121 lines
2.4 KiB
C++
121 lines
2.4 KiB
C++
#ifndef SHAPE_CAST_H
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#define SHAPE_CAST_H
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class ShapeCast : public Test
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{
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public:
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ShapeCast()
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{
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m_shapeA.m_hull = &b3BoxHull_identity;
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m_shapeA.m_radius = 0.0f;
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m_shapeB.m_hull = &b3BoxHull_identity;
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m_shapeB.m_radius = 0.0f;
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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_xfB.position.Set(10.0f, 0.0f, 0.0f);
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m_xfB.rotation.SetIdentity();
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m_proxyA.Set(&m_shapeA, 0);
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m_proxyB.Set(&m_shapeB, 0);
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}
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void Step()
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{
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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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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->DrawSolidShape(&m_shapeA, b3Color_white, m_xfA);
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g_draw->DrawSolidShape(&m_shapeB, b3Color_white, m_xfB);
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b3Vec3 translationB = -100.0f * b3Vec3_x;
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g_draw->DrawSegment(m_xfB.position, m_xfB.position + translationB, b3Color_white);
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b3GJKShapeCastOutput out;
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bool hit = b3GJKShapeCast(&out, m_xfA, m_proxyA, m_xfB, m_proxyB, translationB);
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g_draw->DrawString(b3Color_white, "Iterations = %d", out.iterations);
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if (hit)
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{
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g_draw->DrawPoint(out.point, 4.0f, b3Color_green);
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g_draw->DrawSegment(out.point, out.point + out.normal, b3Color_green);
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b3Transform xfB;
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xfB.rotation = m_xfB.rotation;
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xfB.position = m_xfB.position + out.t * translationB;
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m_world.DrawShape(xfB, &m_shapeB);
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}
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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 -= 0.105f;
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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 += 0.105f;
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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 += 0.105f;
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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 -= 0.105f;
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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 ShapeCast();
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}
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b3HullShape 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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};
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#endif |