Add initial prototype.

2022-07-31 17:34:54 +10:00
commit 54a53b2ac0
1421 changed files with 358874 additions and 0 deletions
--- a/3-mid/physics/implement/box2d/contrib/testbed/tests/shape_cast.cpp
+++ b/3-mid/physics/implement/box2d/contrib/testbed/tests/shape_cast.cpp
@@ -0,0 +1,193 @@
+// MIT License
+
+// Copyright (c) 2019 Erin Catto
+
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+
+// The above copyright notice and this permission notice shall be included in all
+// copies or substantial portions of the Software.
+
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+#include "test.h"
+#include "box2d/b2_distance.h"
+
+class ShapeCast : public Test
+{
+public:
+	enum
+	{
+		e_vertexCount = 8
+	};
+
+	ShapeCast()
+	{
+#if 1
+		m_vAs[0].Set(-0.5f, 1.0f);
+		m_vAs[1].Set(0.5f, 1.0f);
+		m_vAs[2].Set(0.0f, 0.0f);
+		m_countA = 3;
+		m_radiusA = b2_polygonRadius;
+
+		m_vBs[0].Set(-0.5f, -0.5f);
+		m_vBs[1].Set(0.5f, -0.5f);
+		m_vBs[2].Set(0.5f, 0.5f);
+		m_vBs[3].Set(-0.5f, 0.5f);
+		m_countB = 4;
+		m_radiusB = b2_polygonRadius;
+
+		m_transformA.p.Set(0.0f, 0.25f);
+		m_transformA.q.SetIdentity();
+		m_transformB.p.Set(-4.0f, 0.0f);
+		m_transformB.q.SetIdentity();
+		m_translationB.Set(8.0f, 0.0f);
+#elif 0
+		m_vAs[0].Set(0.0f, 0.0f);
+		m_countA = 1;
+		m_radiusA = 0.5f;
+
+		m_vBs[0].Set(0.0f, 0.0f);
+		m_countB = 1;
+		m_radiusB = 0.5f;
+
+		m_transformA.p.Set(0.0f, 0.25f);
+		m_transformA.q.SetIdentity();
+		m_transformB.p.Set(-4.0f, 0.0f);
+		m_transformB.q.SetIdentity();
+		m_translationB.Set(8.0f, 0.0f);
+#else
+		m_vAs[0].Set(0.0f, 0.0f);
+		m_vAs[1].Set(2.0f, 0.0f);
+		m_countA = 2;
+		m_radiusA = b2_polygonRadius;
+
+		m_vBs[0].Set(0.0f, 0.0f);
+		m_countB = 1;
+		m_radiusB = 0.25f;
+
+		// Initial overlap
+		m_transformA.p.Set(0.0f, 0.0f);
+		m_transformA.q.SetIdentity();
+		m_transformB.p.Set(-0.244360745f, 0.05999358f);
+		m_transformB.q.SetIdentity();
+		m_translationB.Set(0.0f, 0.0399999991f);
+#endif
+	}
+
+	static Test* Create()
+	{
+		return new ShapeCast;
+	}
+
+	void Step(Settings& settings) override
+	{
+		Test::Step(settings);
+
+		b2ShapeCastInput input;
+		input.proxyA.Set(m_vAs, m_countA, m_radiusA);
+		input.proxyB.Set(m_vBs, m_countB, m_radiusB);
+		input.transformA = m_transformA;
+		input.transformB = m_transformB;
+		input.translationB = m_translationB;
+
+		b2ShapeCastOutput output;
+		bool hit = b2ShapeCast(&output, &input);
+
+		b2Transform transformB2;
+		transformB2.q = m_transformB.q;
+		transformB2.p = m_transformB.p + output.lambda * input.translationB;
+
+		b2DistanceInput distanceInput;
+		distanceInput.proxyA.Set(m_vAs, m_countA, m_radiusA);
+		distanceInput.proxyB.Set(m_vBs, m_countB, m_radiusB);
+		distanceInput.transformA = m_transformA;
+		distanceInput.transformB = transformB2;
+		distanceInput.useRadii = false;
+		b2SimplexCache simplexCache;
+		simplexCache.count = 0;
+		b2DistanceOutput distanceOutput;
+
+		b2Distance(&distanceOutput, &simplexCache, &distanceInput);
+
+		g_debugDraw.DrawString(5, m_textLine, "hit = %s, iters = %d, lambda = %g, distance = %g",
+			hit ? "true" : "false", output.iterations, output.lambda, distanceOutput.distance);
+		m_textLine += m_textIncrement;
+
+		b2Vec2 vertices[b2_maxPolygonVertices];
+
+		for (int32 i = 0; i < m_countA; ++i)
+		{
+			vertices[i] = b2Mul(m_transformA, m_vAs[i]);
+		}
+
+		if (m_countA == 1)
+		{
+			g_debugDraw.DrawCircle(vertices[0], m_radiusA, b2Color(0.9f, 0.9f, 0.9f));
+		}
+		else
+		{
+			g_debugDraw.DrawPolygon(vertices, m_countA, b2Color(0.9f, 0.9f, 0.9f));
+		}
+
+		for (int32 i = 0; i < m_countB; ++i)
+		{
+			vertices[i] = b2Mul(m_transformB, m_vBs[i]);
+		}
+
+		if (m_countB == 1)
+		{
+			g_debugDraw.DrawCircle(vertices[0], m_radiusB, b2Color(0.5f, 0.9f, 0.5f));
+		}
+		else
+		{
+			g_debugDraw.DrawPolygon(vertices, m_countB, b2Color(0.5f, 0.9f, 0.5f));
+		}
+
+		for (int32 i = 0; i < m_countB; ++i)
+		{
+			vertices[i] = b2Mul(transformB2, m_vBs[i]);
+		}
+
+		if (m_countB == 1)
+		{
+			g_debugDraw.DrawCircle(vertices[0], m_radiusB, b2Color(0.5f, 0.7f, 0.9f));
+		}
+		else
+		{
+			g_debugDraw.DrawPolygon(vertices, m_countB, b2Color(0.5f, 0.7f, 0.9f));
+		}
+
+		if (hit)
+		{
+			b2Vec2 p1 = output.point;
+			g_debugDraw.DrawPoint(p1, 10.0f, b2Color(0.9f, 0.3f, 0.3f));
+			b2Vec2 p2 = p1 + output.normal;
+			g_debugDraw.DrawSegment(p1, p2, b2Color(0.9f, 0.3f, 0.3f));
+		}
+	}
+
+	b2Vec2 m_vAs[b2_maxPolygonVertices];
+	int32 m_countA;
+	float m_radiusA;
+
+	b2Vec2 m_vBs[b2_maxPolygonVertices];
+	int32 m_countB;
+	float m_radiusB;
+
+	b2Transform m_transformA;
+	b2Transform m_transformB;
+	b2Vec2 m_translationB;
+};
+
+static int testIndex = RegisterTest("Collision", "Shape Cast", ShapeCast::Create);