/* * 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 CAPSULE_STACK_H #define CAPSULE_STACK_H class CapsuleStack : public Test { public: enum { e_rowCount = 1, e_columnCount = 5, e_depthCount = 1 }; CapsuleStack() { { b3BodyDef bd; bd.type = b3BodyType::e_staticBody; b3Body* body = m_world.CreateBody(bd); b3HullShape hs; hs.m_hull = &m_groundHull; b3ShapeDef sd; sd.shape = &hs; body->CreateShape(sd); } float32 height = 3.0f; float32 radius = 1.0f; float32 separation = 0.0f; b3CapsuleShape capsule; capsule.m_centers[0].Set(0.0f, -0.5f * height, 0.0f); capsule.m_centers[1].Set(0.0f, 0.5f * height, 0.0f); capsule.m_radius = radius; b3ShapeDef sdef; sdef.shape = &capsule; sdef.density = 0.1f; sdef.friction = 0.4f; const u32 c = e_rowCount * e_columnCount * e_depthCount; b3Body* bs[c]; u32 n = 0; b3AABB3 aabb; aabb.m_lower.Set(0.0f, 0.0f, 0.0f); aabb.m_upper.Set(0.0f, 0.0f, 0.0f); for (u32 i = 0; i < e_rowCount; ++i) { for (u32 j = 0; j < e_columnCount; ++j) { for (u32 k = 0; k < e_depthCount; ++k) { b3BodyDef bdef; bdef.type = b3BodyType::e_dynamicBody; bdef.position.x = (2.0f + separation) * float32(i) * (0.5f * height + radius); bdef.position.y = 2.0f + (2.0f + separation) * float32(j) * radius; bdef.position.z = (2.0f + separation) * float32(k) * radius; bdef.orientation = b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), 0.5f * B3_PI); b3Body* body = m_world.CreateBody(bdef); bs[n++] = body; b3Shape* shape = body->CreateShape(sdef); b3AABB3 aabb2; shape->ComputeAABB(&aabb2, body->GetTransform()); aabb = b3Combine(aabb, aabb2); } } } b3Vec3 center = aabb.Centroid(); for (u32 i = 0; i < n; ++i) { b3Body* b = bs[i]; const b3Vec3& p = b->GetSweep().worldCenter; const b3Quat& q = b->GetSweep().orientation; // centralize b3Vec3 position = p - center; // move up position.y += 5.0f + 0.5f * aabb.Height() + radius; // maintain orientation b3Vec3 axis; float32 angle; q.GetAxisAngle(&axis, &angle); b->SetTransform(position, axis, angle); } } static Test* Create() { return new CapsuleStack(); } }; #endif