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generate contact when body type changes at runtime, decoupling, add first ray cast hit query to world query (more to add later such as sphere/box/convex casts), hotfix

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This commit is contained in:
Irlan Robson
2017-01-13 17:17:02 -02:00
parent caa9d703b5
commit 7d0f06fea2
18 changed files with 209 additions and 174 deletions
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12
include/testbed/tests/character_test.h
View File

@ -61,9 +61,9 @@ public:
void RayHit()
{
if (m_rayHit.m_shape)
if (m_rayHit.shape)
{
if (m_rayHit.m_shape->GetBody() != m_character)
if (m_rayHit.shape->GetBody() != m_character)
{
Test::RayHit();
}
@ -72,12 +72,12 @@ public:
void Step()
{
if (m_rayHit.m_shape)
if (m_rayHit.shape)
{
if (m_rayHit.m_shape->GetBody() != m_character)
if (m_rayHit.shape->GetBody() != m_character)
{
b3Vec3 point = m_rayHit.m_point;
b3Vec3 normal = m_rayHit.m_normal;
b3Vec3 point = m_rayHit.point;
b3Vec3 normal = m_rayHit.normal;
const b3Transform& xf = m_character->GetTransform();
b3Vec3 n = point - xf.position;

14
include/testbed/tests/ray_cast.h
View File

@ -206,16 +206,16 @@ public:
{
// Perform the ray cast
RayCastListener listener;
m_world.RayCast(&listener, p1, p2);
listener.hit.shape = NULL;
m_world.RayCastFirst(&listener, p1, p2);
i32 hitId = listener.FindClosestHit();
if (hitId >= 0)
RayCastHit hit = listener.hit;
if (hit.shape)
{
// Replace current hit
RayCastHit hit = listener.m_hits[hitId];
g_debugDraw->DrawSegment(p1, hit.m_point, b3Color(0.0f, 1.0f, 0.0f));
g_debugDraw->DrawPoint(hit.m_point, b3Color(1.0f, 0.0f, 0.0f));
g_debugDraw->DrawSegment(hit.m_point, hit.m_point + hit.m_normal, b3Color(1.0f, 1.0f, 1.0f));
g_debugDraw->DrawSegment(p1, hit.point, b3Color(0.0f, 1.0f, 0.0f));
g_debugDraw->DrawPoint(hit.point, b3Color(1.0f, 0.0f, 0.0f));
g_debugDraw->DrawSegment(hit.point, hit.point + hit.normal, b3Color(1.0f, 1.0f, 1.0f));
}
else
{

83
include/testbed/tests/test.h
View File

@ -19,10 +19,11 @@
#ifndef TEST_H
#define TEST_H
#include <bounce/bounce.h>
#include <glfw/glfw3.h>
#include <imgui/imgui.h>
#include "../framework/debug_draw.h"
#include <bounce/bounce.h>
struct Settings
{
@ -83,53 +84,14 @@ struct TestEntry
TestCreate create;
};
enum TestType
{
// Collision
e_QHull,
e_Cluster,
e_Distance,
e_CapsuleDistance,
e_CapsuleAndCapsule,
e_CapsuleAndHull,
e_HullAndHull,
// Dynamics
// Joints
e_NewtonCradle,
e_Vehicle,
e_Door,
e_HingeChain,
e_Ragdoll,
// Contacts
e_Quadric,
e_MeshContact,
// World
e_SphereStack,
e_CapsuleStack,
e_BoxStack,
e_ShapeStack,
e_Jenga,
e_Thin,
e_Pyramid,
e_Pyramids,
// World Queries
e_RayCast,
e_SensorTest,
e_Character,
e_BodyTypes,
e_VaryingFriction,
e_VaryingRestitution,
e_testCount
};
extern TestEntry g_tests[e_testCount];
extern TestEntry g_tests[];
struct RayCastHit
{
b3Shape* m_shape;
b3Vec3 m_point;
b3Vec3 m_normal;
float32 m_fraction;
b3Shape* shape;
b3Vec3 point;
b3Vec3 normal;
float32 fraction;
};
class RayCastListener : public b3RayCastListener
@ -137,35 +99,14 @@ class RayCastListener : public b3RayCastListener
public:
float32 ReportShape(b3Shape* shape, const b3Vec3& point, const b3Vec3& normal, float32 fraction)
{
RayCastHit hit;
hit.m_shape = shape;
hit.m_point = point;
hit.m_normal = normal;
hit.m_fraction = fraction;
m_hits.PushBack(hit);
// Continue.
hit.shape = shape;
hit.point = point;
hit.normal = normal;
hit.fraction = fraction;
return 1.0f;
}
int FindClosestHit() const
{
float32 minFraction = FLT_MAX;
int minIndex = -1;
for (u32 i = 0; i < m_hits.Count(); ++i)
{
const RayCastHit* hit = m_hits.Get(i);
if (hit->m_fraction < minFraction)
{
minFraction = hit->m_fraction;
minIndex = i;
}
}
return minIndex;
}
b3StackArray<RayCastHit, 256> m_hits;
RayCastHit hit;
};
class Test : public b3ContactListener