertexCount = poly.Vertices.Count;
|
||
|
|
Debug.Assert(vertexCount <= Settings.MaxPolygonVertices);
|
||
|
|
|
||
|
|
for (int i = 0; i < vertexCount; ++i)
|
||
|
|
{
|
||
|
|
_tempVertices[i] = MathUtils.Multiply(ref xf, poly.Vertices[i]);
|
||
|
|
}
|
||
|
|
|
||
|
|
DrawSolidPolygon(_tempVertices, vertexCount, color);
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
|
||
|
|
|
||
|
|
case ShapeType.Edge:
|
||
|
|
{
|
||
|
|
EdgeShape edge = (EdgeShape)fixture.Shape;
|
||
|
|
Vector2 v1 = MathUtils.Multiply(ref xf, edge.Vertex1);
|
||
|
|
Vector2 v2 = MathUtils.Multiply(ref xf, edge.Vertex2);
|
||
|
|
DrawSegment(v1, v2, color);
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
|
||
|
|
case ShapeType.Loop:
|
||
|
|
{
|
||
|
|
LoopShape loop = (LoopShape)fixture.Shape;
|
||
|
|
int count = loop.Vertices.Count;
|
||
|
|
|
||
|
|
Vector2 v1 = MathUtils.Multiply(ref xf, loop.Vertices[count - 1]);
|
||
|
|
DrawCircle(v1, 0.05f, color);
|
||
|
|
for (int i = 0; i < count; ++i)
|
||
|
|
{
|
||
|
|
Vector2 v2 = MathUtils.Multiply(ref xf, loop.Vertices[i]);
|
||
|
|
DrawSegment(v1, v2, color);
|
||
|
|
v1 = v2;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
public override void DrawPolygon(Vector2[] vertices, int count, float red, float green, float blue)
|
||
|
|
{
|
||
|
|
DrawPolygon(vertices, count, new Color(red, green, blue));
|
||
|
|
}
|
||
|
|
|
||
|
|
public void DrawPolygon(Vector2[] vertices, int count, Color color)
|
||
|
|
{
|
||
|
|
if (!_primitiveBatch.IsReady())
|
||
|
|
{
|
||
|
|
throw new InvalidOperationException("BeginCustomDraw must be called before drawing anything.");
|
||
|
|
}
|
||
|
|
for (int i = 0; i < count - 1; i++)
|
||
|
|
{
|
||
|
|
_primitiveBatch.AddVertex(vertices[i], color, PrimitiveType.LineList);
|
||
|
|
_primitiveBatch.AddVertex(vertices[i + 1], color, PrimitiveType.LineList);
|
||
|
|
}
|
||
|
|
|
||
|
|
_primitiveBatch.AddVertex(vertices[count - 1], color, PrimitiveType.LineList);
|
||
|
|
_primitiveBatch.AddVertex(vertices[0], color, PrimitiveType.LineList);
|
||
|
|
}
|
||
|
|
|
||
|
|
public override void DrawSolidPolygon(Vector2[] vertices, int count, float red, float green, float blue)
|
||
|
|
{
|
||
|
|
DrawSolidPolygon(vertices, count, new Color(red, green, blue), true);
|
||
|
|
}
|
||
|
|
|
||
|
|
public void DrawSolidPolygon(Vector2[] vertices, int count, Color color)
|
||
|
|
{
|
||
|
|
DrawSolidPolygon(vertices, count, color, true);
|
||
|
|
}
|
||
|
|
|
||
|
|
public void DrawSolidPolygon(Vector2[] vertices, int count, Color color, bool outline)
|
||
|
|
{
|
||
|
|
if (!_primitiveBatch.IsReady())
|
||
|
|
{
|
||
|
|
throw new InvalidOperationException("BeginCustomDraw must be called before drawing anything.");
|
||
|
|
}
|
||
|
|
if (count == 2)
|
||
|
|
{
|
||
|
|
DrawPolygon(vertices, count, color);
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
Color colorFill = color * (outline ? 0.5f : 1.0f);
|
||
|
|
|
||
|
|
for (int i = 1; i < count - 1; i++)
|
||
|
|
{
|
||
|
|
_primitiveBatch.AddVertex(vertices[0], colorFill, PrimitiveType.TriangleList);
|
||
|
|
_primitiveBatch.AddVertex(vertices[i], colorFill, PrimitiveType.TriangleList);
|
||
|
|
_primitiveBatch.AddVertex(vertices[i + 1], colorFill, PrimitiveType.TriangleList);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (outline)
|
||
|
|
{
|
||
|
|
DrawPolygon(vertices, count, color);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
public override void DrawCircle(Vector2 center, float radius, float red, float green, float blue)
|
||
|
|
{
|
||
|
|
DrawCircle(center, radius, new Color(red, green, blue));
|
||
|
|
}
|
||
|
|
|
||
|
|
public void DrawCircle(Vector2 center, float radius, Color color)
|
||
|
|
{
|
||
|
|
if (!_primitiveBatch.IsReady())
|
||
|
|
{
|
||
|
|
throw new InvalidOperationException("BeginCustomDraw must be called before drawing anything.");
|
||
|
|
}
|
||
|
|
const double increment = Math.PI * 2.0 / CircleSegments;
|
||
|
|
double theta = 0.0;
|
||
|
|
|
||
|
|
for (int i = 0; i < CircleSegments; i++)
|
||
|
|
{
|
||
|
|
Vector2 v1 = center + radius * new Vector2((float)Math.Cos(theta), (float)Math.Sin(theta));
|
||
|
|
Vector2 v2 = center +
|
||
|
|
radius *
|
||
|
|
new Vector2((float)Math.Cos(theta + increment), (float)Math.Sin(theta + increment));
|
||
|
|
|
||
|
|
_primitiveBatch.AddVertex(v1, color, PrimitiveType.LineList);
|
||
|
|
_primitiveBatch.AddVertex(v2, color, PrimitiveType.LineList);
|
||
|
|
|
||
|
|
theta += increment;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
public override void DrawSolidCircle(Vector2 center, float radius, Vector2 axis, float red, float green,
|
||
|
|
float blue)
|
||
|
|
{
|
||
|
|
DrawSolidCircle(center, radius, axis, new Color(red, green, blue));
|
||
|
|
}
|
||
|
|
|
||
|
|
public void DrawSolidCircle(Vector2 center, float radius, Vector2 axis, Color color)
|
||
|
|
{
|
||
|
|
if (!_primitiveBatch.IsReady())
|
||
|
|
{
|
||
|
|
throw new InvalidOperationException("BeginCustomDraw must be called before drawing anything.");
|
||
|
|
}
|
||
|
|
const double increment = Math.PI * 2.0 / CircleSegments;
|
||
|
|
double theta = 0.0;
|
||
|
|
|
||
|
|
Color colorFill = color * 0.5f;
|
||
|
|
|
||
|
|
Vector2 v0 = center + radius * new Vector2((float)Math.Cos(theta), (float)Math.Sin(theta));
|
||
|
|
theta += increment;
|
||
|
|
|
||
|
|
for (int i = 1; i < CircleSegments - 1; i++)
|
||
|
|
{
|
||
|
|
Vector2 v1 = center + radius * new Vector2((float)Math.Cos(theta), (float)Math.Sin(theta));
|
||
|
|
Vector2 v2 = center +
|
||
|
|
radius *
|
||
|
|
new Vector2((float)Math.Cos(theta + increment), (float)Math.Sin(theta + increment));
|
||
|
|
|
||
|
|
_primitiveBatch.AddVertex(v0, colorFill, PrimitiveType.TriangleList);
|
||
|
|
_primitiveBatch.AddVertex(v1, colorFill, PrimitiveType.TriangleList);
|
||
|
|
_primitiveBatch.AddVertex(v2, colorFill, PrimitiveType.TriangleList);
|
||
|
|
|
||
|
|
theta += increment;
|
||
|
|
}
|
||
|
|
DrawCircle(center, radius, color);
|
||
|
|
|
||
|
|
DrawSegment(center, center + axis * radius, color);
|
||
|
|
}
|
||
|
|
|
||
|
|
public override void DrawSegment(Vector2 start, Vector2 end, float red, float green, float blue)
|
||
|
|
{
|
||
|
|
DrawSegment(start, end, new Color(red, green, blue));
|
||
|
|
}
|
||
|
|
|
||
|
|
public void DrawSegment(Vector2 start, Vector2 end, Color color)
|
||
|
|
{
|
||
|
|
if (!_primitiveBatch.IsReady())
|
||
|
|
{
|
||
|
|
throw new InvalidOperationException("BeginCustomDraw must be called before drawing anything.");
|
||
|
|
}
|
||
|
|
_primitiveBatch.AddVertex(start, color, PrimitiveType.LineList);
|
||
|
|
_primitiveBatch.AddVertex(end, color, PrimitiveType.LineList);
|
||
|
|
}
|
||
|
|
|
||
|
|
public override void DrawTransform(ref Transform transform)
|
||
|
|
{
|
||
|
|
const float axisScale = 0.4f;
|
||
|
|
Vector2 p1 = transform.Position;
|
||
|
|
|
||
|
|
Vector2 p2 = p1 + axisScale * transform.R.Col1;
|
||
|
|
DrawSegment(p1, p2, Color.Red);
|
||
|
|
|
||
|
|
p2 = p1 + axisScale * transform.R.Col2;
|
||
|
|
DrawSegment(p1, p2, Color.Green);
|
||
|
|
}
|
||
|
|
|
||
|
|
public void DrawPoint(Vector2 p, float size, Color color)
|
||
|
|
{
|
||
|
|
Vector2[] verts = new Vector2[4];
|
||
|
|
float hs = size / 2.0f;
|
||
|
|
verts[0] = p + new Vector2(-hs, -hs);
|
||
|
|
verts[1] = p + new Vector2(hs, -hs);
|
||
|
|
verts[2] = p + new Vector2(hs, hs);
|
||
|
|
verts[3] = p + new Vector2(-hs, hs);
|
||
|
|
|
||
|
|
DrawSolidPolygon(verts, 4, color, true);
|
||
|
|
}
|
||
|
|
|
||
|
|
public void DrawString(int x, int y, string s, params object[] args)
|
||
|
|
{
|
||
|
|
_stringData.Add(new StringData(x, y, s, args, TextColor));
|
||
|
|
}
|
||
|
|
|
||
|
|
public void DrawArrow(Vector2 start, Vector2 end, float length, float width, bool drawStartIndicator,
|
||
|
|
Color color)
|
||
|
|
{
|
||
|
|
// Draw connection segment between start- and end-point
|
||
|
|
DrawSegment(start, end, color);
|
||
|
|
|
||
|
|
// Precalculate halfwidth
|
||
|
|
float halfWidth = width / 2;
|
||
|
|
|
||
|
|
// Create directional reference
|
||
|
|
Vector2 rotation = (start - end);
|
||
|
|
rotation.Normalize();
|
||
|
|
|
||
|
|
// Calculate angle of directional vector
|
||
|
|
float angle = (float)Math.Atan2(rotation.X, -rotation.Y);
|
||
|
|
// Create matrix for rotation
|
||
|
|
Matrix rotMatrix = Matrix.CreateRotationZ(angle);
|
||
|
|
// Create translation matrix for end-point
|
||
|
|
Matrix endMatrix = Matrix.CreateTranslation(end.X, end.Y, 0);
|
||
|
|
|
||
|
|
// Setup arrow end shape
|
||
|
|
Vector2[] verts = new Vector2[3];
|
||
|
|
verts[0] = new Vector2(0, 0);
|
||
|
|
verts[1] = new Vector2(-halfWidth, -length);
|
||
|
|
verts[2] = new Vector2(halfWidth, -length);
|
||
|
|
|
||
|
|
// Rotate end shape
|
||
|
|
Vector2.Transform(verts, ref rotMatrix, verts);
|
||
|
|
// Translate end shape
|
||
|
|
Vector2.Transform(verts, ref endMatrix, verts);
|
||
|
|
|
||
|
|
// Draw arrow end shape
|
||
|
|
DrawSolidPolygon(verts, 3, color, false);
|
||
|
|
|
||
|
|
if (drawStartIndicator)
|
||
|
|
{
|
||
|
|
// Create translation matrix for start
|
||
|
|
Matrix startMatrix = Matrix.CreateTranslation(start.X, start.Y, 0);
|
||
|
|
// Setup arrow start shape
|
||
|
|
Vector2[] baseVerts = new Vector2[4];
|
||
|
|
baseVerts[0] = new Vector2(-halfWidth, length / 4);
|
||
|
|
baseVerts[1] = new Vector2(halfWidth, length / 4);
|
||
|
|
baseVerts[2] = new Vector2(halfWidth, 0);
|
||
|
|
baseVerts[3] = new Vector2(-halfWidth, 0);
|
||
|
|
|
||
|
|
// Rotate start shape
|
||
|
|
Vector2.Transform(baseVerts, ref rotMatrix, baseVerts);
|
||
|
|
// Translate start shape
|
||
|
|
Vector2.Transform(baseVerts, ref startMatrix, baseVerts);
|
||
|
|
// Draw start shape
|
||
|
|
DrawSolidPolygon(baseVerts, 4, color, false);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
public void RenderDebugData(ref Matrix projection, ref Matrix view)
|
||
|
|
{
|
||
|
|
if (!Enabled)
|
||
|
|
{
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
//Nothing is enabled - don't draw the debug view.
|
||
|
|
if (Flags == 0)
|
||
|
|
return;
|
||
|
|
|
||
|
|
_device.RasterizerState = RasterizerState.CullNone;
|
||
|
|
_device.DepthStencilState = DepthStencilState.Default;
|
||
|
|
|
||
|
|
_primitiveBatch.Begin(ref projection, ref view);
|
||
|
|
DrawDebugData();
|
||
|
|
_primitiveBatch.End();
|
||
|
|
|
||
|
|
if ((Flags & DebugViewFlags.PerformanceGraph) == DebugViewFlags.PerformanceGraph)
|
||
|
|
{
|
||
|
|
_primitiveBatch.Begin(ref _localProjection, ref _localView);
|
||
|
|
DrawPerformanceGraph();
|
||
|
|
_primitiveBatch.End();
|
||
|
|
}
|
||
|
|
|
||
|
|
// begin the sprite batch effect
|
||
|
|
_batch.Begin(SpriteSortMode.Deferred, BlendState.AlphaBlend);
|
||
|
|
|
||
|
|
// draw any strings we have
|
||
|
|
for (int i = 0; i < _stringData.Count; i++)
|
||
|
|
{
|
||
|
|
_batch.DrawString(_font, string.Format(_stringData[i].S, _stringData[i].Args),
|
||
|
|
new Vector2(_stringData[i].X + 1f, _stringData[i].Y + 1f), Color.Black);
|
||
|
|
_batch.DrawString(_font, string.Format(_stringData[i].S, _stringData[i].Args),
|
||
|
|
new Vector2(_stringData[i].X, _stringData[i].Y), _stringData[i].Color);
|
||
|
|
}
|
||
|
|
// end the sprite batch effect
|
||
|
|
_batch.End();
|
||
|
|
|
||
|
|
_stringData.Clear();
|
||
|
|
}
|
||
|
|
|
||
|
|
public void RenderDebugData(ref Matrix projection)
|
||
|
|
{
|
||
|
|
if (!Enabled)
|
||
|
|
{
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
Matrix view = Matrix.Identity;
|
||
|
|
RenderDebugData(ref projection, ref view);
|
||
|
|
}
|
||
|
|
|
||
|
|
public void LoadContent(GraphicsDevice device, ContentManager content)
|
||
|
|
{
|
||
|
|
// Create a new SpriteBatch, which can be used to draw textures.
|
||
|
|
_device = device;
|
||
|
|
_batch = new SpriteBatch(_device);
|
||
|
|
_primitiveBatch = new PrimitiveBatch(_device, 1000);
|
||
|
|
_font = content.Load<SpriteFont>("font");
|
||
|
|
_stringData = new List<StringData>();
|
||
|
|
|
||
|
|
_localProjection = Matrix.CreateOrthographicOffCenter(0f, _device.Viewport.Width, _device.Viewport.Height,
|
||
|
|
0f, 0f, 1f);
|
||
|
|
_localView = Matrix.Identity;
|
||
|
|
}
|
||
|
|
|
||
|
|
#region Nested type: ContactPoint
|
||
|
|
|
||
|
|
private struct ContactPoint
|
||
|
|
{
|
||
|
|
public Vector2 Normal;
|
||
|
|
public Vector2 Position;
|
||
|
|
public PointState State;
|
||
|
|
}
|
||
|
|
|
||
|
|
#endregion
|
||
|
|
|
||
|
|
#region Nested type: StringData
|
||
|
|
|
||
|
|
private struct StringData
|
||
|
|
{
|
||
|
|
public object[] Args;
|
||
|
|
public Color Color;
|
||
|
|
public string S;
|
||
|
|
public int X, Y;
|
||
|
|
|
||
|
|
public StringData(int x, int y, string s, object[] args, Color color)
|
||
|
|
{
|
||
|
|
X = x;
|
||
|
|
Y = y;
|
||
|
|
S = s;
|
||
|
|
Args = args;
|
||
|
|
Color = color;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
#endregion
|
||
|
|
}
|
||
|
|
}
|