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Diffstat (limited to 'Client/ThirdParty/Box2D/testbed/tests/ray_cast.cpp')
| -rw-r--r-- | Client/ThirdParty/Box2D/testbed/tests/ray_cast.cpp | 479 |
1 files changed, 479 insertions, 0 deletions
diff --git a/Client/ThirdParty/Box2D/testbed/tests/ray_cast.cpp b/Client/ThirdParty/Box2D/testbed/tests/ray_cast.cpp new file mode 100644 index 0000000..c3c648e --- /dev/null +++ b/Client/ThirdParty/Box2D/testbed/tests/ray_cast.cpp @@ -0,0 +1,479 @@ +// MIT License + +// Copyright (c) 2019 Erin Catto + +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to deal +// in the Software without restriction, including without limitation the rights +// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: + +// The above copyright notice and this permission notice shall be included in all +// copies or substantial portions of the Software. + +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +// SOFTWARE. + +#include "settings.h" +#include "test.h" +#include "imgui/imgui.h" + +enum +{ + e_maxBodies = 256 +}; + +// This test demonstrates how to use the world ray-cast feature. +// NOTE: we are intentionally filtering one of the polygons, therefore +// the ray will always miss one type of polygon. + +// This callback finds the closest hit. Polygon 0 is filtered. +class RayCastClosestCallback : public b2RayCastCallback +{ +public: + RayCastClosestCallback() + { + m_hit = false; + } + + float ReportFixture(b2Fixture* fixture, const b2Vec2& point, const b2Vec2& normal, float fraction) override + { + uintptr_t index = fixture->GetUserData().pointer; + if (index == 1) + { + // By returning -1, we instruct the calling code to ignore this fixture and + // continue the ray-cast to the next fixture. + return -1.0f; + } + + m_hit = true; + m_point = point; + m_normal = normal; + + // By returning the current fraction, we instruct the calling code to clip the ray and + // continue the ray-cast to the next fixture. WARNING: do not assume that fixtures + // are reported in order. However, by clipping, we can always get the closest fixture. + return fraction; + } + + bool m_hit; + b2Vec2 m_point; + b2Vec2 m_normal; +}; + +// This callback finds any hit. Polygon 0 is filtered. For this type of query we are usually +// just checking for obstruction, so the actual fixture and hit point are irrelevant. +class RayCastAnyCallback : public b2RayCastCallback +{ +public: + RayCastAnyCallback() + { + m_hit = false; + } + + float ReportFixture(b2Fixture* fixture, const b2Vec2& point, const b2Vec2& normal, float) override + { + uintptr_t index = fixture->GetUserData().pointer; + if (index == 1) + { + // By returning -1, we instruct the calling code to ignore this fixture and + // continue the ray-cast to the next fixture. + return -1.0f; + } + + m_hit = true; + m_point = point; + m_normal = normal; + + // At this point we have a hit, so we know the ray is obstructed. + // By returning 0, we instruct the calling code to terminate the ray-cast. + return 0.0f; + } + + bool m_hit; + b2Vec2 m_point; + b2Vec2 m_normal; +}; + +// This ray cast collects multiple hits along the ray. Polygon 0 is filtered. +// The fixtures are not necessary reported in order, so we might not capture +// the closest fixture. +class RayCastMultipleCallback : public b2RayCastCallback +{ +public: + enum + { + e_maxCount = 3 + }; + + RayCastMultipleCallback() + { + m_count = 0; + } + + float ReportFixture(b2Fixture* fixture, const b2Vec2& point, const b2Vec2& normal, float) override + { + uintptr_t index = fixture->GetUserData().pointer; + if (index == 1) + { + // By returning -1, we instruct the calling code to ignore this fixture and + // continue the ray-cast to the next fixture. + return -1.0f; + } + + b2Assert(m_count < e_maxCount); + + m_points[m_count] = point; + m_normals[m_count] = normal; + ++m_count; + + if (m_count == e_maxCount) + { + // At this point the buffer is full. + // By returning 0, we instruct the calling code to terminate the ray-cast. + return 0.0f; + } + + // By returning 1, we instruct the caller to continue without clipping the ray. + return 1.0f; + } + + b2Vec2 m_points[e_maxCount]; + b2Vec2 m_normals[e_maxCount]; + int32 m_count; +}; + + +class RayCast : public Test +{ +public: + + enum Mode + { + e_any = 0, + e_closest = 1, + e_multiple = 2 + }; + + RayCast() + { + // Ground body + { + b2BodyDef bd; + b2Body* ground = m_world->CreateBody(&bd); + + b2EdgeShape shape; + shape.SetTwoSided(b2Vec2(-40.0f, 0.0f), b2Vec2(40.0f, 0.0f)); + ground->CreateFixture(&shape, 0.0f); + } + + { + b2Vec2 vertices[3]; + vertices[0].Set(-0.5f, 0.0f); + vertices[1].Set(0.5f, 0.0f); + vertices[2].Set(0.0f, 1.5f); + m_polygons[0].Set(vertices, 3); + } + + { + b2Vec2 vertices[3]; + vertices[0].Set(-0.1f, 0.0f); + vertices[1].Set(0.1f, 0.0f); + vertices[2].Set(0.0f, 1.5f); + m_polygons[1].Set(vertices, 3); + } + + { + float w = 1.0f; + float b = w / (2.0f + b2Sqrt(2.0f)); + float s = b2Sqrt(2.0f) * b; + + b2Vec2 vertices[8]; + vertices[0].Set(0.5f * s, 0.0f); + vertices[1].Set(0.5f * w, b); + vertices[2].Set(0.5f * w, b + s); + vertices[3].Set(0.5f * s, w); + vertices[4].Set(-0.5f * s, w); + vertices[5].Set(-0.5f * w, b + s); + vertices[6].Set(-0.5f * w, b); + vertices[7].Set(-0.5f * s, 0.0f); + + m_polygons[2].Set(vertices, 8); + } + + { + m_polygons[3].SetAsBox(0.5f, 0.5f); + } + + { + m_circle.m_radius = 0.5f; + } + + { + m_edge.SetTwoSided(b2Vec2(-1.0f, 0.0f), b2Vec2(1.0f, 0.0f)); + } + + m_bodyIndex = 0; + memset(m_bodies, 0, sizeof(m_bodies)); + + m_degrees = 0.0f; + + m_mode = e_closest; + } + + void Create(int32 index) + { + if (m_bodies[m_bodyIndex] != NULL) + { + m_world->DestroyBody(m_bodies[m_bodyIndex]); + m_bodies[m_bodyIndex] = NULL; + } + + b2BodyDef bd; + + float x = RandomFloat(-10.0f, 10.0f); + float y = RandomFloat(0.0f, 20.0f); + bd.position.Set(x, y); + bd.angle = RandomFloat(-b2_pi, b2_pi); + + if (index == 4) + { + bd.angularDamping = 0.02f; + } + + m_bodies[m_bodyIndex] = m_world->CreateBody(&bd); + + if (index < 4) + { + b2FixtureDef fd; + fd.shape = m_polygons + index; + fd.friction = 0.3f; + fd.userData.pointer = index + 1; + m_bodies[m_bodyIndex]->CreateFixture(&fd); + } + else if (index < 5) + { + b2FixtureDef fd; + fd.shape = &m_circle; + fd.friction = 0.3f; + fd.userData.pointer = index + 1; + m_bodies[m_bodyIndex]->CreateFixture(&fd); + } + else + { + b2FixtureDef fd; + fd.shape = &m_edge; + fd.friction = 0.3f; + fd.userData.pointer = index + 1; + + m_bodies[m_bodyIndex]->CreateFixture(&fd); + } + + m_bodyIndex = (m_bodyIndex + 1) % e_maxBodies; + } + + void DestroyBody() + { + for (int32 i = 0; i < e_maxBodies; ++i) + { + if (m_bodies[i] != NULL) + { + m_world->DestroyBody(m_bodies[i]); + m_bodies[i] = NULL; + return; + } + } + } + + void UpdateUI() override + { + ImGui::SetNextWindowPos(ImVec2(10.0f, 100.0f)); + ImGui::SetNextWindowSize(ImVec2(210.0f, 285.0f)); + ImGui::Begin("Ray-cast Controls", nullptr, ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoResize); + + if (ImGui::Button("Shape 1")) + { + Create(0); + } + + if (ImGui::Button("Shape 2")) + { + Create(1); + } + + if (ImGui::Button("Shape 3")) + { + Create(2); + } + + if (ImGui::Button("Shape 4")) + { + Create(3); + } + + if (ImGui::Button("Shape 5")) + { + Create(4); + } + + if (ImGui::Button("Shape 6")) + { + Create(5); + } + + if (ImGui::Button("Destroy Shape")) + { + DestroyBody(); + } + + ImGui::RadioButton("Any", &m_mode, e_any); + ImGui::RadioButton("Closest", &m_mode, e_closest); + ImGui::RadioButton("Multiple", &m_mode, e_multiple); + + ImGui::SliderFloat("Angle", &m_degrees, 0.0f, 360.0f, "%.0f"); + + ImGui::End(); + } + + void Step(Settings& settings) override + { + Test::Step(settings); + + g_debugDraw.DrawString(5, m_textLine, "Shape 1 is intentionally ignored by the ray"); + m_textLine += m_textIncrement; + switch (m_mode) + { + case e_closest: + g_debugDraw.DrawString(5, m_textLine, "Ray-cast mode: closest - find closest fixture along the ray"); + break; + + case e_any: + g_debugDraw.DrawString(5, m_textLine, "Ray-cast mode: any - check for obstruction"); + break; + + case e_multiple: + g_debugDraw.DrawString(5, m_textLine, "Ray-cast mode: multiple - gather multiple fixtures"); + break; + } + + m_textLine += m_textIncrement; + + float angle = b2_pi * m_degrees / 180.0f; + float L = 11.0f; + b2Vec2 point1(0.0f, 10.0f); + b2Vec2 d(L * cosf(angle), L * sinf(angle)); + b2Vec2 point2 = point1 + d; + + if (m_mode == e_closest) + { + RayCastClosestCallback callback; + m_world->RayCast(&callback, point1, point2); + + if (callback.m_hit) + { + g_debugDraw.DrawPoint(callback.m_point, 5.0f, b2Color(0.4f, 0.9f, 0.4f)); + g_debugDraw.DrawSegment(point1, callback.m_point, b2Color(0.8f, 0.8f, 0.8f)); + b2Vec2 head = callback.m_point + 0.5f * callback.m_normal; + g_debugDraw.DrawSegment(callback.m_point, head, b2Color(0.9f, 0.9f, 0.4f)); + } + else + { + g_debugDraw.DrawSegment(point1, point2, b2Color(0.8f, 0.8f, 0.8f)); + } + } + else if (m_mode == e_any) + { + RayCastAnyCallback callback; + m_world->RayCast(&callback, point1, point2); + + if (callback.m_hit) + { + g_debugDraw.DrawPoint(callback.m_point, 5.0f, b2Color(0.4f, 0.9f, 0.4f)); + g_debugDraw.DrawSegment(point1, callback.m_point, b2Color(0.8f, 0.8f, 0.8f)); + b2Vec2 head = callback.m_point + 0.5f * callback.m_normal; + g_debugDraw.DrawSegment(callback.m_point, head, b2Color(0.9f, 0.9f, 0.4f)); + } + else + { + g_debugDraw.DrawSegment(point1, point2, b2Color(0.8f, 0.8f, 0.8f)); + } + } + else if (m_mode == e_multiple) + { + RayCastMultipleCallback callback; + m_world->RayCast(&callback, point1, point2); + g_debugDraw.DrawSegment(point1, point2, b2Color(0.8f, 0.8f, 0.8f)); + + for (int32 i = 0; i < callback.m_count; ++i) + { + b2Vec2 p = callback.m_points[i]; + b2Vec2 n = callback.m_normals[i]; + g_debugDraw.DrawPoint(p, 5.0f, b2Color(0.4f, 0.9f, 0.4f)); + g_debugDraw.DrawSegment(point1, p, b2Color(0.8f, 0.8f, 0.8f)); + b2Vec2 head = p + 0.5f * n; + g_debugDraw.DrawSegment(p, head, b2Color(0.9f, 0.9f, 0.4f)); + } + } + +#if 0 + // This case was failing. + { + b2Vec2 vertices[4]; + //vertices[0].Set(-22.875f, -3.0f); + //vertices[1].Set(22.875f, -3.0f); + //vertices[2].Set(22.875f, 3.0f); + //vertices[3].Set(-22.875f, 3.0f); + + b2PolygonShape shape; + //shape.Set(vertices, 4); + shape.SetAsBox(22.875f, 3.0f); + + b2RayCastInput input; + input.p1.Set(10.2725f,1.71372f); + input.p2.Set(10.2353f,2.21807f); + //input.maxFraction = 0.567623f; + input.maxFraction = 0.56762173f; + + b2Transform xf; + xf.SetIdentity(); + xf.position.Set(23.0f, 5.0f); + + b2RayCastOutput output; + bool hit; + hit = shape.RayCast(&output, input, xf); + hit = false; + + b2Color color(1.0f, 1.0f, 1.0f); + b2Vec2 vs[4]; + for (int32 i = 0; i < 4; ++i) + { + vs[i] = b2Mul(xf, shape.m_vertices[i]); + } + + g_debugDraw.DrawPolygon(vs, 4, color); + g_debugDraw.DrawSegment(input.p1, input.p2, color); + } +#endif + } + + static Test* Create() + { + return new RayCast; + } + + int32 m_bodyIndex; + b2Body* m_bodies[e_maxBodies]; + b2PolygonShape m_polygons[4]; + b2CircleShape m_circle; + b2EdgeShape m_edge; + float m_degrees; + int32 m_mode; +}; + +static int testIndex = RegisterTest("Collision", "Ray Cast", RayCast::Create); |