132 lines
3.9 KiB
C++
Vendored
132 lines
3.9 KiB
C++
Vendored
// 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_time_of_impact.h"
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class TimeOfImpact : public Test
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{
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public:
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TimeOfImpact()
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{
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m_shapeA.SetAsBox(25.0f, 5.0f);
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m_shapeB.SetAsBox(2.5f, 2.5f);
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}
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static Test* Create()
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{
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return new TimeOfImpact;
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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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b2Sweep sweepA;
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sweepA.c0.Set(24.0f, -60.0f);
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sweepA.a0 = 2.95f;
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sweepA.c = sweepA.c0;
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sweepA.a = sweepA.a0;
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sweepA.localCenter.SetZero();
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b2Sweep sweepB;
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sweepB.c0.Set(53.474274f, -50.252514f);
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sweepB.a0 = 513.36676f; // - 162.0f * b2_pi;
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sweepB.c.Set(54.595478f, -51.083473f);
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sweepB.a = 513.62781f; // - 162.0f * b2_pi;
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sweepB.localCenter.SetZero();
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//sweepB.a0 -= 300.0f * b2_pi;
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//sweepB.a -= 300.0f * b2_pi;
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b2TOIInput input;
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input.proxyA.Set(&m_shapeA, 0);
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input.proxyB.Set(&m_shapeB, 0);
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input.sweepA = sweepA;
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input.sweepB = sweepB;
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input.tMax = 1.0f;
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b2TOIOutput output;
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b2TimeOfImpact(&output, &input);
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g_debugDraw.DrawString(5, m_textLine, "toi = %g", output.t);
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m_textLine += m_textIncrement;
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extern B2_API int32 b2_toiMaxIters, b2_toiMaxRootIters;
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g_debugDraw.DrawString(5, m_textLine, "max toi iters = %d, max root iters = %d", b2_toiMaxIters, b2_toiMaxRootIters);
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m_textLine += m_textIncrement;
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b2Vec2 vertices[b2_maxPolygonVertices];
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b2Transform transformA;
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sweepA.GetTransform(&transformA, 0.0f);
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for (int32 i = 0; i < m_shapeA.m_count; ++i)
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{
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vertices[i] = b2Mul(transformA, m_shapeA.m_vertices[i]);
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}
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g_debugDraw.DrawPolygon(vertices, m_shapeA.m_count, b2Color(0.9f, 0.9f, 0.9f));
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b2Transform transformB;
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sweepB.GetTransform(&transformB, 0.0f);
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//b2Vec2 localPoint(2.0f, -0.1f);
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for (int32 i = 0; i < m_shapeB.m_count; ++i)
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{
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vertices[i] = b2Mul(transformB, m_shapeB.m_vertices[i]);
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}
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g_debugDraw.DrawPolygon(vertices, m_shapeB.m_count, b2Color(0.5f, 0.9f, 0.5f));
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sweepB.GetTransform(&transformB, output.t);
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for (int32 i = 0; i < m_shapeB.m_count; ++i)
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{
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vertices[i] = b2Mul(transformB, m_shapeB.m_vertices[i]);
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}
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g_debugDraw.DrawPolygon(vertices, m_shapeB.m_count, b2Color(0.5f, 0.7f, 0.9f));
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sweepB.GetTransform(&transformB, 1.0f);
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for (int32 i = 0; i < m_shapeB.m_count; ++i)
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{
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vertices[i] = b2Mul(transformB, m_shapeB.m_vertices[i]);
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}
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g_debugDraw.DrawPolygon(vertices, m_shapeB.m_count, b2Color(0.9f, 0.5f, 0.5f));
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#if 0
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for (float t = 0.0f; t < 1.0f; t += 0.1f)
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{
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sweepB.GetTransform(&transformB, t);
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for (int32 i = 0; i < m_shapeB.m_count; ++i)
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{
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vertices[i] = b2Mul(transformB, m_shapeB.m_vertices[i]);
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}
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g_debugDraw.DrawPolygon(vertices, m_shapeB.m_count, b2Color(0.9f, 0.5f, 0.5f));
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}
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#endif
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}
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b2PolygonShape m_shapeA;
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b2PolygonShape m_shapeB;
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};
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static int testIndex = RegisterTest("Collision", "Time of Impact", TimeOfImpact::Create);
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