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rename a function, update a test

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This commit is contained in:
Irlan 2018-10-05 11:57:23 -03:00
parent 8030c3458a
commit 6b95a04a09
3 changed files with 31 additions and 30 deletions
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31
examples/testbed/tests/shape_cast.h
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@ -6,18 +6,18 @@ class ShapeCast : public Test
public:
ShapeCast()
{
m_xfA.SetIdentity();
m_shapeA.m_hull = &b3BoxHull_identity;
m_shapeA.m_radius = 0.0f;
m_shapeB.m_hull = &b3BoxHull_identity;
m_shapeB.m_radius = 0.0f;
m_xfA.position.Set(-5.0f, 0.0f, 0.0f);
m_xfA.rotation.SetIdentity();
m_shapeA.m_centers[0].Set(0.0f, -2.0f, 0.0f);
m_shapeA.m_centers[1].Set(0.0f, 2.0f, 0.0f);
m_shapeA.m_radius = 1.0f;
m_xfB.SetIdentity();
m_xfB.position.Set(5.0f, 0.0f, 0.0f);
m_xfB.position.Set(10.0f, 0.0f, 0.0f);
m_xfB.rotation.SetIdentity();
m_shapeB.m_hull = &b3BoxHull_identity;
m_proxyA.Set(&m_shapeA, 0);
m_proxyB.Set(&m_shapeB, 0);
}
@ -33,18 +33,21 @@ public:
m_world.DrawShape(m_xfA, &m_shapeA);
m_world.DrawShape(m_xfB, &m_shapeB);
b3Vec3 translationB = -20.0f * b3Vec3_x;
g_draw->DrawSolidShape(&m_shapeA, b3Color_white, m_xfA);
g_draw->DrawSolidShape(&m_shapeB, b3Color_white, m_xfB);
b3Vec3 translationB = -100.0f * b3Vec3_x;
g_draw->DrawSegment(m_xfB.position, m_xfB.position + translationB, b3Color_white);
b3GJKRayCastOutput out;
bool hit = b3GJKRayCast(&out, m_xfA, m_proxyA, m_xfB, m_proxyB, translationB);
b3GJKShapeCastOutput out;
bool hit = b3GJKShapeCast(&out, m_xfA, m_proxyA, m_xfB, m_proxyB, translationB);
g_draw->DrawString(b3Color_white, "Iterations = %d", out.iterations);
if (hit)
{
g_draw->DrawPoint(out.point, 4.0f, b3Color(0.0f, 1.0f, 0.0f));
g_draw->DrawSegment(out.point, out.point + out.normal, b3Color(0.0f, 1.0f, 0.0f));
g_draw->DrawPoint(out.point, 4.0f, b3Color_green);
g_draw->DrawSegment(out.point, out.point + out.normal, b3Color_green);
b3Transform xfB;
xfB.rotation = m_xfB.rotation;
@ -106,7 +109,7 @@ public:
return new ShapeCast();
}
b3CapsuleShape m_shapeA;
b3HullShape m_shapeA;
b3Transform m_xfA;
b3ShapeGJKProxy m_proxyA;

6
include/bounce/collision/gjk/gjk.h
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@ -114,8 +114,8 @@ b3GJKOutput b3GJK(const b3Transform& xf1, const b3GJKProxy& proxy1,
const b3Transform& xf2, const b3GJKProxy& proxy2,
bool applyRadius, b3SimplexCache* cache);
// The output of the GJK-based ray cast algorithm.
struct b3GJKRayCastOutput
// The output of the GJK-based shape cast algorithm.
struct b3GJKShapeCastOutput
{
float32 t; // time of impact
b3Vec3 point; // contact point at t
@ -124,7 +124,7 @@ struct b3GJKRayCastOutput
};
// Find the time of impact between two proxies given the relative target translation vector.
bool b3GJKRayCast(b3GJKRayCastOutput* output,
bool b3GJKShapeCast(b3GJKShapeCastOutput* output,
const b3Transform& xf1, const b3GJKProxy& proxy1,
const b3Transform& xf2, const b3GJKProxy& proxy2, const b3Vec3& translation2);

24
src/bounce/collision/gjk/gjk.cpp
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@ -854,7 +854,7 @@ b3GJKOutput b3GJK(const b3Transform& xf1, const b3GJKProxy& proxy1,
// Brian Mirtich
// "Conservative Advancement"
bool b3GJKRayCast(b3GJKRayCastOutput* output,
bool b3GJKShapeCast(b3GJKShapeCastOutput* output,
const b3Transform& xf1, const b3GJKProxy& proxy1,
const b3Transform& xf2, const b3GJKProxy& proxy2, const b3Vec3& translation2)
{
@ -960,7 +960,7 @@ bool b3GJKRayCast(b3GJKRayCastOutput* output,
// Gino van der Bergen
// "Smooth Mesh Contacts with GJK"
// Game Physics Pearls 2010, page 99
bool b3GJKShapeCast(b3GJKRayCastOutput* output,
bool b3GJKShapeCastCSO(b3GJKShapeCastOutput* output,
const b3Transform& xf1, const b3GJKProxy& proxy1,
const b3Transform& xf2, const b3GJKProxy& proxy2, const b3Vec3& translation2)
{
@ -1032,14 +1032,6 @@ bool b3GJKShapeCast(b3GJKRayCastOutput* output,
}
}
// Copy simplex so we can identify duplicates.
saveCount = simplex.m_count;
for (u32 i = 0; i < saveCount; ++i)
{
save1[i] = vertices[i].index1;
save2[i] = vertices[i].index2;
}
// Unite p - s to simplex
b3Vec3 s = t * r;
@ -1075,6 +1067,14 @@ bool b3GJKShapeCast(b3GJKRayCastOutput* output,
maxTolerance = b3Max(maxTolerance, b3LengthSquared(vertices[i].point));
}
// Copy simplex so we can identify duplicates.
saveCount = simplex.m_count;
for (u32 i = 0; i < saveCount; ++i)
{
save1[i] = vertices[i].index1;
save2[i] = vertices[i].index2;
}
// Sub-solve
const b3Vec3 origin = b3Vec3_zero;
@ -1098,9 +1098,7 @@ bool b3GJKShapeCast(b3GJKRayCastOutput* output,
if (simplex.m_count == 4)
{
// Overlap
output->iterations = iter;
return false;
break;
}
v = simplex.GetClosestPoint();