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// 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 DistanceTest : public Test
{
public:
DistanceTest()
{
{
m_transformA.SetIdentity();
m_transformA.p.Set(0.0f, -0.2f);
m_polygonA.SetAsBox(10.0f, 0.2f);
}
{
m_positionB.Set(12.017401f, 0.13678508f);
m_angleB = -0.0109265f;
m_transformB.Set(m_positionB, m_angleB);
m_polygonB.SetAsBox(2.0f, 0.1f);
}
}
static Test* Create()
{
return new DistanceTest;
}
void Step(Settings& settings) override
{
Test::Step(settings);
b2DistanceInput input;
input.proxyA.Set(&m_polygonA, 0);
input.proxyB.Set(&m_polygonB, 0);
input.transformA = m_transformA;
input.transformB = m_transformB;
input.useRadii = true;
b2SimplexCache cache;
cache.count = 0;
b2DistanceOutput output;
b2Distance(&output, &cache, &input);
g_debugDraw.DrawString(5, m_textLine, "distance = %g", output.distance);
m_textLine += m_textIncrement;
g_debugDraw.DrawString(5, m_textLine, "iterations = %d", output.iterations);
m_textLine += m_textIncrement;
{
b2Color color(0.9f, 0.9f, 0.9f);
b2Vec2 v[b2_maxPolygonVertices];
for (int32 i = 0; i < m_polygonA.m_count; ++i)
{
v[i] = b2Mul(m_transformA, m_polygonA.m_vertices[i]);
}
g_debugDraw.DrawPolygon(v, m_polygonA.m_count, color);
for (int32 i = 0; i < m_polygonB.m_count; ++i)
{
v[i] = b2Mul(m_transformB, m_polygonB.m_vertices[i]);
}
g_debugDraw.DrawPolygon(v, m_polygonB.m_count, color);
}
b2Vec2 x1 = output.pointA;
b2Vec2 x2 = output.pointB;
b2Color c1(1.0f, 0.0f, 0.0f);
g_debugDraw.DrawPoint(x1, 4.0f, c1);
b2Color c2(1.0f, 1.0f, 0.0f);
g_debugDraw.DrawPoint(x2, 4.0f, c2);
}
void Keyboard(int key) override
{
switch (key)
{
case GLFW_KEY_A:
m_positionB.x -= 0.1f;
break;
case GLFW_KEY_D:
m_positionB.x += 0.1f;
break;
case GLFW_KEY_S:
m_positionB.y -= 0.1f;
break;
case GLFW_KEY_W:
m_positionB.y += 0.1f;
break;
case GLFW_KEY_Q:
m_angleB += 0.1f * b2_pi;
break;
case GLFW_KEY_E:
m_angleB -= 0.1f * b2_pi;
break;
}
m_transformB.Set(m_positionB, m_angleB);
}
b2Vec2 m_positionB;
float m_angleB;
b2Transform m_transformA;
b2Transform m_transformB;
b2PolygonShape m_polygonA;
b2PolygonShape m_polygonB;
};
static int testIndex = RegisterTest("Geometry", "Distance Test", DistanceTest::Create);
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