bd09b243c2
Since I started altering the testbed for better maintainability, I prefered to drop this (tested) large change with a single commit. Some changes below: Put some globals in their correct place, Now Testbed uses the MVC pattern (Model-View Controller). This way it becomes better to maintain than using no pattern in my opinion. Fixed some bugs in the debug draw interface. Of course, updated almost all tests because of the differences. Update script.
130 lines
3.2 KiB
C++
130 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 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_debugDraw->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_debugDraw->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_debugDraw->DrawPoint(out.point1, 4.0f, b3Color(0.0f, 1.0f, 0.0f));
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g_debugDraw->DrawPoint(out.point2, 4.0f, b3Color(0.0f, 1.0f, 0.0f));
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g_debugDraw->DrawSegment(out.point1, out.point2, b3Color(1.0f, 1.0f, 1.0f));
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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 = 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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}
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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 |