119 lines
2.6 KiB
C++
119 lines
2.6 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 GYRO_TEST_H
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#define GYRO_TEST_H
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#include <testbed/tests/quickhull_test.h>
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extern DebugDraw* g_debugDraw;
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extern Camera g_camera;
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extern Settings g_settings;
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class GyroTest : public Test
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{
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public:
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GyroTest()
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{
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{
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b3StackArray<b3Vec3, 32> points;
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ConstructCylinder(points, 0.95f, 4.0f);
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const u32 size = qhGetMemorySize(points.Count());
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void* p = b3Alloc(size);
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qhHull hull;
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hull.Construct(p, points);
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m_cylinderHull = ConvertHull(hull);
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b3Free(p);
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}
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{
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b3BodyDef bd;
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b3Body* ground = m_world.CreateBody(bd);
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b3HullShape hs;
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hs.m_hull = &m_groundHull;
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b3ShapeDef sd;
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sd.shape = &hs;
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ground->CreateShape(sd);
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}
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{
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b3BodyDef bdef;
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bdef.type = e_dynamicBody;
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bdef.orientation.Set(b3Vec3(1.0f, 0.0f, 0.0f), 0.5f * B3_PI);
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bdef.position.Set(0.0f, 10.0f, 0.0f);
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bdef.angularVelocity.Set(0.0f, 0.0f, 4.0f * B3_PI);
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b3Body* body = m_world.CreateBody(bdef);
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{
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b3Transform xf;
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xf.position.SetZero();
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xf.rotation = b3Diagonal(1.0f, 0.5f, 7.0f);
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m_rotorBox.SetTransform(xf);
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b3HullShape hull;
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hull.m_hull = &m_rotorBox;
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b3ShapeDef sdef;
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sdef.density = 0.1f;
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sdef.shape = &hull;
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body->CreateShape(sdef);
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}
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{
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b3HullShape hull;
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hull.m_hull = &m_cylinderHull;
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b3ShapeDef sdef;
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sdef.density = 0.2f;
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sdef.shape = &hull;
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body->CreateShape(sdef);
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}
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}
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m_world.SetGravity(b3Vec3(0.0f, 0.0f, 0.0f));
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}
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~GyroTest()
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{
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{
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b3Free(m_cylinderHull.vertices);
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b3Free(m_cylinderHull.edges);
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b3Free(m_cylinderHull.faces);
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b3Free(m_cylinderHull.planes);
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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 GyroTest();
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}
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b3BoxHull m_rotorBox;
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b3Hull m_cylinderHull;
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};
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#endif |