141 lines
3.5 KiB
C++
141 lines
3.5 KiB
C++
/*
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* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
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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 DISTANCE_H
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#define DISTANCE_H
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class Distance : public Test
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{
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public:
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Distance()
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{
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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_hull = &b3BoxHull_identity;
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m_proxyA.Set(&m_shapeA, 0);
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m_proxyB.Set(&m_shapeB, 0);
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m_cache.count = 0;
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}
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void Step()
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{
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b3GJKOutput out = b3GJK(m_xfA, m_proxyA, m_xfB, m_proxyB, false, &m_cache);
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if (0 < m_cache.count && m_cache.count < 4)
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{
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b3GJKFeaturePair featurePair = b3GetFeaturePair(m_cache);
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for (u32 i = 0; i < featurePair.count1; ++i)
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{
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u32 index = featurePair.index1[i];
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g_draw->DrawPoint(m_xfA * m_proxyA.GetVertex(index), 4.0f, b3Color(1.0f, 1.0f, 0.0f));
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}
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for (u32 i = 0; i < featurePair.count2; ++i)
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{
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u32 index = featurePair.index2[i];
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g_draw->DrawPoint(m_xfB * m_proxyB.GetVertex(index), 4.0f, b3Color(1.0f, 1.0f, 0.0f));
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}
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}
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g_draw->DrawPoint(out.point1, 4.0f, b3Color(0.0f, 1.0f, 0.0f));
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g_draw->DrawPoint(out.point2, 4.0f, b3Color(0.0f, 1.0f, 0.0f));
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g_draw->DrawSegment(out.point1, out.point2, b3Color(1.0f, 1.0f, 1.0f));
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g_draw->DrawTransform(m_xfA);
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g_draw->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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g_draw->DrawString(b3Color_white, "Left/Right/Up/Down Arrow - Translate shape");
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g_draw->DrawString(b3Color_white, "X/Y/Z - Rotate shape");
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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 = b3QuatMat33(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 = b3QuatMat33(qy);
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m_xfB.rotation = m_xfB.rotation * xfy;
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}
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if (key == GLFW_KEY_Z)
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{
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b3Quat qy(b3Vec3(0.0f, 0.0f, 1.0f), 0.05f * B3_PI);
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b3Mat33 xfz = b3QuatMat33(qy);
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m_xfB.rotation = m_xfB.rotation * xfz;
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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 Distance();
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}
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b3CapsuleShape m_shapeA;
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b3Transform m_xfA;
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b3ShapeGJKProxy m_proxyA;
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b3HullShape m_shapeB;
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b3Transform m_xfB;
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b3ShapeGJKProxy m_proxyB;
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b3SimplexCache m_cache;
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};
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#endif |