140 lines
3.4 KiB
C++
140 lines
3.4 KiB
C++
// MIT License
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// Copyright (c) 2019 Erin Catto
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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// The above copyright notice and this permission notice shall be included in all
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// copies or substantial portions of the Software.
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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// SOFTWARE.
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#include "test.h"
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#include "box2d/b2_distance.h"
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class DistanceTest : public Test
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{
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public:
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DistanceTest()
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{
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{
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m_transformA.SetIdentity();
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m_transformA.p.Set(0.0f, -0.2f);
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m_polygonA.SetAsBox(10.0f, 0.2f);
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}
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{
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m_positionB.Set(12.017401f, 0.13678508f);
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m_angleB = -0.0109265f;
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m_transformB.Set(m_positionB, m_angleB);
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m_polygonB.SetAsBox(2.0f, 0.1f);
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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 DistanceTest;
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}
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void Step(Settings& settings) override
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{
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Test::Step(settings);
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b2DistanceInput input;
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input.proxyA.Set(&m_polygonA, 0);
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input.proxyB.Set(&m_polygonB, 0);
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input.transformA = m_transformA;
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input.transformB = m_transformB;
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input.useRadii = true;
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b2SimplexCache cache;
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cache.count = 0;
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b2DistanceOutput output;
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b2Distance(&output, &cache, &input);
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g_debugDraw.DrawString(5, m_textLine, "distance = %g", output.distance);
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m_textLine += m_textIncrement;
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g_debugDraw.DrawString(5, m_textLine, "iterations = %d", output.iterations);
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m_textLine += m_textIncrement;
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{
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b2Color color(0.9f, 0.9f, 0.9f);
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b2Vec2 v[b2_maxPolygonVertices];
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for (int32 i = 0; i < m_polygonA.m_count; ++i)
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{
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v[i] = b2Mul(m_transformA, m_polygonA.m_vertices[i]);
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}
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g_debugDraw.DrawPolygon(v, m_polygonA.m_count, color);
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for (int32 i = 0; i < m_polygonB.m_count; ++i)
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{
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v[i] = b2Mul(m_transformB, m_polygonB.m_vertices[i]);
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}
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g_debugDraw.DrawPolygon(v, m_polygonB.m_count, color);
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}
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b2Vec2 x1 = output.pointA;
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b2Vec2 x2 = output.pointB;
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b2Color c1(1.0f, 0.0f, 0.0f);
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g_debugDraw.DrawPoint(x1, 4.0f, c1);
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b2Color c2(1.0f, 1.0f, 0.0f);
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g_debugDraw.DrawPoint(x2, 4.0f, c2);
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}
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void Keyboard(int key) override
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{
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switch (key)
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{
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case GLFW_KEY_A:
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m_positionB.x -= 0.1f;
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break;
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case GLFW_KEY_D:
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m_positionB.x += 0.1f;
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break;
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case GLFW_KEY_S:
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m_positionB.y -= 0.1f;
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break;
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case GLFW_KEY_W:
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m_positionB.y += 0.1f;
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break;
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case GLFW_KEY_Q:
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m_angleB += 0.1f * b2_pi;
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break;
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case GLFW_KEY_E:
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m_angleB -= 0.1f * b2_pi;
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break;
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}
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m_transformB.Set(m_positionB, m_angleB);
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}
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b2Vec2 m_positionB;
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float m_angleB;
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b2Transform m_transformA;
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b2Transform m_transformB;
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b2PolygonShape m_polygonA;
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b2PolygonShape m_polygonB;
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};
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static int testIndex = RegisterTest("Geometry", "Distance Test", DistanceTest::Create);
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