Upgrade bounce

examples/testbed/tests/convex_cast.h

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+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* 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 CONVEX_CAST_H
+#define CONVEX_CAST_H
+
+class ConvexCast : public Test
+{
+public:
+	ConvexCast()
+	{
+		{
+			b3BodyDef bdef;
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.position.Set(0.0f, 2.0f, 0.0f);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = &b3BoxHull_identity;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+
+			m_shape = body->CreateShape(sdef);
+		}
+		
+		{
+			m_grid.BuildTree();
+			m_grid.BuildAdjacency();
+
+			b3BodyDef bdef;
+			bdef.position.Set(-10.0f, 5.0f, -2.0f);
+			bdef.orientation = b3QuatRotationZ(0.25f * B3_PI);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3MeshShape hs;
+			hs.m_mesh = &m_grid;
+			hs.m_scale.Set(-1.0f, -1.0f, -2.0f);
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.position.Set(0.0f, 2.0f, 10.0f);
+			bdef.orientation = b3QuatRotationY(0.25f * B3_PI);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = &b3BoxHull_identity;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.position.Set(-10.0f, 6.0f, -10.0f);
+			bdef.orientation = b3QuatRotationY(0.25f * B3_PI);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			static b3BoxHull boxHull(2.0f, 4.0f, 0.5f);
+
+			b3HullShape hs;
+			hs.m_hull = &boxHull;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.position.Set(10.0f, 2.0f, 0.0f);
+			bdef.orientation = b3QuatRotationY(0.20f * B3_PI);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = &b3BoxHull_identity;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.position.Set(-10.0f, 2.0f, 14.0f);
+			bdef.orientation = b3QuatRotationY(0.05f * B3_PI);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = &b3BoxHull_identity;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.position.Set(-14.0f, 2.0f, 5.0f);
+			bdef.orientation = b3QuatRotationY(-0.05f * B3_PI);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = &b3BoxHull_identity;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.position.Set(20.0f, 2.0f, 5.0f);
+			bdef.orientation = b3QuatRotationY(-0.05f * B3_PI);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3HullShape hs;
+			hs.m_hull = &b3BoxHull_identity;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.position.Set(12.0f, 2.0f, 5.0f);
+			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.shape = &hs;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.position.Set(0.0f, 1.0f, -12.0f);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			b3CapsuleShape hs;
+			hs.m_vertex1.Set(0.0f, 1.0f, 0.0f);
+			hs.m_vertex2.Set(0.0f, -1.0f, 0.0f);
+			hs.m_radius = 3.0f;
+
+			b3ShapeDef sdef;
+			sdef.shape = &hs;
+
+			b3Shape* shape = body->CreateShape(sdef);
+		}
+
+		m_d.Set(-50.0f, 2.0f, 0.0f);
+	}
+
+	void CastConvex() const
+	{
+		class ConvexCastFilter : public b3ConvexCastFilter
+		{
+		public:
+			bool ShouldConvexCast(b3Shape* shape)
+			{
+				return true;
+			}
+		};
+
+		ConvexCastFilter filter;
+		
+		b3Body* body = m_shape->GetBody();
+		b3Transform xf = body->GetTransform();
+
+		m_world.DrawSolidShape(xf, m_shape, b3Color_red);
+
+		b3Vec3 p1 = xf.translation;
+
+		b3Vec3 p2 = p1 + m_d;
+		
+		b3ConvexCastSingleOutput out;
+		if (m_world.ConvexCastSingle(&out, &filter, m_shape, m_d))
+		{
+			g_draw->DrawPoint(out.point, 4.0f, b3Color_red);
+			g_draw->DrawSegment(out.point, out.point + out.normal, b3Color_white);
+			
+			b3Transform xft;
+			xft.rotation = xf.rotation;
+			xft.translation = xf.translation + out.fraction * m_d;
+
+			m_world.DrawShape(xft, m_shape, b3Color_red);
+
+			g_draw->DrawSegment(p1, xft.translation, b3Color_green);
+		}
+		else
+		{
+			g_draw->DrawSegment(p1, p2, b3Color_green);
+			
+			b3Transform xf1;
+			xf1.rotation = xf.rotation;
+			xf1.translation = xf.translation + m_d;
+			
+			m_world.DrawShape(xf1, m_shape, b3Color_red);
+		}
+	}
+
+	void Step()
+	{
+		scalar dt = g_testSettings->inv_hertz;
+		
+		b3Quat q = b3QuatRotationY(0.05f * B3_PI * dt);
+
+		m_d = b3Mul(q, m_d);
+		
+		CastConvex();
+
+		Test::Step();
+	}
+
+	static Test* Create()
+	{
+		return new ConvexCast();
+	}
+
+	b3GridMesh<5, 5> m_grid;
+
+	b3Shape* m_shape;
+	b3Vec3 m_d;
+};
+
+#endif