add hello world example and edit source tree

examples/testbed/tests/distance_test.h

@@ -0,0 +1,136 @@
+/*
+* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef DISTANCE_H
+#define DISTANCE_H
+
+extern DebugDraw* g_debugDraw;
+extern Camera g_camera;
+extern Settings g_settings;
+
+class Distance : public Test
+{
+public:
+	Distance()
+	{	
+		g_camera.m_zoom = 25.0f;
+		
+		m_xfA.SetIdentity();
+		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.rotation.SetIdentity();
+		m_shapeB.m_hull = &m_boxHull;
+
+		m_proxyA.Set(&m_shapeA, 0);
+		m_proxyB.Set(&m_shapeB, 0);
+		m_cache.count = 0;
+	}
+
+	void Step()
+	{
+		b3GJKOutput out = b3GJK(m_xfA, m_proxyA, m_xfB, m_proxyB, false, &m_cache);
+		if (0 < m_cache.count && m_cache.count < 4)
+		{
+			b3GJKFeaturePair featurePair = b3GetFeaturePair(m_cache);
+
+			for (u32 i = 0; i < featurePair.countA; ++i)
+			{
+				u32 index = featurePair.indexA[i];
+				g_debugDraw->DrawPoint(m_xfA * m_proxyA.GetVertex(index), 4.0f, b3Color(1.0f, 1.0f, 0.0f));
+			}
+
+			for (u32 i = 0; i < featurePair.countB; ++i)
+			{
+				u32 index = featurePair.indexB[i];
+				g_debugDraw->DrawPoint(m_xfB * m_proxyB.GetVertex(index), 4.0f, b3Color(1.0f, 1.0f, 0.0f));
+			}
+		}
+		
+		g_debugDraw->DrawPoint(out.pointA, 4.0f, b3Color(0.0f, 1.0f, 0.0f));
+		g_debugDraw->DrawPoint(out.pointB, 4.0f, b3Color(0.0f, 1.0f, 0.0f));
+		g_debugDraw->DrawSegment(out.pointA, out.pointB, b3Color(1.0f, 1.0f, 1.0f));
+
+		g_debugDraw->DrawTransform(m_xfA);
+		g_debugDraw->DrawTransform(m_xfB);
+		
+		m_world.DrawShape(m_xfA, &m_shapeA);
+		m_world.DrawShape(m_xfB, &m_shapeB);
+	}
+
+	void KeyDown(int key)
+	{
+		if (key == GLFW_KEY_LEFT)
+		{
+			m_xfB.position.x -= 0.05f;
+		}
+		
+		if (key == GLFW_KEY_RIGHT)
+		{
+			m_xfB.position.x += 0.05f;
+		}
+		
+		if (key == GLFW_KEY_UP)
+		{
+			m_xfB.position.y += 0.05f;
+		}
+
+		if (key == GLFW_KEY_DOWN)
+		{
+			m_xfB.position.y -= 0.05f;
+		}
+
+		if (key == GLFW_KEY_X)
+		{
+			b3Quat qx(b3Vec3(1.0f, 0.0f, 0.0f), 0.05f * B3_PI);
+			b3Mat33 xfx = b3ConvertQuatToRot(qx);
+
+			m_xfB.rotation = m_xfB.rotation * xfx;
+		}
+		
+		if (key == GLFW_KEY_Y)
+		{
+			b3Quat qy(b3Vec3(0.0f, 1.0f, 0.0f), 0.05f * B3_PI);
+			b3Mat33 xfy = b3ConvertQuatToRot(qy);
+
+			m_xfB.rotation = m_xfB.rotation * xfy;
+		}
+	}
+
+	static Test* Create()
+	{
+		return new Distance();
+	}
+
+	b3CapsuleShape m_shapeA;
+	b3Transform m_xfA;
+	b3ShapeGJKProxy m_proxyA;
+
+	b3HullShape m_shapeB;
+	b3Transform m_xfB;
+	b3ShapeGJKProxy m_proxyB;
+	
+	b3SimplexCache m_cache;
+};
+
+#endif