129 lines
3.2 KiB
C++
129 lines
3.2 KiB
C++
/*
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* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef CAPSULE_DISTANCE_H
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#define CAPSULE_DISTANCE_H
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extern DebugDraw* g_debugDraw;
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extern Camera g_camera;
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class CapsuleDistance : public Test
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{
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public:
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CapsuleDistance()
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{
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g_camera.m_zoom = 25.0f;
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m_xfA.SetIdentity();
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m_xfA.position.Set(-5.0f, 0.0f, 0.0f);
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m_xfA.rotation.SetIdentity();
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m_shapeA.m_centers[0].Set(0.0f, -2.0f, 0.0f);
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m_shapeA.m_centers[1].Set(0.0f, 2.0f, 0.0f);
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m_shapeA.m_radius = 1.0f;
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m_xfB.SetIdentity();
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m_xfB.position.Set(5.0f, 0.0f, 0.0f);
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m_xfB.rotation.SetIdentity();
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m_shapeB.m_centers[0].Set(0.0f, -2.0f, 0.0f);
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m_shapeB.m_centers[1].Set(0.0f, 2.0f, 0.0f);
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m_shapeB.m_radius = 1.0f;
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}
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void Step()
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{
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b3Capsule edgeA;
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edgeA.vertices[0] = m_xfA * m_shapeA.m_centers[0];
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edgeA.vertices[1] = m_xfA * m_shapeA.m_centers[1];
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edgeA.radius = m_shapeA.m_radius;
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b3Capsule edgeB;
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edgeB.vertices[0] = m_xfB * m_shapeB.m_centers[0];
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edgeB.vertices[1] = m_xfB * m_shapeB.m_centers[1];
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edgeB.radius = m_shapeB.m_radius;
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b3Vec3 pointA, pointB;
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b3ClosestPointsOnSegments(&pointA, &pointB, edgeA.vertices[0], edgeA.vertices[1], edgeB.vertices[1], edgeB.vertices[0]);
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if (b3Distance(pointA, pointB) > 0.0f)
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{
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g_debugDraw->DrawPoint(pointA, 4.0f, b3Color(0.0f, 1.0f, 0.0f));
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g_debugDraw->DrawPoint(pointB, 4.0f, b3Color(0.0f, 1.0f, 0.0f));
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g_debugDraw->DrawSegment(pointA, pointB, b3Color(1.0f, 1.0f, 1.0f));
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}
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g_debugDraw->DrawTransform(m_xfA);
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g_debugDraw->DrawTransform(m_xfB);
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m_world.DrawShape(m_xfA, &m_shapeA);
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m_world.DrawShape(m_xfB, &m_shapeB);
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}
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void KeyDown(int key)
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{
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if (key == GLFW_KEY_LEFT)
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{
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m_xfB.position.x -= 0.05f;
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}
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if (key == GLFW_KEY_RIGHT)
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{
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m_xfB.position.x += 0.05f;
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}
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if (key == GLFW_KEY_UP)
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{
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m_xfB.position.y += 0.05f;
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}
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if (key == GLFW_KEY_DOWN)
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{
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m_xfB.position.y -= 0.05f;
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}
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if (key == GLFW_KEY_X)
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{
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b3Quat qx(b3Vec3(1.0f, 0.0f, 0.0f), 0.05f * B3_PI);
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b3Mat33 xfx = b3ConvertQuatToRot(qx);
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m_xfB.rotation = m_xfB.rotation * xfx;
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}
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if (key == GLFW_KEY_Y)
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{
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b3Quat qy(b3Vec3(0.0f, 1.0f, 0.0f), 0.05f * B3_PI);
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b3Mat33 xfy = b3ConvertQuatToRot(qy);
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m_xfB.rotation = m_xfB.rotation * xfy;
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}
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}
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static Test* Create()
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{
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return new CapsuleDistance();
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}
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b3CapsuleShape m_shapeA;
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b3Transform m_xfA;
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b3CapsuleShape m_shapeB;
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b3Transform m_xfB;
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};
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#endif
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