testbed, tests, ui

examples/testbed/tests/gyro_motion.h

@@ -0,0 +1,112 @@
+/*
+* 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 GYRO_MOTION_H
+#define GYRO_MOTION_H
+
+#include <testbed/tests/quickhull_test.h>
+
+class GyroMotion : public Test
+{
+public:
+	GyroMotion()
+	{
+		{
+			b3StackArray<b3Vec3, 32> points;
+			ConstructCylinder(points, 0.95f, 4.0f);
+
+			const u32 size = qhGetMemorySize(points.Count());
+			void* p = b3Alloc(size);
+			
+			qhHull hull;
+			hull.Construct(p, points);
+			m_cylinderHull = ConvertHull(hull);
+			
+			b3Free(p);
+		}
+
+		{
+			b3BodyDef bd;
+			b3Body* ground = m_world.CreateBody(bd);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+
+			b3ShapeDef sd;
+			sd.shape = &hs;
+
+			ground->CreateShape(sd);
+		}
+
+		{
+			b3BodyDef bdef;
+			bdef.type = e_dynamicBody;
+			bdef.orientation.Set(b3Vec3(1.0f, 0.0f, 0.0f), 0.5f * B3_PI);
+			bdef.position.Set(0.0f, 10.0f, 0.0f);
+			bdef.angularVelocity.Set(0.0f, 0.0f, 4.0f * B3_PI);
+
+			b3Body* body = m_world.CreateBody(bdef);
+
+			{
+				m_rotorBox.Set(1.0f, 0.5f, 7.0f);
+
+				b3HullShape hull;
+				hull.m_hull = &m_rotorBox;
+
+				b3ShapeDef sdef;
+				sdef.density = 0.1f;
+				sdef.shape = &hull;
+
+				body->CreateShape(sdef);
+			}
+
+			{
+				b3HullShape hull;
+				hull.m_hull = &m_cylinderHull;
+
+				b3ShapeDef sdef;
+				sdef.density = 0.2f;
+				sdef.shape = &hull;
+
+				body->CreateShape(sdef);
+			}
+		}
+
+		m_world.SetGravity(b3Vec3(0.0f, 0.0f, 0.0f));
+	}
+
+	~GyroMotion()
+	{
+		{
+			b3Free(m_cylinderHull.vertices);
+			b3Free(m_cylinderHull.edges);
+			b3Free(m_cylinderHull.faces);
+			b3Free(m_cylinderHull.planes);
+		}
+	}
+
+	static Test* Create()
+	{
+		return new GyroMotion();
+	}
+
+	b3BoxHull m_rotorBox;
+	b3Hull m_cylinderHull;
+};
+
+#endif