def Step(self, settings):
"""
The main physics step.
Takes care of physics drawing (callbacks are executed after the world.Step() )
and drawing additional information.
"""
# Update the settings based on the GUI
self.gui_table.updateSettings(settings)
# Don't do anything if the setting's Hz are <= 0
if settings.hz > 0.0:
timeStep = 1.0 / settings.hz
else:
timeStep = 0.0
# If paused, display so
if settings.pause:
if settings.singleStep:
settings.singleStep=False
else:
timeStep = 0.0
self.DrawString(5, self.textLine, "****PAUSED****")
self.textLine += 15
# Set the flags based on what the settings show (uses a bitwise or mask)
flags = 0
if settings.drawShapes: flags |= box2d.b2DebugDraw.e_shapeBit
if settings.drawJoints: flags |= box2d.b2DebugDraw.e_jointBit
if settings.drawCoreShapes: flags |= box2d.b2DebugDraw.e_coreShapeBit
if settings.drawAABBs: flags |= box2d.b2DebugDraw.e_aabbBit
if settings.drawOBBs: flags |= box2d.b2DebugDraw.e_obbBit
if settings.drawPairs: flags |= box2d.b2DebugDraw.e_pairBit
if settings.drawCOMs: flags |= box2d.b2DebugDraw.e_centerOfMassBit
self.debugDraw.SetFlags(flags)
# Set the other settings that aren't contained in the flags
self.world.SetWarmStarting(settings.enableWarmStarting)
self.world.SetPositionCorrection(settings.enablePositionCorrection)
self.world.SetContinuousPhysics(settings.enableTOI)
# Reset the collision points
self.points = []
# Tell Box2D to step
self.world.Step(timeStep, settings.iterationCount)
self.world.Validate()
# If the bomb is frozen, get rid of it.
if self.bomb and self.bomb.IsFrozen():
self.world.DestroyBody(self.bomb)
self.bomb = None
if settings.drawStats:
self.DrawString(5, self.textLine, "proxies(max) = %d(%d), pairs(max) = %d(%d)" % (
self.world.GetProxyCount(), box2d.b2_maxProxies, self.world.GetPairCount(), box2d.b2_maxPairs) )
self.textLine += 15
self.DrawString(5, self.textLine, "bodies/contacts/joints = %d/%d/%d" %
(self.world.GetBodyCount(), self.world.GetContactCount(), self.world.GetJointCount()))
self.textLine += 15
self.DrawString(5, self.textLine, "hz %d iterations %d" %
(settings.hz, settings.iterationCount))
self.textLine += 15
#self.DrawString(5, self.textLine, "heap bytes = %d" % box2d.b2_byteCount) # not wrapped?
#self.textLine += 15
if settings.drawFPS: #python version only
self.DrawString(5, self.textLine, "FPS %d" % self.fps)
self.textLine += 15
# If there's a mouse joint, draw the connection between the object and the current pointer position.
if self.mouseJoint:
body = self.mouseJoint.GetBody2()
p1 = body.GetWorldPoint(self.mouseJoint.m_localAnchor)
p2 = self.mouseJoint.m_target
self.debugDraw.DrawPoint(p1, settings.pointSize, box2d.b2Color(0,1.0,0))
self.debugDraw.DrawPoint(p2, settings.pointSize, box2d.b2Color(0,1.0,0))
self.debugDraw.DrawSegment(p1, p2, box2d.b2Color(0.8,0.8,0.8))
# Draw each of the contact points in different colors.
if self.settings.drawContactPoints:
#k_impulseScale = 0.1
k_axisScale = 0.3
for point in self.points:
if point.state == fwContactTypes.contactAdded:
self.debugDraw.DrawPoint(point.position, settings.pointSize, box2d.b2Color(0.3, 0.95, 0.3))
elif point.state == fwContactTypes.contactPersisted:
self.debugDraw.DrawPoint(point.position, settings.pointSize, box2d.b2Color(0.3, 0.3, 0.95))
else: #elif point.state == fwContactTypes.contactRemoved:
self.debugDraw.DrawPoint(point.position, settings.pointSize, box2d.b2Color(0.95, 0.3, 0.3))
if settings.drawContactNormals:
p1 = point.position
p2 = p1 + k_axisScale * point.normal
self.debugDraw.DrawSegment(p1, p2, box2d.b2Color(0.4, 0.9, 0.4))
