128 lines
3.0 KiB
C++
128 lines
3.0 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_STACK_H
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#define CAPSULE_STACK_H
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class CapsuleStack : public Test
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{
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public:
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enum
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{
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e_rowCount = 5,
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e_columnCount = 5,
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e_depthCount = 5
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};
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CapsuleStack()
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{
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{
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b3BodyDef bd;
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bd.type = b3BodyType::e_staticBody;
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b3Body* body = 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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body->CreateShape(sd);
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}
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float32 height = 3.0f;
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float32 radius = 1.0f;
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float32 separation = 0.0f;
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b3CapsuleShape capsule;
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capsule.m_centers[0].Set(0.0f, -0.5f * height, 0.0f);
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capsule.m_centers[1].Set(0.0f, 0.5f * height, 0.0f);
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capsule.m_radius = radius;
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b3ShapeDef sdef;
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sdef.shape = &capsule;
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sdef.density = 1.0f;
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sdef.friction = 0.3f;
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const u32 c = e_rowCount * e_columnCount * e_depthCount;
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b3Body* bs[c];
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u32 n = 0;
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b3AABB3 aabb;
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aabb.m_lower.Set(0.0f, 0.0f, 0.0f);
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aabb.m_upper.Set(0.0f, 0.0f, 0.0f);
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for (u32 i = 0; i < e_rowCount; ++i)
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{
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for (u32 j = 0; j < e_columnCount; ++j)
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{
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for (u32 k = 0; k < e_depthCount; ++k)
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{
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b3BodyDef bdef;
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bdef.type = b3BodyType::e_dynamicBody;
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bdef.position.x = (2.0f + separation) * float32(i) * (0.5f * height + radius);
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bdef.position.y = (2.0f + separation) * float32(j) * radius;
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bdef.position.z = (2.0f + separation) * float32(k) * radius;
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bdef.orientation = b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), 0.5f * B3_PI);
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b3Body* body = m_world.CreateBody(bdef);
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bs[n++] = body;
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b3Shape* shape = body->CreateShape(sdef);
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b3AABB3 aabb2;
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shape->ComputeAABB(&aabb2, body->GetTransform());
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aabb = b3Combine(aabb, aabb2);
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}
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}
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}
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b3Vec3 center = aabb.Centroid();
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for (u32 i = 0; i < n; ++i)
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{
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b3Body* b = bs[i];
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const b3Vec3& p = b->GetSweep().worldCenter;
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const b3Quat& q = b->GetSweep().orientation;
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// centralize
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b3Vec3 position = p - center;
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// move up
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position.y += 0.5f * aabb.Height() + radius;
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// maintain orientation
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b3Vec3 axis;
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float32 angle;
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q.GetAxisAngle(&axis, &angle);
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b->SetTransform(position, axis, angle);
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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 CapsuleStack();
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}
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};
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#endif
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