/*******************************************************************************
* Copyright 2011 See AUTHORS file.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
******************************************************************************/
package com.badlogic.gdx.physics.box2d;
import java.util.Iterator;
import com.badlogic.gdx.Gdx;
import com.badlogic.gdx.graphics.Color;
import com.badlogic.gdx.graphics.glutils.ShapeRenderer;
import com.badlogic.gdx.graphics.glutils.ShapeRenderer.ShapeType;
import com.badlogic.gdx.math.Matrix4;
import com.badlogic.gdx.math.Vector2;
import com.badlogic.gdx.physics.box2d.BodyDef.BodyType;
import com.badlogic.gdx.physics.box2d.JointDef.JointType;
import com.badlogic.gdx.physics.box2d.Shape.Type;
import com.badlogic.gdx.physics.box2d.joints.PulleyJoint;
import com.badlogic.gdx.utils.Array;
import com.badlogic.gdx.utils.Disposable;
public class Box2DDebugRenderer implements Disposable {
/** the immediate mode renderer to output our debug drawings **/
protected ShapeRenderer renderer;
/** vertices for polygon rendering **/
private final static Vector2[] vertices = new Vector2[1000];
private final static Vector2 lower = new Vector2();
private final static Vector2 upper = new Vector2();
private final static Array<Body> bodies = new Array<Body>();
private final static Array<Joint> joints = new Array<Joint>();
private boolean drawBodies;
private boolean drawJoints;
private boolean drawAABBs;
private boolean drawInactiveBodies;
private boolean drawVelocities;
private boolean drawContacts;
public Box2DDebugRenderer () {
this(true, true, false, true, false, true);
}
public Box2DDebugRenderer (boolean drawBodies, boolean drawJoints, boolean drawAABBs, boolean drawInactiveBodies,
boolean drawVelocities, boolean drawContacts) {
// next we setup the immediate mode renderer
renderer = new ShapeRenderer();
// initialize vertices array
for (int i = 0; i < vertices.length; i++)
vertices[i] = new Vector2();
this.drawBodies = drawBodies;
this.drawJoints = drawJoints;
this.drawAABBs = drawAABBs;
this.drawInactiveBodies = drawInactiveBodies;
this.drawVelocities = drawVelocities;
this.drawContacts = drawContacts;
}
/** This assumes that the projection matrix has already been set. */
public void render (World world, Matrix4 projMatrix) {
renderer.setProjectionMatrix(projMatrix);
renderBodies(world);
}
public final Color SHAPE_NOT_ACTIVE = new Color(0.5f, 0.5f, 0.3f, 1);
public final Color SHAPE_STATIC = new Color(0.5f, 0.9f, 0.5f, 1);
public final Color SHAPE_KINEMATIC = new Color(0.5f, 0.5f, 0.9f, 1);
public final Color SHAPE_NOT_AWAKE = new Color(0.6f, 0.6f, 0.6f, 1);
public final Color SHAPE_AWAKE = new Color(0.9f, 0.7f, 0.7f, 1);
public final Color JOINT_COLOR = new Color(0.5f, 0.8f, 0.8f, 1);
public final Color AABB_COLOR = new Color(1.0f, 0, 1.0f, 1f);
public final Color VELOCITY_COLOR = new Color(1.0f, 0, 0f, 1f);
private void renderBodies (World world) {
renderer.begin(ShapeType.Line);
if (drawBodies || drawAABBs) {
world.getBodies(bodies);
for (Iterator<Body> iter = bodies.iterator(); iter.hasNext();) {
Body body = iter.next();
if (body.isActive() || drawInactiveBodies) renderBody(body);
}
}
if (drawJoints) {
world.getJoints(joints);
for (Iterator<Joint> iter = joints.iterator(); iter.hasNext();) {
Joint joint = iter.next();
drawJoint(joint);
}
}
renderer.end();
if (drawContacts) {
renderer.begin(ShapeType.Point);
for (Contact contact : world.getContactList())
drawContact(contact);
renderer.end();
}
}
protected void renderBody (Body body) {
Transform transform = body.getTransform();
for (Fixture fixture : body.getFixtureList()) {
if (drawBodies) {
drawShape(fixture, transform, getColorByBody(body));
if (drawVelocities) {
Vector2 position = body.getPosition();
drawSegment(position, body.getLinearVelocity().add(position), VELOCITY_COLOR);
}
}
if (drawAABBs) {
drawAABB(fixture, transform);
}
}
}
private Color getColorByBody (Body body) {
if (body.isActive() == false)
return SHAPE_NOT_ACTIVE;
else if (body.getType() == BodyType.StaticBody)
return SHAPE_STATIC;
else if (body.getType() == BodyType.KinematicBody)
return SHAPE_KINEMATIC;
else if (body.isAwake() == false)
return SHAPE_NOT_AWAKE;
else
return SHAPE_AWAKE;
}
private void drawAABB (Fixture fixture, Transform transform) {
if (fixture.getType() == Type.Circle) {
CircleShape shape = (CircleShape)fixture.getShape();
float radius = shape.getRadius();
vertices[0].set(shape.getPosition());
transform.mul(vertices[0]);
lower.set(vertices[0].x - radius, vertices[0].y - radius);
upper.set(vertices[0].x + radius, vertices[0].y + radius);
// define vertices in ccw fashion...
vertices[0].set(lower.x, lower.y);
vertices[1].set(upper.x, lower.y);
vertices[2].set(upper.x, upper.y);
vertices[3].set(lower.x, upper.y);
drawSolidPolygon(vertices, 4, AABB_COLOR, true);
} else if (fixture.getType() == Type.Polygon) {
PolygonShape shape = (PolygonShape)fixture.getShape();
int vertexCount = shape.getVertexCount();
shape.getVertex(0, vertices[0]);
lower.set(transform.mul(vertices[0]));
upper.set(lower);
for (int i = 1; i < vertexCount; i++) {
shape.getVertex(i, vertices[i]);
transform.mul(vertices[i]);
lower.x = Math.min(lower.x, vertices[i].x);
lower.y = Math.min(lower.y, vertices[i].y);
upper.x = Math.max(upper.x, vertices[i].x);
upper.y = Math.max(upper.y, vertices[i].y);
}
// define vertices in ccw fashion...
vertices[0].set(lower.x, lower.y);
vertices[1].set(upper.x, lower.y);
vertices[2].set(upper.x, upper.y);
vertices[3].set(lower.x, upper.y);
drawSolidPolygon(vertices, 4, AABB_COLOR, true);
}
}
private static Vector2 t = new Vector2();
private static Vector2 axis = new Vector2();
private void drawShape (Fixture fixture, Transform transform, Color color) {
if (fixture.getType() == Type.Circle) {
CircleShape circle = (CircleShape)fixture.getShape();
t.set(circle.getPosition());
transform.mul(t);
drawSolidCircle(t, circle.getRadius(), axis.set(transform.vals[Transform.COS], transform.vals[Transform.SIN]), color);
return;
}
if (fixture.getType() == Type.Edge) {
EdgeShape edge = (EdgeShape)fixture.getShape();
edge.getVertex1(vertices[0]);
edge.getVertex2(vertices[1]);
transform.mul(vertices[0]);
transform.mul(vertices[1]);
drawSolidPolygon(vertices, 2, color, true);
return;
}
if (fixture.getType() == Type.Polygon) {
PolygonShape chain = (PolygonShape)fixture.getShape();
int vertexCount = chain.getVertexCount();
for (int i = 0; i < vertexCount; i++) {
chain.getVertex(i, vertices[i]);
transform.mul(vertices[i]);
}
drawSolidPolygon(vertices, vertexCount, color, true);
return;
}
if (fixture.getType() == Type.Chain) {
ChainShape chain = (ChainShape)fixture.getShape();
int vertexCount = chain.getVertexCount();
for (int i = 0; i < vertexCount; i++) {
chain.getVertex(i, vertices[i]);
transform.mul(vertices[i]);
}
drawSolidPolygon(vertices, vertexCount, color, false);
}
}
private final Vector2 f = new Vector2();
private final Vector2 v = new Vector2();
private final Vector2 lv = new Vector2();
private void drawSolidCircle (Vector2 center, float radius, Vector2 axis, Color color) {
float angle = 0;
float angleInc = 2 * (float)Math.PI / 20;
renderer.setColor(color.r, color.g, color.b, color.a);
for (int i = 0; i < 20; i++, angle += angleInc) {
v.set((float)Math.cos(angle) * radius + center.x, (float)Math.sin(angle) * radius + center.y);
if (i == 0) {
lv.set(v);
f.set(v);
continue;
}
renderer.line(lv.x, lv.y, v.x, v.y);
lv.set(v);
}
renderer.line(f.x, f.y, lv.x, lv.y);
renderer.line(center.x, center.y, 0, center.x + axis.x * radius, center.y + axis.y * radius, 0);
}
private void drawSolidPolygon (Vector2[] vertices, int vertexCount, Color color, boolean closed) {
renderer.setColor(color.r, color.g, color.b, color.a);
lv.set(vertices[0]);
f.set(vertices[0]);
for (int i = 1; i < vertexCount; i++) {
Vector2 v = vertices[i];
renderer.line(lv.x, lv.y, v.x, v.y);
lv.set(v);
}
if (closed) renderer.line(f.x, f.y, lv.x, lv.y);
}
private void drawJoint (Joint joint) {
Body bodyA = joint.getBodyA();
Body bodyB = joint.getBodyB();
Transform xf1 = bodyA.getTransform();
Transform xf2 = bodyB.getTransform();
Vector2 x1 = xf1.getPosition();
Vector2 x2 = xf2.getPosition();
Vector2 p1 = joint.getAnchorA();
Vector2 p2 = joint.getAnchorB();
if (joint.getType() == JointType.DistanceJoint) {
drawSegment(p1, p2, JOINT_COLOR);
} else if (joint.getType() == JointType.PulleyJoint) {
PulleyJoint pulley = (PulleyJoint)joint;
Vector2 s1 = pulley.getGroundAnchorA();
Vector2 s2 = pulley.getGroundAnchorB();
drawSegment(s1, p1, JOINT_COLOR);
drawSegment(s2, p2, JOINT_COLOR);
drawSegment(s1, s2, JOINT_COLOR);
} else if (joint.getType() == JointType.MouseJoint) {
drawSegment(joint.getAnchorA(), joint.getAnchorB(), JOINT_COLOR);
} else {
drawSegment(x1, p1, JOINT_COLOR);
drawSegment(p1, p2, JOINT_COLOR);
drawSegment(x2, p2, JOINT_COLOR);
}
}
private void drawSegment (Vector2 x1, Vector2 x2, Color color) {
renderer.setColor(color);
renderer.line(x1.x, x1.y, x2.x, x2.y);
}
private void drawContact (Contact contact) {
WorldManifold worldManifold = contact.getWorldManifold();
if (worldManifold.getNumberOfContactPoints() == 0) return;
Vector2 point = worldManifold.getPoints()[0];
renderer.setColor(getColorByBody(contact.getFixtureA().getBody()));
renderer.point(point.x, point.y, 0);
}
public boolean isDrawBodies () {
return drawBodies;
}
public void setDrawBodies (boolean drawBodies) {
this.drawBodies = drawBodies;
}
public boolean isDrawJoints () {
return drawJoints;
}
public void setDrawJoints (boolean drawJoints) {
this.drawJoints = drawJoints;
}
public boolean isDrawAABBs () {
return drawAABBs;
}
public void setDrawAABBs (boolean drawAABBs) {
this.drawAABBs = drawAABBs;
}
public boolean isDrawInactiveBodies () {
return drawInactiveBodies;
}
public void setDrawInactiveBodies (boolean drawInactiveBodies) {
this.drawInactiveBodies = drawInactiveBodies;
}
public boolean isDrawVelocities () {
return drawVelocities;
}
public void setDrawVelocities (boolean drawVelocities) {
this.drawVelocities = drawVelocities;
}
public boolean isDrawContacts () {
return drawContacts;
}
public void setDrawContacts (boolean drawContacts) {
this.drawContacts = drawContacts;
}
public static Vector2 getAxis () {
return axis;
}
public static void setAxis (Vector2 axis) {
Box2DDebugRenderer.axis = axis;
}
public void dispose () {
renderer.dispose();
}
}