128 lines
3.1 KiB
C++
128 lines
3.1 KiB
C++
/*
|
|
* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
|
|
*
|
|
* This software is provided 'as-is', without any express or implied
|
|
* warranty. In no event will the authors be held liable for any damages
|
|
* arising from the use of this software.
|
|
* Permission is granted to anyone to use this software for any purpose,
|
|
* including commercial applications, and to alter it and redistribute it
|
|
* freely, subject to the following restrictions:
|
|
* 1. The origin of this software must not be misrepresented; you must not
|
|
* claim that you wrote the original software. If you use this software
|
|
* in a product, an acknowledgment in the product documentation would be
|
|
* appreciated but is not required.
|
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
|
* misrepresented as being the original software.
|
|
* 3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#ifndef CAPSULE_STACK_H
|
|
#define CAPSULE_STACK_H
|
|
|
|
class CapsuleStack : public Test
|
|
{
|
|
public:
|
|
enum
|
|
{
|
|
e_rowCount = 1,
|
|
e_columnCount = 5,
|
|
e_depthCount = 1
|
|
};
|
|
|
|
CapsuleStack()
|
|
{
|
|
{
|
|
b3BodyDef bd;
|
|
bd.type = b3BodyType::e_staticBody;
|
|
|
|
b3Body* body = m_world.CreateBody(bd);
|
|
|
|
b3HullShape hs;
|
|
hs.m_hull = &m_groundHull;
|
|
|
|
b3ShapeDef sd;
|
|
sd.shape = &hs;
|
|
|
|
body->CreateShape(sd);
|
|
}
|
|
|
|
float32 height = 3.0f;
|
|
float32 radius = 1.0f;
|
|
float32 separation = 0.0f;
|
|
|
|
b3CapsuleShape capsule;
|
|
capsule.m_centers[0].Set(0.0f, -0.5f * height, 0.0f);
|
|
capsule.m_centers[1].Set(0.0f, 0.5f * height, 0.0f);
|
|
capsule.m_radius = radius;
|
|
|
|
b3ShapeDef sdef;
|
|
sdef.shape = &capsule;
|
|
sdef.density = 0.1f;
|
|
sdef.friction = 0.4f;
|
|
|
|
const u32 c = e_rowCount * e_columnCount * e_depthCount;
|
|
b3Body* bs[c];
|
|
u32 n = 0;
|
|
|
|
b3AABB3 aabb;
|
|
aabb.m_lower.Set(0.0f, 0.0f, 0.0f);
|
|
aabb.m_upper.Set(0.0f, 0.0f, 0.0f);
|
|
|
|
for (u32 i = 0; i < e_rowCount; ++i)
|
|
{
|
|
for (u32 j = 0; j < e_columnCount; ++j)
|
|
{
|
|
for (u32 k = 0; k < e_depthCount; ++k)
|
|
{
|
|
b3BodyDef bdef;
|
|
bdef.type = b3BodyType::e_dynamicBody;
|
|
|
|
bdef.position.x = (2.0f + separation) * float32(i) * (0.5f * height + radius);
|
|
bdef.position.y = 2.0f + (2.0f + separation) * float32(j) * radius;
|
|
bdef.position.z = (2.0f + separation) * float32(k) * radius;
|
|
|
|
bdef.orientation = b3Quat(b3Vec3(0.0f, 0.0f, 1.0f), 0.5f * B3_PI);
|
|
|
|
b3Body* body = m_world.CreateBody(bdef);
|
|
bs[n++] = body;
|
|
|
|
b3Shape* shape = body->CreateShape(sdef);
|
|
|
|
b3AABB3 aabb2;
|
|
shape->ComputeAABB(&aabb2, body->GetTransform());
|
|
|
|
aabb = b3Combine(aabb, aabb2);
|
|
}
|
|
}
|
|
}
|
|
|
|
b3Vec3 center = aabb.Centroid();
|
|
|
|
for (u32 i = 0; i < n; ++i)
|
|
{
|
|
b3Body* b = bs[i];
|
|
const b3Vec3& p = b->GetSweep().worldCenter;
|
|
const b3Quat& q = b->GetSweep().orientation;
|
|
|
|
// centralize
|
|
b3Vec3 position = p - center;
|
|
|
|
// move up
|
|
position.y += 5.0f + 0.5f * aabb.Height() + radius;
|
|
|
|
// maintain orientation
|
|
b3Vec3 axis;
|
|
float32 angle;
|
|
q.GetAxisAngle(&axis, &angle);
|
|
b->SetTransform(position, axis, angle);
|
|
}
|
|
}
|
|
|
|
static Test* Create()
|
|
{
|
|
return new CapsuleStack();
|
|
}
|
|
};
|
|
|
|
#endif
|