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Irlan
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examples/testbed/tests/ray_cast.h
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246
examples/testbed/tests/ray_cast.h
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/*
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* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef RAY_CAST_H
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#define RAY_CAST_H
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extern Settings g_settings;
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class RayCast : public Test
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{
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public:
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RayCast()
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{
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{
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b3BodyDef bdef;
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bdef.type = b3BodyType::e_staticBody;
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b3Body* body = m_world.CreateBody(bdef);
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b3HullShape hs;
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hs.m_hull = &m_groundHull;
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b3ShapeDef sdef;
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sdef.shape = &hs;
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b3Shape* shape = body->CreateShape(sdef);
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}
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{
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b3BodyDef bdef;
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bdef.type = b3BodyType::e_staticBody;
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bdef.position.Set(0.0f, 2.0f, 10.0f);
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bdef.orientation = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), 0.25f * B3_PI);
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b3Body* body = m_world.CreateBody(bdef);
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b3HullShape hs;
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hs.m_hull = &m_boxHull;
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b3ShapeDef sdef;
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sdef.shape = &hs;
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b3Shape* shape = body->CreateShape(sdef);
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}
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{
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b3BodyDef bdef;
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bdef.type = b3BodyType::e_staticBody;
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bdef.position.Set(-10.0f, 6.0f, -10.0f);
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bdef.orientation = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), 0.25f * B3_PI);
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b3Body* body = m_world.CreateBody(bdef);
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b3HullShape hs;
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hs.m_hull = &m_tallHull;
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b3ShapeDef sdef;
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sdef.shape = &hs;
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b3Shape* shape = body->CreateShape(sdef);
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}
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{
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b3BodyDef bdef;
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bdef.type = b3BodyType::e_staticBody;
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bdef.position.Set(10.0f, 2.0f, 0.0f);
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bdef.orientation = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), 0.20f * B3_PI);
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b3Body* body = m_world.CreateBody(bdef);
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b3HullShape hs;
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hs.m_hull = &m_boxHull;
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b3ShapeDef sdef;
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sdef.density = 0.0f;
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sdef.friction = 0.0f;
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sdef.shape = &hs;
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sdef.userData = NULL;
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b3Shape* shape = body->CreateShape(sdef);
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}
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{
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b3BodyDef bdef;
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bdef.type = b3BodyType::e_staticBody;
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bdef.position.Set(-10.0f, 2.0f, 14.0f);
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bdef.orientation = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), 0.05f * B3_PI);
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b3Body* body = m_world.CreateBody(bdef);
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b3HullShape hs;
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hs.m_hull = &m_boxHull;
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b3ShapeDef sdef;
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sdef.density = 0.0f;
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sdef.friction = 0.0f;
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sdef.shape = &hs;
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sdef.userData = NULL;
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b3Shape* shape = body->CreateShape(sdef);
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}
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{
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b3BodyDef bdef;
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bdef.type = b3BodyType::e_staticBody;
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bdef.position.Set(-14.0f, 2.0f, 5.0f);
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bdef.orientation = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), -0.05f * B3_PI);
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b3Body* body = m_world.CreateBody(bdef);
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b3HullShape hs;
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hs.m_hull = &m_boxHull;
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b3ShapeDef sdef;
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sdef.density = 0.0f;
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sdef.friction = 0.0f;
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sdef.shape = &hs;
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sdef.userData = NULL;
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b3Shape* shape = body->CreateShape(sdef);
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}
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{
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b3BodyDef bdef;
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bdef.type = b3BodyType::e_staticBody;
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bdef.position.Set(20.0f, 2.0f, 5.0f);
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bdef.orientation = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), -0.05f * B3_PI);
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b3Body* body = m_world.CreateBody(bdef);
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b3HullShape hs;
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hs.m_hull = &m_boxHull;
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b3ShapeDef sdef;
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sdef.density = 0.0f;
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sdef.friction = 0.0f;
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sdef.shape = &hs;
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sdef.userData = NULL;
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b3Shape* shape = body->CreateShape(sdef);
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}
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{
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b3BodyDef bdef;
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bdef.type = b3BodyType::e_staticBody;
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bdef.position.Set(12.0f, 2.0f, 5.0f);
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bdef.orientation = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), -0.35f * B3_PI);
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b3Body* body = m_world.CreateBody(bdef);
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b3SphereShape hs;
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hs.m_radius = 2.5f;
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b3ShapeDef sdef;
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sdef.density = 0.0f;
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sdef.friction = 0.0f;
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sdef.shape = &hs;
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sdef.userData = NULL;
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b3Shape* shape = body->CreateShape(sdef);
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}
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{
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b3BodyDef bdef;
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bdef.type = b3BodyType::e_staticBody;
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bdef.position.Set(0.0f, 1.0f, -12.0f);
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b3Body* body = m_world.CreateBody(bdef);
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b3CapsuleShape hs;
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hs.m_centers[0].Set(0.0f, 1.0f, 0.0f);
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hs.m_centers[1].Set(0.0f, -1.0f, 0.0f);
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hs.m_radius = 3.0f;
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b3ShapeDef sdef;
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sdef.density = 0.0f;
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sdef.friction = 0.0f;
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sdef.shape = &hs;
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sdef.userData = NULL;
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b3Shape* shape = body->CreateShape(sdef);
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}
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m_p1.Set(0.0f, 2.0f, 0.0f);
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m_p2.Set(50.0f, 2.0f, 0.0f);
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m_p12.Set(0.0f, 2.0f, 0.0f);
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m_p22.Set(-50.0f, 2.0f, 0.0f);
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}
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void CastRay(const b3Vec3 p1, const b3Vec3 p2) const
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{
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b3RayCastSingleOutput out;
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if (m_world.RayCastSingle(&out, p1, p2))
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{
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g_debugDraw->DrawSegment(p1, out.point, b3Color(0.0f, 1.0f, 0.0f));
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g_debugDraw->DrawPoint(out.point, 4.0f, b3Color(1.0f, 0.0f, 0.0f));
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g_debugDraw->DrawSegment(out.point, out.point + out.normal, b3Color(1.0f, 1.0f, 1.0f));
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}
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else
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{
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g_debugDraw->DrawSegment(p1, p2, b3Color(0.0f, 1.0f, 0.0f));
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}
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}
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void Step()
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{
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float32 dt = g_settings.hertz > 0.0f ? 1.0f / g_settings.hertz : 0.0f;
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b3Quat q(b3Vec3(0.0f, 1.0f, 0.0f), dt * 0.05f * B3_PI);
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m_p1 = b3Mul(q, m_p1);
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m_p2 = b3Mul(q, m_p2);
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m_p12 = b3Mul(q, m_p12);
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m_p22 = b3Mul(q, m_p22);
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CastRay(m_p1, m_p2);
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CastRay(m_p12, m_p22);
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Test::Step();
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}
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static Test* Create()
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{
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return new RayCast();
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}
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b3Vec3 m_p1, m_p2;
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b3Vec3 m_p12, m_p22;
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};
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#endif
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