SensorTest.h
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上传日期:2022-01-07
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- /*
- * Copyright (c) 2008-2009 Erin Catto http://www.gphysics.com
- *
- * This software is provided 'as-is', without any express or implied
- * warranty. In no event will the authors be held liable for any damages
- * arising from the use of this software.
- * Permission is granted to anyone to use this software for any purpose,
- * including commercial applications, and to alter it and redistribute it
- * freely, subject to the following restrictions:
- * 1. The origin of this software must not be misrepresented; you must not
- * claim that you wrote the original software. If you use this software
- * in a product, an acknowledgment in the product documentation would be
- * appreciated but is not required.
- * 2. Altered source versions must be plainly marked as such, and must not be
- * misrepresented as being the original software.
- * 3. This notice may not be removed or altered from any source distribution.
- */
- #ifndef SENSOR_TEST_H
- #define SENSOR_TEST_H
- // This is used to test sensor shapes.
- class SensorTest : public Test
- {
- public:
- enum
- {
- e_count = 7
- };
- SensorTest()
- {
- {
- b2BodyDef bd;
- b2Body* ground = m_world->CreateBody(&bd);
- {
- b2PolygonShape shape;
- shape.SetAsEdge(b2Vec2(-40.0f, 0.0f), b2Vec2(40.0f, 0.0f));
- ground->CreateFixture(&shape, 0.0f);
- }
- #if 0
- {
- b2FixtureDef sd;
- sd.SetAsBox(10.0f, 2.0f, b2Vec2(0.0f, 20.0f), 0.0f);
- sd.isSensor = true;
- m_sensor = ground->CreateFixture(&sd);
- }
- #else
- {
- b2CircleShape shape;
- shape.m_radius = 5.0f;
- shape.m_p.Set(0.0f, 10.0f);
- b2FixtureDef fd;
- fd.shape = &shape;
- fd.isSensor = true;
- m_sensor = ground->CreateFixture(&fd);
- }
- #endif
- }
- {
- b2CircleShape shape;
- shape.m_radius = 1.0f;
- for (int32 i = 0; i < e_count; ++i)
- {
- b2BodyDef bd;
- bd.type = b2_dynamicBody;
- bd.position.Set(-10.0f + 3.0f * i, 20.0f);
- bd.userData = m_touching + i;
- m_touching[i] = false;
- m_bodies[i] = m_world->CreateBody(&bd);
- m_bodies[i]->CreateFixture(&shape, 1.0f);
- }
- }
- }
- // Implement contact listener.
- void BeginContact(b2Contact* contact)
- {
- b2Fixture* fixtureA = contact->GetFixtureA();
- b2Fixture* fixtureB = contact->GetFixtureB();
- if (fixtureA == m_sensor)
- {
- void* userData = fixtureB->GetBody()->GetUserData();
- if (userData)
- {
- bool* touching = (bool*)userData;
- *touching = true;
- }
- }
- if (fixtureB == m_sensor)
- {
- void* userData = fixtureA->GetBody()->GetUserData();
- if (userData)
- {
- bool* touching = (bool*)userData;
- *touching = true;
- }
- }
- }
- // Implement contact listener.
- void EndContact(b2Contact* contact)
- {
- b2Fixture* fixtureA = contact->GetFixtureA();
- b2Fixture* fixtureB = contact->GetFixtureB();
- if (fixtureA == m_sensor)
- {
- void* userData = fixtureB->GetBody()->GetUserData();
- if (userData)
- {
- bool* touching = (bool*)userData;
- *touching = false;
- }
- }
- if (fixtureB == m_sensor)
- {
- void* userData = fixtureA->GetBody()->GetUserData();
- if (userData)
- {
- bool* touching = (bool*)userData;
- *touching = false;
- }
- }
- }
- void Step(Settings* settings)
- {
- Test::Step(settings);
- // Traverse the contact results. Apply a force on shapes
- // that overlap the sensor.
- for (int32 i = 0; i < e_count; ++i)
- {
- if (m_touching[i] == false)
- {
- continue;
- }
- b2Body* body = m_bodies[i];
- b2Body* ground = m_sensor->GetBody();
- b2CircleShape* circle = (b2CircleShape*)m_sensor->GetShape();
- b2Vec2 center = ground->GetWorldPoint(circle->m_p);
- b2Vec2 position = body->GetPosition();
- b2Vec2 d = center - position;
- if (d.LengthSquared() < FLT_EPSILON * FLT_EPSILON)
- {
- continue;
- }
- d.Normalize();
- b2Vec2 F = 100.0f * d;
- body->ApplyForce(F, position);
- }
- }
- static Test* Create()
- {
- return new SensorTest;
- }
- b2Fixture* m_sensor;
- b2Body* m_bodies[e_count];
- bool m_touching[e_count];
- };
- #endif