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Diffstat (limited to 'Client/ThirdParty/Box2D/testbed/tests/shape_cast.cpp')
| -rw-r--r-- | Client/ThirdParty/Box2D/testbed/tests/shape_cast.cpp | 193 |
1 files changed, 193 insertions, 0 deletions
diff --git a/Client/ThirdParty/Box2D/testbed/tests/shape_cast.cpp b/Client/ThirdParty/Box2D/testbed/tests/shape_cast.cpp new file mode 100644 index 0000000..85ce422 --- /dev/null +++ b/Client/ThirdParty/Box2D/testbed/tests/shape_cast.cpp @@ -0,0 +1,193 @@ +// 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 "test.h" +#include "box2d/b2_distance.h" + +class ShapeCast : public Test +{ +public: + enum + { + e_vertexCount = 8 + }; + + ShapeCast() + { +#if 1 + m_vAs[0].Set(-0.5f, 1.0f); + m_vAs[1].Set(0.5f, 1.0f); + m_vAs[2].Set(0.0f, 0.0f); + m_countA = 3; + m_radiusA = b2_polygonRadius; + + m_vBs[0].Set(-0.5f, -0.5f); + m_vBs[1].Set(0.5f, -0.5f); + m_vBs[2].Set(0.5f, 0.5f); + m_vBs[3].Set(-0.5f, 0.5f); + m_countB = 4; + m_radiusB = b2_polygonRadius; + + m_transformA.p.Set(0.0f, 0.25f); + m_transformA.q.SetIdentity(); + m_transformB.p.Set(-4.0f, 0.0f); + m_transformB.q.SetIdentity(); + m_translationB.Set(8.0f, 0.0f); +#elif 0 + m_vAs[0].Set(0.0f, 0.0f); + m_countA = 1; + m_radiusA = 0.5f; + + m_vBs[0].Set(0.0f, 0.0f); + m_countB = 1; + m_radiusB = 0.5f; + + m_transformA.p.Set(0.0f, 0.25f); + m_transformA.q.SetIdentity(); + m_transformB.p.Set(-4.0f, 0.0f); + m_transformB.q.SetIdentity(); + m_translationB.Set(8.0f, 0.0f); +#else + m_vAs[0].Set(0.0f, 0.0f); + m_vAs[1].Set(2.0f, 0.0f); + m_countA = 2; + m_radiusA = b2_polygonRadius; + + m_vBs[0].Set(0.0f, 0.0f); + m_countB = 1; + m_radiusB = 0.25f; + + // Initial overlap + m_transformA.p.Set(0.0f, 0.0f); + m_transformA.q.SetIdentity(); + m_transformB.p.Set(-0.244360745f, 0.05999358f); + m_transformB.q.SetIdentity(); + m_translationB.Set(0.0f, 0.0399999991f); +#endif + } + + static Test* Create() + { + return new ShapeCast; + } + + void Step(Settings& settings) override + { + Test::Step(settings); + + b2ShapeCastInput input; + input.proxyA.Set(m_vAs, m_countA, m_radiusA); + input.proxyB.Set(m_vBs, m_countB, m_radiusB); + input.transformA = m_transformA; + input.transformB = m_transformB; + input.translationB = m_translationB; + + b2ShapeCastOutput output; + bool hit = b2ShapeCast(&output, &input); + + b2Transform transformB2; + transformB2.q = m_transformB.q; + transformB2.p = m_transformB.p + output.lambda * input.translationB; + + b2DistanceInput distanceInput; + distanceInput.proxyA.Set(m_vAs, m_countA, m_radiusA); + distanceInput.proxyB.Set(m_vBs, m_countB, m_radiusB); + distanceInput.transformA = m_transformA; + distanceInput.transformB = transformB2; + distanceInput.useRadii = false; + b2SimplexCache simplexCache; + simplexCache.count = 0; + b2DistanceOutput distanceOutput; + + b2Distance(&distanceOutput, &simplexCache, &distanceInput); + + g_debugDraw.DrawString(5, m_textLine, "hit = %s, iters = %d, lambda = %g, distance = %g", + hit ? "true" : "false", output.iterations, output.lambda, distanceOutput.distance); + m_textLine += m_textIncrement; + + b2Vec2 vertices[b2_maxPolygonVertices]; + + for (int32 i = 0; i < m_countA; ++i) + { + vertices[i] = b2Mul(m_transformA, m_vAs[i]); + } + + if (m_countA == 1) + { + g_debugDraw.DrawCircle(vertices[0], m_radiusA, b2Color(0.9f, 0.9f, 0.9f)); + } + else + { + g_debugDraw.DrawPolygon(vertices, m_countA, b2Color(0.9f, 0.9f, 0.9f)); + } + + for (int32 i = 0; i < m_countB; ++i) + { + vertices[i] = b2Mul(m_transformB, m_vBs[i]); + } + + if (m_countB == 1) + { + g_debugDraw.DrawCircle(vertices[0], m_radiusB, b2Color(0.5f, 0.9f, 0.5f)); + } + else + { + g_debugDraw.DrawPolygon(vertices, m_countB, b2Color(0.5f, 0.9f, 0.5f)); + } + + for (int32 i = 0; i < m_countB; ++i) + { + vertices[i] = b2Mul(transformB2, m_vBs[i]); + } + + if (m_countB == 1) + { + g_debugDraw.DrawCircle(vertices[0], m_radiusB, b2Color(0.5f, 0.7f, 0.9f)); + } + else + { + g_debugDraw.DrawPolygon(vertices, m_countB, b2Color(0.5f, 0.7f, 0.9f)); + } + + if (hit) + { + b2Vec2 p1 = output.point; + g_debugDraw.DrawPoint(p1, 10.0f, b2Color(0.9f, 0.3f, 0.3f)); + b2Vec2 p2 = p1 + output.normal; + g_debugDraw.DrawSegment(p1, p2, b2Color(0.9f, 0.3f, 0.3f)); + } + } + + b2Vec2 m_vAs[b2_maxPolygonVertices]; + int32 m_countA; + float m_radiusA; + + b2Vec2 m_vBs[b2_maxPolygonVertices]; + int32 m_countB; + float m_radiusB; + + b2Transform m_transformA; + b2Transform m_transformB; + b2Vec2 m_translationB; +}; + +static int testIndex = RegisterTest("Collision", "Shape Cast", ShapeCast::Create); |