more tests

examples/testbed/framework/test_entries.cpp

@@ -22,10 +22,11 @@
 #include <testbed/tests/distance_test.h>
 #include <testbed/tests/collide_test.h>
 #include <testbed/tests/capsule_collision.h>
+#include <testbed/tests/hull_collision.h>
 #include <testbed/tests/deep_capsule.h>
 #include <testbed/tests/degenerate_capsule.h>
-#include <testbed/tests/hull_face_contact.h>
-#include <testbed/tests/hull_edge_contact.h>
+#include <testbed/tests/box_face_contact.h>
+#include <testbed/tests/box_edge_contact.h>
 #include <testbed/tests/linear_motion.h>
 #include <testbed/tests/angular_motion.h>
 #include <testbed/tests/gyro_motion.h>
@@ -41,6 +42,7 @@
 #include <testbed/tests/newton_cradle.h>
 #include <testbed/tests/ragdoll.h>
 #include <testbed/tests/mesh_contact_test.h>
+#include <testbed/tests/hull_contact_test.h>
 #include <testbed/tests/sphere_stack.h>
 #include <testbed/tests/capsule_stack.h>
 #include <testbed/tests/box_stack.h>
@@ -73,11 +75,13 @@ TestEntry g_tests[] =
 	{ "Cluster", &Cluster::Create },
 	{ "Distance", &Distance::Create },
 	{ "Capsule Collision", &CapsuleCollision::Create },
+	{ "Hull Collision", &HullCollision::Create },
 	{ "Deep Capsule", &DeepCapsule::Create },
 	{ "Degenerate Capsule", &DegenerateCapsule::Create },
-	{ "Hull Face Contact", &HullFaceContact::Create },
-	{ "Hull Edge Contact", &HullEdgeContact::Create },
+	{ "Box Face Contact", &BoxFaceContact::Create },
+	{ "Box Edge Contact", &BoxEdgeContact::Create },
 	{ "Capsule Spin", &CapsuleSpin::Create },
+	{ "Hull Contact Test", &HullContactTest::Create },
 	{ "Mesh Contact Test", &MeshContactTest::Create },
 	{ "Linear Motion", &LinearMotion::Create },
 	{ "Angular Motion", &AngularMotion::Create },

examples/testbed/tests/box_edge_contact.h

@@ -16,13 +16,13 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef HULL_EDGE_CONTACT_H
-#define HULL_EDGE_CONTACT_H
+#ifndef BOX_EDGE_CONTACT_H
+#define BOX_EDGE_CONTACT_H
 
-class HullEdgeContact : public Collide
+class BoxEdgeContact : public Collide
 {
 public:
-	HullEdgeContact()
+	BoxEdgeContact()
 	{
 		b3Transform xf;
 		xf.position.SetZero();
@@ -49,7 +49,7 @@ public:
 	
 	static Test* Create()
 	{
-		return new HullEdgeContact();
+		return new BoxEdgeContact();
 	}
 
 	b3BoxHull m_box;

examples/testbed/tests/box_face_contact.h

@@ -16,13 +16,13 @@
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef HULL_FACE_CONTACT_H
-#define HULL_FACE_CONTACT_H
+#ifndef BOX_FACE_CONTACT_H
+#define BOX_FACE_CONTACT_H
 
-class HullFaceContact : public Collide
+class BoxFaceContact : public Collide
 {
 public:
-	HullFaceContact()
+	BoxFaceContact()
 	{
 		b3Transform m;
 		m.rotation = b3Diagonal(1.0f, 2.0f, 1.0f);
@@ -50,7 +50,7 @@ public:
 
 	static Test* Create()
 	{
-		return new HullFaceContact();
+		return new BoxFaceContact();
 	}
 
 	b3BoxHull m_box1;

examples/testbed/tests/collide_test.h

@@ -55,6 +55,9 @@ public:
 
 		m_world.DrawShape(m_xfA, m_shapeA);
 		m_world.DrawShape(m_xfB, m_shapeB);
+
+		g_draw->DrawString(b3Color_white, "Left/Right/Up/Down Arrow - Translate shape");
+		g_draw->DrawString(b3Color_white, "X/Y/Z - Rotate shape");
 	}
 
 	virtual void KeyDown(int key)
@@ -94,6 +97,14 @@ public:
 
 			m_xfB.rotation = m_xfB.rotation * xfy;
 		}
+
+		if (key == GLFW_KEY_Z)
+		{
+			b3Quat qy(b3Vec3(0.0f, 0.0f, 1.0f), 0.05f * B3_PI);
+			b3Mat33 xfz = b3QuatMat33(qy);
+
+			m_xfB.rotation = m_xfB.rotation * xfz;
+		}
 	}
 
 	b3Shape* m_shapeA;

examples/testbed/tests/distance_test.h

@@ -70,6 +70,9 @@ public:
 		
 		m_world.DrawShape(m_xfA, &m_shapeA);
 		m_world.DrawShape(m_xfB, &m_shapeB);
+
+		g_draw->DrawString(b3Color_white, "Left/Right/Up/Down Arrow - Translate shape");
+		g_draw->DrawString(b3Color_white, "X/Y/Z - Rotate shape");
 	}
 
 	void KeyDown(int key)
@@ -109,6 +112,14 @@ public:
 
 			m_xfB.rotation = m_xfB.rotation * xfy;
 		}
+
+		if (key == GLFW_KEY_Z)
+		{
+			b3Quat qy(b3Vec3(0.0f, 0.0f, 1.0f), 0.05f * B3_PI);
+			b3Mat33 xfz = b3QuatMat33(qy);
+
+			m_xfB.rotation = m_xfB.rotation * xfz;
+		}
 	}
 
 	static Test* Create()

examples/testbed/tests/hull_collision.h

@@ -0,0 +1,120 @@
+/*
+* 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 HULL_COLLISION_H
+#define HULL_COLLISION_H
+
+class HullCollision : public Collide
+{
+public:
+	enum
+	{
+		// Half to avoid generation failure due to many vertices
+		e_count = B3_MAX_HULL_VERTICES / 2
+	};
+
+	HullCollision()
+	{
+		m_xfA.position.Set(0.0f, 1.5f, 0.0f);
+		m_xfA.rotation.SetIdentity();
+
+		m_xfB.SetIdentity();
+
+		m_cache.count = 0;
+
+		Generate();
+	}
+
+	void KeyDown(int button)
+	{
+		if (button == GLFW_KEY_G)
+		{
+			Generate();
+		}
+		
+		Collide::KeyDown(button);
+	}
+
+	void Generate()
+	{
+		for (u32 i = 0; i < e_count; ++i)
+		{
+			float32 x = RandomFloat(-1.0f, 1.0f);
+			float32 y = RandomFloat(-1.0f, 1.0f);
+			float32 z = RandomFloat(-1.0f, 1.0f);
+
+			// Clamp to force coplanarities.
+			// This will stress the convex hull creation code.
+			x = b3Clamp(x, -0.9f, 0.9f);
+			y = b3Clamp(y, -0.9f, 0.9f);
+			z = b3Clamp(z, -0.9f, 0.9f);
+
+			b3Vec3 p(x, y, z);
+
+			m_points1[i] = p;
+		}
+
+		for (u32 i = 0; i < e_count; ++i)
+		{
+			float32 x = RandomFloat(-1.0f, 1.0f);
+			float32 y = RandomFloat(-1.0f, 1.0f);
+			float32 z = RandomFloat(-1.0f, 1.0f);
+
+			// Clamp to force coplanarities.
+			// This will stress the convex hull creation code.
+			x = b3Clamp(x, -0.9f, 0.9f);
+			y = b3Clamp(y, -0.9f, 0.9f);
+			z = b3Clamp(z, -0.9f, 0.9f);
+
+			b3Vec3 p(x, y, z);
+
+			m_points2[i] = p;
+		}
+	}
+	
+	void Step()
+	{
+		b3QHull hull1;
+		hull1.Set(m_points1, e_count);
+
+		b3HullShape sA;
+		sA.m_hull = &hull1;
+		m_shapeA = &sA;
+
+		b3QHull hull2;
+		hull2.Set(m_points2, e_count);
+
+		b3HullShape sB;
+		sB.m_hull = &hull2;
+		m_shapeB = &sB;
+
+		g_draw->DrawString(b3Color_white, "G - Generate a random convex hull pair");
+		
+		Collide::Step();
+	}
+
+	static Test* Create()
+	{
+		return new HullCollision();
+	}
+
+	b3Vec3 m_points1[e_count];
+	b3Vec3 m_points2[e_count];
+};
+
+#endif

examples/testbed/tests/hull_contact_test.h

@@ -0,0 +1,115 @@
+/*
+* 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 HULL_CONTACT_TEST_H
+#define HULL_CONTACT_TEST_H
+
+class HullContactTest : public Test
+{
+public:
+	HullContactTest()
+	{
+		{
+			b3BodyDef bdef;
+			bdef.type = b3BodyType::e_staticBody;
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+			sdef.friction = 1.0f;
+
+			body->CreateShape(sdef);
+		}
+
+		static b3QHull hulls[2];
+		
+		for (u32 i = 0; i < 2; ++i)
+		{
+			b3QHull* hull = hulls + i;
+
+			const u32 count = B3_MAX_HULL_VERTICES / 4;
+			b3Vec3 points[count];
+
+			for (u32 j = 0; j < count; ++j)
+			{
+				// Clamp to force coplanarities.
+				// This will stress the generation code.
+				float32 x = 3.0f * RandomFloat(-1.0f, 1.0f);
+				float32 y = 3.0f * RandomFloat(-1.0f, 1.0f);
+				float32 z = 3.0f * RandomFloat(-1.0f, 1.0f);
+
+				x = b3Clamp(x, -1.5f, 1.5f);
+				y = b3Clamp(y, -1.5f, 1.5f);
+				z = b3Clamp(z, -1.5f, 1.5f);
+
+				b3Vec3 p(x, y, z);
+
+				points[j] = p;
+			}
+
+			hull->Set(points, count);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.type = b3BodyType::e_dynamicBody;
+			bdef.position.Set(0.0f, 5.0f, 0.0f);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = hulls + 0;
+
+			b3ShapeDef sdef;
+			sdef.density = 0.1f;
+			sdef.friction = 0.1f;
+			sdef.shape = &hs;
+
+			body->CreateShape(sdef);
+		}
+		
+		{
+			b3BodyDef bdef;
+			bdef.type = b3BodyType::e_dynamicBody;
+			bdef.position.Set(0.0f, 10.0f, 0.0f);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = hulls + 1;
+
+			b3ShapeDef sdef;
+			sdef.density = 0.1f;
+			sdef.friction = 0.1f;
+			sdef.shape = &hs;
+
+			body->CreateShape(sdef);
+		}
+	}
+
+	static Test* Create()
+	{
+		return new HullContactTest();
+	}
+};
+
+#endif