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0
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1 /*
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2 * Copyright (c) 2009, Mason Green (zzzzrrr)
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3 * Based on Box2D by Erin Catto, http://www.box2d.org
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4 *
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5 * All rights reserved.
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6 *
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7 * Redistribution and use in source and binary forms, with or without modification,
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8 * are permitted provided that the following conditions are met:
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9 *
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10 * * Redistributions of source code must retain the above copyright notice,
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11 * this list of conditions and the following disclaimer.
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12 * * Redistributions in binary form must reproduce the above copyright notice,
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13 * this list of conditions and the following disclaimer in the documentation
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14 * and/or other materials provided with the distribution.
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15 * * Neither the name of the polygonal nor the names of its contributors may be
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16 * used to endorse or promote products derived from this software without specific
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17 * prior written permission.
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18 *
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19 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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20 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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21 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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22 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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23 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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24 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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25 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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26 * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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27 * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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28 * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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29 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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30 */
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31 module melee.render;
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32
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33 import xf.dog.Dog;
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34 import xf.omg.core.LinearAlgebra;
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35 import xf.hybrid.Event;
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36 import xf.hybrid.Font;
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37
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38 import melee.melee;
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39
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40 /// Color for drawing. Each value has the range [0,1].
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41 struct Color {
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42 static Color opCall(float r, float g, float b)
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43 {
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44 Color u;
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45 u.r = r;
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46 u.g = g;
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47 u.b = b;
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48 return u;
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49 }
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50
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51 float r = 0;
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52 float g = 0;
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53 float b = 0;
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54 }
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55
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56 class Render : Melee
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57 {
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58
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59 this(Settings *settings) {
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60
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61 super(settings);
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62 }
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63
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64 void drawCircle(GL gl, vec2 center, float radius, bool water = false, float theta = float.nan)
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65 {
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66 int segs = cast(int)(radius) + 20;
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67 if (segs > MAX_CIRCLE_RES) segs = MAX_CIRCLE_RES;
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68 double coef = 2.0 * PI / segs;
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69
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70 auto realTheta = (theta <>= 0 ? theta : 0);
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71 if (water) {
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72 gl.immediate(GL_TRIANGLE_FAN,
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73 {
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74 gl.Vertex2fv(center.ptr);
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75 for (int n = 0; n <= segs; n++) {
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76 double rads = n * coef;
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77 gl.Vertex2f(radius * cos(rads + realTheta) + center.x, radius * sin(rads + realTheta) + center.y);
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78 }
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79 });
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80 }
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81
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82 gl.immediate(GL_LINE_STRIP,
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83 {
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84 for (int n = 0; n <= segs; n++) {
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85 double rads = n * coef;
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86 gl.Vertex2f(radius * cos(rads + realTheta) + center.x, radius * sin(rads + realTheta) + center.y);
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87 }
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88 if (theta <>= 0)
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89 gl.Vertex2fv(center.ptr);
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90 });
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91 }
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92
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93 void drawSolidCircle(GL gl, vec2 center, float radius, vec2 axis, Color color)
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94 {
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95 const k_segments = 16.0f;
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96 const k_increment = 2.0f * PI / k_segments;
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97 float theta = 0.0f;
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98 gl.Enable(GL_BLEND);
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99 gl.BlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
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100 gl.Color4f(0.5f * color.r, 0.5f * color.g, 0.5f * color.b, 0.5f);
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101 gl.Begin(GL_TRIANGLE_FAN);
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102 for (int i = 0; i < k_segments; ++i) {
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103 vec2 v = center + radius * vec2(cos(theta), sin(theta));
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104 gl.Vertex2f(v.x, v.y);
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105 theta += k_increment;
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106 }
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107 gl.End();
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108 gl.Disable(GL_BLEND);
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109
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110 theta = 0.0f;
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111 gl.Color4f(color.r, color.g, color.b, 1.0f);
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112 gl.Begin(GL_LINE_LOOP);
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113 for (int i = 0; i < k_segments; ++i) {
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114 vec2 v = center + radius * vec2(cos(theta), sin(theta));
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115 gl.Vertex2f(v.x, v.y);
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116 theta += k_increment;
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117 }
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118 gl.End();
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119
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120 vec2 p = center + radius * axis;
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121 gl.Begin(GL_LINES);
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122 gl.Vertex2f(center.x, center.y);
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123 gl.Vertex2f(p.x, p.y);
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124 gl.End();
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125 }
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126
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127 void drawPolygon(GL gl, vec2[] glVerts, Color color)
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128 {
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129 gl.Color3f(color.r, color.g, color.b);
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130 gl.immediate(GL_LINE_LOOP,
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131 {
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132 foreach (v; glVerts)
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133 gl.Vertex2fv(v.ptr);
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134 });
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135 }
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136
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137 void drawSolidPolygon(GL gl, vec2[] vertices, Color color)
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138 {
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139 gl.Enable(GL_BLEND);
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140 gl.BlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
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141 gl.Color4f(0.5f * color.r, 0.5f * color.g, 0.5f * color.b, 0.5f);
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142 gl.Begin(GL_TRIANGLE_FAN);
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143 for (int i = 0; i < vertices.length; ++i) {
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144 gl.Vertex2f(vertices[i].x, vertices[i].y);
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145 }
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146 gl.End();
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147 gl.Disable(GL_BLEND);
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148
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149 gl.Color4f(color.r, color.g, color.b, 1.0f);
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150 gl.Begin(GL_LINE_LOOP);
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151 for (int i = 0; i < vertices.length; ++i) {
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152 gl.Vertex2f(vertices[i].x, vertices[i].y);
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153 }
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154 gl.End();
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155 }
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156
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157
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158 void drawPoint(GL gl, vec2 p, float size, Color color)
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159 {
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160 gl.Color3f(color.r, color.g, color.b);
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161 gl.PointSize(size);
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162 gl.Begin(GL_POINTS);
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163 gl.Vertex2f(p.x, p.y);
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164 gl.End();
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165 gl.PointSize(1.0f);
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166 }
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167
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168 void drawSegment(GL gl, vec2 begin, vec2 end, Color color)
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169 {
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170 gl.Color3f(color.r, color.g, color.b);
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171 gl.immediate(GL_LINES,
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172 {
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173 gl.Vertex2fv(begin.ptr);
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174 gl.Vertex2fv(end.ptr);
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175 });
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176 }
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177
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178 // TODO: handle inequal radii correctly
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179 void connectCircles(GL gl, vec2 center1, float radius1, vec2 center2, float radius2)
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180 {
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181 auto d = center2 - center1;
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182 if (!d.length)
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183 return;
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184 d *= (d.length - radius1) / d.length;
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185 center1 += d;
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186 center2 -= d;
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187 gl.immediate(GL_LINES,
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188 {
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189 gl.Vertex2fv(center1.ptr);
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190 gl.Vertex2fv(center2.ptr);
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191 });
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192 }
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193
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194 void drawXForm(GL gl, bzXForm xf)
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195 {
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196 bzVec2 p1 = xf.position, p2;
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197 const k_axisScale = 0.4f;
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198
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199 gl.Begin(GL_LINES);
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200 {
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201 gl.Color3f(1.0f, 0.0f, 0.0f);
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202 gl.Vertex2f(p1.x, p1.y);
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203 p2 = p1 + k_axisScale * xf.R.col1;
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204 gl.Vertex2f(p2.x, p2.y);
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205
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206 gl.Color3f(0.0f, 1.0f, 0.0f);
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207 gl.Vertex2f(p1.x, p1.y);
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208 p2 = p1 + k_axisScale * xf.R.col2;
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209 gl.Vertex2f(p2.x, p2.y);
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210 }
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211 gl.End();
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212 }
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213
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214 void drawSpring(GL gl, vec2 a, vec2 b, uint zigs)
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215 {
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216 zigs++;
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217
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218 // Portion of length dedicated to connectors
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219 const float connPart = 0.2;
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220
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221 vec2 inc = (b - a) / (zigs);
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222 // One step from a to b
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223 vec2 zigLen = inc * (1 - connPart);
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224 // Length of a connector
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225 vec2 connLen = inc * (connPart / 2) * zigs;
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226 // Width of a zig
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227 vec2 zigWidth = (b - a).rotatedHalfPi.normalized;
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228 gl.immediate(GL_LINE_STRIP,
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229 {
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230 gl.Vertex2fv(a.ptr);
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231
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232 a += connLen;
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233 gl.Vertex2fv(a.ptr);
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234
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235 bool dir = true;
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236 a += zigWidth / 2 + zigLen / 2;
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237 for (int i = 0; i < zigs; i++) {
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238 gl.Vertex2fv(a.ptr);
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239 a += zigLen;
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240 if (dir) {
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241 a -= zigWidth;
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242 }else {
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243 a += zigWidth;
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244 }
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245 dir = !dir;
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246 }
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247
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248 gl.Vertex2fv((b - connLen).ptr);
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249 gl.Vertex2fv(b.ptr);
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250 });
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251 }
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252
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253 void drawShape(GL gl, bzShape shape, bzXForm xf, Color color, bool core)
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254 {
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255 Color coreColor = Color(0.9f, 0.6f, 0.6f);
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256
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257 switch (shape.type) {
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258 case bzShapeType.CIRCLE:
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259 auto circle = cast(bzCircle)shape;
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260
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261 vec2 center = vec2.from(bzMul(xf, circle.localPosition));
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262 float radius = circle.radius;
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263 vec2 axis = vec2.from(xf.R.col1);
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264
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265 gl.drawSolidCircle(center, radius, axis, color);
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266
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267 if (core) {
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268 gl.Color3f(coreColor.r, coreColor.g, coreColor.b);
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269 gl.drawCircle(center, radius - k_toiSlop);
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270 }
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271 break;
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272 case bzShapeType.POLYGON:
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273 {
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274 bzPolygon poly = cast(bzPolygon)shape;
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275 bzVec2[] vertices = poly.worldVertices;
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276 vec2[] verts;
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277 verts.length = vertices.length;
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278 foreach (int i, v; vertices) {
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279 verts[i] = vec2.from(v);
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280 }
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281
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282 gl.drawSolidPolygon(verts, color);
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283
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284 if (core) {
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285 bzVec2[] localCoreVertices = poly.coreVertices;
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286 verts.length = localCoreVertices.length;
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287 for (int i = 0; i < localCoreVertices.length; ++i) {
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288 verts[i] = vec2.from(bzMul(xf, localCoreVertices[i]));
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289 }
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290 gl.drawPolygon(verts, coreColor);
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291 }
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292 }
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293 break;
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294
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295 case bzShapeType.EDGE:
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296 {
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297 bzEdge edge = cast(bzEdge)shape;
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298
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299 vec2 p1 = vec2.from(bzMul(xf, edge.vertex1));
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300 vec2 p2 = vec2.from(bzMul(xf, edge.vertex2));
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301 gl.drawSegment(p1, p2, color);
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302
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303 if (core) {
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304 p1 = vec2.from(bzMul(xf, edge.coreVertex1));
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305 p2 = vec2.from(bzMul(xf, edge.coreVertex2));
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306 gl.drawSegment(p1, p2, coreColor);
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307 }
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308 }
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309 break;
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310 }
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311 }
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312
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313 void draw(vec2i screenSize, GL gl)
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314 {
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315 this.screenSize = screenSize;
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316
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317 gl.LoadIdentity();
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318 gl.MatrixMode(GL_PROJECTION);
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319 gl.LoadIdentity();
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320 // Left, right, bottom, top
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321 gl.gluOrtho2D(-screenSize.x / zoom, screenSize.x / zoom, -screenSize.y / zoom, screenSize.y / zoom);
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322 gl.Translatef(-viewCenter.x, -viewCenter.y, 0);
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323 gl.MatrixMode(GL_MODELVIEW);
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324 gl.Disable(GL_DEPTH_TEST);
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325 gl.LoadIdentity();
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326 gl.Clear(GL_COLOR_BUFFER_BIT);
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327
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328 // Draw dynamic bodies
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329 if (settings.drawShapes) {
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330 for (bzBody b = world.bodyList; b; b = b.next) {
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331 for (bzShape shape = b.shapeList; shape; shape = shape.next) {
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332
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333 bzShape s = shape;
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334 bzXForm xf = b.xf;
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335
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336 if (b.isStatic) {
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337 gl.drawShape(s, xf, Color(0.5f, 0.9f, 0.5f), settings.drawCoreShapes);
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338 }else if (b.isSleeping) {
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339 gl.drawShape(s, xf, Color(0.5f, 0.5f, 0.9f), settings.drawCoreShapes);
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340 }else if (b.userData) {
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341 auto ss = cast(Select)b.userData;
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342 if (ss) {
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343 gl.drawShape(s, xf, Color(0, .5, 1), settings.drawCoreShapes);
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344 }
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345 }else {
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346 gl.drawShape(s, xf, Color(0.9f, 0.9f, 0.9f), settings.drawCoreShapes);
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347 }
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348
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349 gl.LoadIdentity();
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350 gl.Flush();
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351 }
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352 }
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353
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354 // Draw water
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355 bzFluidParticle[] particles = world.particles;
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356 gl.Color3f(0, 0, 1);
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357 foreach (p; particles) {
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358 gl.drawCircle(vec2.from(p.position), WATER_RADIUS, true);
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359 }
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360 }
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361
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362 // Draw joints
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363 if (settings.drawJoints) {
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364 Color color = Color(0, 0, 1);
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365 gl.Color3f(0, 0, 1);
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366
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367 gl.LineWidth(1);
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368 for (bzJoint joint = world.jointList; joint; joint = joint.next) {
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369 auto distance = cast(bzDistanceJoint)joint;
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370 auto pulley = cast(bzPulleyJoint)joint;
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371 auto revolute = cast(bzRevoluteJoint)joint;
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372 auto prismatic = cast(bzPrismaticJoint)joint;
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373 auto line = cast(bzLineJoint)joint;
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374 if (distance) {
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375 color = Color(.5, .5, 0);
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376 // Endpoints
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377 vec2 a = vec2.from(distance.anchor1);
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378 vec2 b = vec2.from(distance.anchor2);
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379 // Circles
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380 gl.drawCircle(a, HINGE_RADIUS);
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381 gl.drawCircle(b, HINGE_RADIUS);
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382 // Connecting line
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383 gl.connectCircles(a, HINGE_RADIUS, b, HINGE_RADIUS);
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384 }else if (pulley) {
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385 auto a = vec2.from(pulley.anchor1);
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386 auto b = vec2.from(pulley.groundAnchor1);
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387 auto c = vec2.from(pulley.groundAnchor2);
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388 auto d = vec2.from(pulley.anchor2);
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389 gl.drawCircle(a, HINGE_RADIUS);
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390 gl.drawCircle(b, HINGE_RADIUS);
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391 gl.connectCircles(a, HINGE_RADIUS, b, HINGE_RADIUS);
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392 gl.drawSegment(b, c, color);
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393 gl.drawCircle(c, HINGE_RADIUS);
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394 gl.drawCircle(d, HINGE_RADIUS);
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395 gl.connectCircles(c, HINGE_RADIUS, d, HINGE_RADIUS);
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396 }else if (revolute) {
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397 auto a = vec2.from(revolute.rBody1.position);
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|
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398 auto b = vec2.from(revolute.anchor1);
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399 auto c = vec2.from(revolute.rBody2.position);
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400 gl.drawCircle(a, HINGE_RADIUS);
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|
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401 gl.drawCircle(b, HINGE_RADIUS);
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|
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402 gl.connectCircles(a, HINGE_RADIUS, b, HINGE_RADIUS);
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403 gl.drawCircle(c, HINGE_RADIUS);
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404 gl.connectCircles(b, HINGE_RADIUS, c, HINGE_RADIUS);
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|
|
405 }else if (prismatic) {
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|
406 auto a = vec2.from(prismatic.rBody1.position);
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|
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407 auto b = vec2.from(prismatic.anchor1);
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|
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408 auto c = vec2.from(prismatic.rBody2.position);
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|
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409 gl.drawCircle(a, HINGE_RADIUS);
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410 gl.drawCircle(b, HINGE_RADIUS);
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|
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411 gl.connectCircles(a, HINGE_RADIUS, b, HINGE_RADIUS);
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|
|
412 gl.drawCircle(c, HINGE_RADIUS);
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|
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413 gl.connectCircles(b, HINGE_RADIUS, c, HINGE_RADIUS);
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|
|
414 }else if (line) {
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|
415 auto a = vec2.from(line.rBody1.position);
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|
416 auto b = vec2.from(line.anchor1);
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417 auto c = vec2.from(line.rBody2.position);
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418 gl.drawCircle(a, HINGE_RADIUS);
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|
419 gl.drawCircle(b, HINGE_RADIUS);
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|
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420 gl.connectCircles(a, HINGE_RADIUS, b, HINGE_RADIUS);
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|
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421 gl.drawCircle(c, HINGE_RADIUS);
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422 gl.connectCircles(b, HINGE_RADIUS, c, HINGE_RADIUS);
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|
|
423 }
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|
|
424 }
|
|
|
425
|
|
|
426 if (settings.drawControllers) {
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427 bzForceGenerator[] forces = world.forces;
|
|
|
428 foreach (f; forces) {
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|
429 auto spring1 = cast(bzSpring1) f;
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|
|
430 auto spring2 = cast(bzSpring2) f;
|
|
|
431 auto buoyancy = cast(bzBuoyancy) f;
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|
|
432
|
|
|
433 if (spring1) {
|
|
|
434 auto bungee1 = cast(bzBungee1)spring1;
|
|
|
435 if (bungee1) {
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|
|
436 gl.Color3f(.5, .5, 0);
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|
|
437 // Endpoints
|
|
|
438 vec2 a = vec2.from(bungee1.rBody.position);
|
|
|
439 vec2 b = vec2.from(bungee1.anchor);
|
|
|
440 // Circles
|
|
|
441 gl.drawCircle(a, HINGE_RADIUS);
|
|
|
442 gl.drawCircle(b, HINGE_RADIUS);
|
|
|
443 // Connecting line
|
|
|
444 gl.connectCircles(a, HINGE_RADIUS, b, HINGE_RADIUS);
|
|
|
445 }else {
|
|
|
446 uint zigs = 10;
|
|
|
447 auto anchor1 = vec2.from(spring1.anchor);
|
|
|
448 auto anchor2 = vec2.from(spring1.rBody.position);
|
|
|
449 gl.drawSpring(anchor1, anchor2, zigs);
|
|
|
450 }
|
|
|
451 }
|
|
|
452
|
|
|
453 if (spring2) {
|
|
|
454 auto bungee2 = cast(bzBungee2)spring2;
|
|
|
455 if (bungee2) {
|
|
|
456 gl.Color3f(.5, .5, 0);
|
|
|
457 // Endpoints
|
|
|
458 vec2 a = vec2.from(bungee2.rBody.position);
|
|
|
459 vec2 b = vec2.from(bungee2.otherBody.position);
|
|
|
460 // Circles
|
|
|
461 gl.drawCircle(a, HINGE_RADIUS);
|
|
|
462 gl.drawCircle(b, HINGE_RADIUS);
|
|
|
463 // Connecting line
|
|
|
464 gl.connectCircles(a, HINGE_RADIUS, b, HINGE_RADIUS);
|
|
|
465 }else {
|
|
|
466 uint zigs = 10;
|
|
|
467 auto anchor1 = vec2.from(spring2.otherBody.position);
|
|
|
468 auto anchor2 = vec2.from(spring2.rBody.position);
|
|
|
469 gl.drawSpring(anchor1, anchor2, zigs);
|
|
|
470 }
|
|
|
471 }
|
|
|
472
|
|
|
473 if(buoyancy) {
|
|
|
474 float plane = buoyancy.planeOffset;
|
|
|
475 vec2 p1 = vec2(-50, plane);
|
|
|
476 vec2 p2 = vec2(50, plane);
|
|
|
477 gl.drawSegment(p1, p2, color);
|
|
|
478 }
|
|
|
479 }
|
|
|
480 }
|
|
|
481 }
|
|
|
482
|
|
|
483 if(settings.drawPairs) {
|
|
|
484
|
|
|
485 bzBroadPhase bp = world.broadPhase;
|
|
|
486 bzVec2 invQ;
|
|
|
487 invQ.set(1.0f / bp.m_quantizationFactor.x, 1.0f / bp.m_quantizationFactor.y);
|
|
|
488 Color color = Color(0.9f, 0.9f, 0.3f);
|
|
|
489
|
|
|
490 const k_tableCapacity = bzPairManager.TABLE_CAPACITY;
|
|
|
491
|
|
|
492 for (int i = 0; i < k_tableCapacity; ++i)
|
|
|
493 {
|
|
|
494 ushort index = bp.m_pairManager.m_hashTable[i];
|
|
|
495 while (index < bp.m_pairManager.m_pairs.length)
|
|
|
496 {
|
|
|
497 if(index == bzPairManager.NULL_PROXY) {
|
|
|
498 break;
|
|
|
499 }
|
|
|
500 bzPair pair = bp.m_pairManager.m_pairs[index];
|
|
|
501 bzProxy p1 = bp.m_proxyPool[pair.proxyId1];
|
|
|
502 bzProxy p2 = bp.m_proxyPool[pair.proxyId2];
|
|
|
503
|
|
|
504 bzAABB b1, b2;
|
|
|
505 b1.lowerBound.x = bp.m_worldAABB.lowerBound.x + invQ.x * bp.m_bounds[0][p1.lowerBounds[0]].value;
|
|
|
506 b1.lowerBound.y = bp.m_worldAABB.lowerBound.y + invQ.y * bp.m_bounds[1][p1.lowerBounds[1]].value;
|
|
|
507 b1.upperBound.x = bp.m_worldAABB.lowerBound.x + invQ.x * bp.m_bounds[0][p1.upperBounds[0]].value;
|
|
|
508 b1.upperBound.y = bp.m_worldAABB.lowerBound.y + invQ.y * bp.m_bounds[1][p1.upperBounds[1]].value;
|
|
|
509 b2.lowerBound.x = bp.m_worldAABB.lowerBound.x + invQ.x * bp.m_bounds[0][p2.lowerBounds[0]].value;
|
|
|
510 b2.lowerBound.y = bp.m_worldAABB.lowerBound.y + invQ.y * bp.m_bounds[1][p2.lowerBounds[1]].value;
|
|
|
511 b2.upperBound.x = bp.m_worldAABB.lowerBound.x + invQ.x * bp.m_bounds[0][p2.upperBounds[0]].value;
|
|
|
512 b2.upperBound.y = bp.m_worldAABB.lowerBound.y + invQ.y * bp.m_bounds[1][p2.upperBounds[1]].value;
|
|
|
513
|
|
|
514 bzVec2 x1 = 0.5f * (b1.lowerBound + b1.upperBound);
|
|
|
515 bzVec2 x2 = 0.5f * (b2.lowerBound + b2.upperBound);
|
|
|
516
|
|
|
517 gl.drawSegment(vec2.from(x1),vec2.from(x2), color);
|
|
|
518
|
|
|
519 index = pair.next;
|
|
|
520 }
|
|
|
521 }
|
|
|
522 }
|
|
|
523
|
|
|
524 // Draw axis aligned bounding boxes (bzAABB)
|
|
|
525 if (settings.drawAABBs) {
|
|
|
526 bzBroadPhase bp = world.broadPhase;
|
|
|
527 bzVec2 worldLower = bp.m_worldAABB.lowerBound;
|
|
|
528 bzVec2 worldUpper = bp.m_worldAABB.upperBound;
|
|
|
529 Color color;
|
|
|
530 bzVec2 invQ;
|
|
|
531 invQ.set(1.0f / bp.m_quantizationFactor.x, 1.0f / bp.m_quantizationFactor.y);
|
|
|
532 color = Color(1.0f, 1.0f, 1.0f);
|
|
|
533
|
|
|
534 for (int i = 0; i < k_maxProxies; ++i) {
|
|
|
535 bzProxy p = bp.m_proxyPool[i];
|
|
|
536 if (!p.isValid) {
|
|
|
537 continue;
|
|
|
538 }
|
|
|
539
|
|
|
540 bzAABB b;
|
|
|
541 b.lowerBound.x = worldLower.x + invQ.x * bp.m_bounds[0][p.lowerBounds[0]].value;
|
|
|
542 b.lowerBound.y = worldLower.y + invQ.y * bp.m_bounds[1][p.lowerBounds[1]].value;
|
|
|
543 b.upperBound.x = worldLower.x + invQ.x * bp.m_bounds[0][p.upperBounds[0]].value;
|
|
|
544 b.upperBound.y = worldLower.y + invQ.y * bp.m_bounds[1][p.upperBounds[1]].value;
|
|
|
545
|
|
|
546 vec2 vs[4];
|
|
|
547 vs[0] = vec2(b.lowerBound.x, b.lowerBound.y);
|
|
|
548 vs[1] = vec2(b.upperBound.x, b.lowerBound.y);
|
|
|
549 vs[2] = vec2(b.upperBound.x, b.upperBound.y);
|
|
|
550 vs[3] = vec2(b.lowerBound.x, b.upperBound.y);
|
|
|
551
|
|
|
552 drawPolygon(gl, vs, color);
|
|
|
553 }
|
|
|
554
|
|
|
555 vec2 vs[4];
|
|
|
556 vs[0] = vec2(worldLower.x, worldLower.y);
|
|
|
557 vs[1] = vec2(worldUpper.x, worldLower.y);
|
|
|
558 vs[2] = vec2(worldUpper.x, worldUpper.y);
|
|
|
559 vs[3] = vec2(worldLower.x, worldUpper.y);
|
|
|
560
|
|
|
561 color = Color(0.3f, 0.9f, 0.9f);
|
|
|
562 drawPolygon(gl, vs, color);
|
|
|
563 }
|
|
|
564
|
|
|
565 // Draw contact points
|
|
|
566 if (settings.drawContactPoints) {
|
|
|
567 const k_axisScale = 0.3f;
|
|
|
568 const k_forceScale = 0.01f;
|
|
|
569
|
|
|
570
|
|
|
571 for (int i = 0; i < pointCount; ++i) {
|
|
|
572 ContactPoint point = points[i];
|
|
|
573 Color color;
|
|
|
574
|
|
|
575 if (point.state == ContactState.e_contactAdded) {
|
|
|
576 // Add
|
|
|
577 color = Color(0.3f, 0.95f, 0.3f);
|
|
|
578 vec2 p = vec2.from(point.position);
|
|
|
579 gl.drawPoint(p, 10.0f, color);
|
|
|
580 }else if (point.state == ContactState.e_contactPersisted) {
|
|
|
581 // Persist
|
|
|
582 color = Color(0.3f, 0.3f, 0.95f);
|
|
|
583 vec2 p = vec2.from(point.position);
|
|
|
584 gl.drawPoint(p, 5.0f, color);
|
|
|
585 }else {
|
|
|
586 // Remove
|
|
|
587 color = Color(0.95f, 0.3f, 0.3f);
|
|
|
588 vec2 p = vec2.from(point.position);
|
|
|
589 gl.drawPoint(p, 10.0f, color);
|
|
|
590 }
|
|
|
591
|
|
|
592 if (settings.drawContactNormals == 1) {
|
|
|
593 vec2 p1 = vec2.from(point.position);
|
|
|
594 vec2 p2 = p1 + k_axisScale * vec2.from(point.normal);
|
|
|
595 color = Color(0.4f, 0.9f, 0.4f);
|
|
|
596 gl.drawSegment(p1, p2, color);
|
|
|
597 }else if (settings.drawContactForces) { /*
|
|
|
598 vec2 p1 = vec2.from(point.position);
|
|
|
599 vec2 p2 = p1 + k_forceScale * vec2.from(point.normalForce * point.normal);
|
|
|
600 color = Color(0.9f, 0.9f, 0.3f);
|
|
|
601 gl.drawSegment(p1, p2, color);*/
|
|
|
602 }
|
|
|
603
|
|
|
604 if (settings.drawFrictionForces) { /*
|
|
|
605 vec2 tangent = vec2.from(bzCross(point.normal, 1.0f));
|
|
|
606 vec2 p1 = point.position;
|
|
|
607 vec2 p2 = p1 + k_forceScale * vec2.from(point.tangentForce) * tangent;
|
|
|
608 color = Color(0.9f, 0.9f, 0.3f);
|
|
|
609 gl.drawSegment(p1, p2, color); */
|
|
|
610 }
|
|
|
611 }
|
|
|
612 }
|
|
|
613
|
|
|
614 if (settings.drawOBBs) {
|
|
|
615 Color color = Color(0.5f, 0.3f, 0.5f);
|
|
|
616
|
|
|
617 for (bzBody b = world.bodyList; b; b = b.next) {
|
|
|
618 bzXForm xf = b.xf;
|
|
|
619 for (bzShape s = b.shapeList; s; s = s.next) {
|
|
|
620 if (s.type != bzShapeType.POLYGON) {
|
|
|
621 continue;
|
|
|
622 }
|
|
|
623
|
|
|
624 bzPolygon poly = cast(bzPolygon)s;
|
|
|
625 bzOBB obb = poly.obb;
|
|
|
626 bzVec2 h = obb.extents;
|
|
|
627 bzVec2 vs[4];
|
|
|
628 vs[0].set(-h.x, -h.y);
|
|
|
629 vs[1].set(h.x, -h.y);
|
|
|
630 vs[2].set(h.x, h.y);
|
|
|
631 vs[3].set(-h.x, h.y);
|
|
|
632
|
|
|
633 vec2[4] v;
|
|
|
634 for (int i = 0; i < 4; ++i) {
|
|
|
635 vs[i] = obb.center + bzMul(obb.R, vs[i]);
|
|
|
636 v[i] = vec2.from(bzMul(xf, vs[i]));
|
|
|
637 }
|
|
|
638
|
|
|
639 drawPolygon(gl, v, color);
|
|
|
640 }
|
|
|
641 }
|
|
|
642 }
|
|
|
643
|
|
|
644 if (settings.drawCOMs) {
|
|
|
645 for (bzBody b = world.bodyList; b; b = b.next) {
|
|
|
646 bzXForm xf = b.xf;
|
|
|
647 xf.position = b.worldCenter;
|
|
|
648 drawXForm(gl, xf);
|
|
|
649 }
|
|
|
650 }
|
|
|
651
|
|
|
652 // Nonphysical stuffs
|
|
|
653 // Universal '.' cursor
|
|
|
654 gl.Color3f(1, 1, 1);
|
|
|
655 gl.immediate(GL_POINTS,
|
|
|
656 {
|
|
|
657 gl.Vertex2fv(mousePos.ptr);
|
|
|
658 });
|
|
|
659
|
|
|
660 pointCount = 0;
|
|
|
661 }
|
|
|
662
|
|
|
663 }
|
