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fix ray-cast test drawing

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This commit is contained in:
Irlan
2018-04-10 13:54:08 -03:00
parent 5441592c48
commit 7ca7c1552c
1 changed files with 22 additions and 54 deletions
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76
examples/testbed/tests/ray_cast.h
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@@ -26,7 +26,6 @@ public:
{
{
b3BodyDef bdef;
bdef.type = b3BodyType::e_staticBody;
b3Body* body = m_world.CreateBody(bdef);
b3HullShape hs;
@@ -40,9 +39,8 @@ public:
{
b3BodyDef bdef;
bdef.type = b3BodyType::e_staticBody;
bdef.position.Set(0.0f, 2.0f, 10.0f);
bdef.orientation = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), 0.25f * B3_PI);
bdef.orientation = b3QuatRotationY(0.25f * B3_PI);
b3Body* body = m_world.CreateBody(bdef);
@@ -57,19 +55,12 @@ public:
{
b3BodyDef bdef;
bdef.type = b3BodyType::e_staticBody;
bdef.position.Set(-10.0f, 6.0f, -10.0f);
bdef.orientation = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), 0.25f * B3_PI);
bdef.orientation = b3QuatRotationY(0.25f * B3_PI);
b3Body* body = m_world.CreateBody(bdef);
static b3BoxHull boxHull;
{
b3Transform xf;
xf.position.SetZero();
xf.rotation = b3Diagonal(2.0f, 4.0f, 0.5f);
boxHull.SetTransform(xf);
}
static b3BoxHull boxHull(2.0f, 4.0f, 0.5f);
b3HullShape hs;
hs.m_hull = &boxHull;
@@ -82,9 +73,8 @@ public:
{
b3BodyDef bdef;
bdef.type = b3BodyType::e_staticBody;
bdef.position.Set(10.0f, 2.0f, 0.0f);
bdef.orientation = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), 0.20f * B3_PI);
bdef.orientation = b3QuatRotationY(0.20f * B3_PI);
b3Body* body = m_world.CreateBody(bdef);
@@ -92,19 +82,15 @@ public:
hs.m_hull = &b3BoxHull_identity;
b3ShapeDef sdef;
sdef.density = 0.0f;
sdef.friction = 0.0f;
sdef.shape = &hs;
sdef.userData = NULL;
b3Shape* shape = body->CreateShape(sdef);
}
{
b3BodyDef bdef;
bdef.type = b3BodyType::e_staticBody;
bdef.position.Set(-10.0f, 2.0f, 14.0f);
bdef.orientation = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), 0.05f * B3_PI);
bdef.orientation = b3QuatRotationY(0.05f * B3_PI);
b3Body* body = m_world.CreateBody(bdef);
@@ -112,19 +98,15 @@ public:
hs.m_hull = &b3BoxHull_identity;
b3ShapeDef sdef;
sdef.density = 0.0f;
sdef.friction = 0.0f;
sdef.shape = &hs;
sdef.userData = NULL;
b3Shape* shape = body->CreateShape(sdef);
}
{
b3BodyDef bdef;
bdef.type = b3BodyType::e_staticBody;
bdef.position.Set(-14.0f, 2.0f, 5.0f);
bdef.orientation = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), -0.05f * B3_PI);
bdef.orientation = b3QuatRotationY(-0.05f * B3_PI);
b3Body* body = m_world.CreateBody(bdef);
@@ -132,19 +114,15 @@ public:
hs.m_hull = &b3BoxHull_identity;
b3ShapeDef sdef;
sdef.density = 0.0f;
sdef.friction = 0.0f;
sdef.shape = &hs;
sdef.userData = NULL;
b3Shape* shape = body->CreateShape(sdef);
}
{
b3BodyDef bdef;
bdef.type = b3BodyType::e_staticBody;
bdef.position.Set(20.0f, 2.0f, 5.0f);
bdef.orientation = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), -0.05f * B3_PI);
bdef.orientation = b3QuatRotationY(-0.05f * B3_PI);
b3Body* body = m_world.CreateBody(bdef);
@@ -152,37 +130,30 @@ public:
hs.m_hull = &b3BoxHull_identity;
b3ShapeDef sdef;
sdef.density = 0.0f;
sdef.friction = 0.0f;
sdef.shape = &hs;
sdef.userData = NULL;
b3Shape* shape = body->CreateShape(sdef);
}
{
b3BodyDef bdef;
bdef.type = b3BodyType::e_staticBody;
bdef.position.Set(12.0f, 2.0f, 5.0f);
bdef.orientation = b3Quat(b3Vec3(0.0f, 1.0f, 0.0f), -0.35f * B3_PI);
bdef.orientation = b3QuatRotationY(-0.35f * B3_PI);
b3Body* body = m_world.CreateBody(bdef);
b3SphereShape hs;
hs.m_center.SetZero();
hs.m_radius = 2.5f;
b3ShapeDef sdef;
sdef.density = 0.0f;
sdef.friction = 0.0f;
sdef.shape = &hs;
sdef.userData = NULL;
b3Shape* shape = body->CreateShape(sdef);
}
{
b3BodyDef bdef;
bdef.type = b3BodyType::e_staticBody;
bdef.position.Set(0.0f, 1.0f, -12.0f);
b3Body* body = m_world.CreateBody(bdef);
@@ -193,10 +164,7 @@ public:
hs.m_radius = 3.0f;
b3ShapeDef sdef;
sdef.density = 0.0f;
sdef.friction = 0.0f;
sdef.shape = &hs;
sdef.userData = NULL;
b3Shape* shape = body->CreateShape(sdef);
}
@@ -213,30 +181,30 @@ public:
b3RayCastSingleOutput out;
if (m_world.RayCastSingle(&out, p1, p2))
{
g_debugDraw->DrawSegment(p1, out.point, b3Color(0.0f, 1.0f, 0.0f));
g_debugDraw->DrawPoint(out.point, 4.0f, b3Color(1.0f, 0.0f, 0.0f));
g_debugDraw->DrawSegment(out.point, out.normal, b3Color(1.0f, 1.0f, 1.0f));
g_debugDraw->DrawSolidCircle(out.normal, out.point + 0.05f * out.normal, 1.0f, b3Color(1.0f, 1.0f, 1.0f));
g_debugDraw->DrawSegment(p1, out.point, b3Color_green);
g_debugDraw->DrawPoint(out.point, 4.0f, b3Color_red);
g_debugDraw->DrawSegment(out.point, out.point + out.normal, b3Color_white);
g_debugDraw->DrawSolidCircle(out.normal, out.point + 0.025f * out.normal, 1.0f, b3Color_white);
}
else
{
g_debugDraw->DrawSegment(p1, p2, b3Color(0.0f, 1.0f, 0.0f));
g_debugDraw->DrawSegment(p1, p2, b3Color_green);
}
}
void Step()
{
float32 dt = g_settings->inv_hertz;
b3Quat dq = b3QuatRotationY(0.05f * B3_PI * dt);
b3Quat q(b3Vec3(0.0f, 1.0f, 0.0f), dt * 0.05f * B3_PI);
m_p1 = b3Mul(q, m_p1);
m_p2 = b3Mul(q, m_p2);
m_p12 = b3Mul(q, m_p12);
m_p22 = b3Mul(q, m_p22);
m_p1 = b3Mul(dq, m_p1);
m_p2 = b3Mul(dq, m_p2);
CastRay(m_p1, m_p2);
m_p12 = b3Mul(dq, m_p12);
m_p22 = b3Mul(dq, m_p22);
CastRay(m_p12, m_p22);
Test::Step();