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include/testbed/tests/capsule_distance.h

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+/*
+* 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 CAPSULE_DISTANCE_H
+#define CAPSULE_DISTANCE_H
+
+extern DebugDraw* g_debugDraw;
+extern Camera g_camera;
+
+class CapsuleDistance : public Test
+{
+public:
+	CapsuleDistance()
+	{
+		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_centers[0].Set(0.0f, -2.0f, 0.0f);
+		m_shapeB.m_centers[1].Set(0.0f, 2.0f, 0.0f);
+		m_shapeB.m_radius = 1.0f;
+	}
+
+	void Step()
+	{
+		b3Capsule edgeA;
+		edgeA.vertices[0] = m_xfA * m_shapeA.m_centers[0];
+		edgeA.vertices[1] = m_xfA * m_shapeA.m_centers[1];
+		edgeA.radius = m_shapeA.m_radius;
+
+		b3Capsule edgeB;
+		edgeB.vertices[0] = m_xfB * m_shapeB.m_centers[0];
+		edgeB.vertices[1] = m_xfB * m_shapeB.m_centers[1];
+		edgeB.radius = m_shapeB.m_radius;
+
+		b3Vec3 pointA, pointB;
+		b3ClosestPointsOnSegments(&pointA, &pointB, edgeA.vertices[0], edgeA.vertices[1], edgeB.vertices[1], edgeB.vertices[0]);
+		
+		if (b3Distance(pointA, pointB) > 0.0f)
+		{
+			g_debugDraw->DrawPoint(pointA, b3Color(1.0f, 0.0f, 0.0f));
+			g_debugDraw->DrawPoint(pointB, b3Color(1.0f, 0.0f, 0.0f));
+			
+			g_debugDraw->DrawSegment(pointA, pointB, b3Color(1.0f, 1.0f, 0.0f));
+		}
+
+		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 CapsuleDistance();
+	}
+
+	b3CapsuleShape m_shapeA;
+	b3Transform m_xfA;
+	
+	b3CapsuleShape m_shapeB;
+	b3Transform m_xfB;
+};
+
+#endif