rename a function, update a test

examples/testbed/tests/shape_cast.h

@@ -6,17 +6,17 @@ 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(10.0f, 0.0f, 0.0f);
-		m_xfB.position.Set(5.0f, 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;
+		b3GJKShapeCastOutput out;
-		bool hit = b3GJKRayCast(&out, m_xfA, m_proxyA, m_xfB, m_proxyB, translationB);
+		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->DrawPoint(out.point, 4.0f, b3Color_green);
-			g_draw->DrawSegment(out.point, out.point + out.normal, b3Color(0.0f, 1.0f, 0.0f));
+			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;
 

include/bounce/collision/gjk/gjk.h

@@ -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.
+// The output of the GJK-based shape cast algorithm.
-struct b3GJKRayCastOutput
+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);
 

src/bounce/collision/gjk/gjk.cpp

@@ -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
+			break;
-			output->iterations = iter;
-			return false;
 		}
 
 		v = simplex.GetClosestPoint();