TimeOfImpact.h
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上传日期:2022-01-07
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- /*
- * Copyright (c) 2006-2009 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 TIME_OF_IMPACT_H
- #define TIME_OF_IMPACT_H
- class TimeOfImpact : public Test
- {
- public:
- TimeOfImpact()
- {
- m_shapeA.SetAsBox(25.0f, 5.0f);
- m_shapeB.SetAsBox(2.5f, 2.5f);
- }
- static Test* Create()
- {
- return new TimeOfImpact;
- }
- void Step(Settings* settings)
- {
- Test::Step(settings);
- b2Sweep sweepA;
- sweepA.c0.Set(24.0f, -60.0f);
- sweepA.a0 = 2.95f;
- sweepA.c = sweepA.c0;
- sweepA.a = sweepA.a0;
- sweepA.localCenter.SetZero();
- b2Sweep sweepB;
- sweepB.c0.Set(53.474274f, -50.252514f);
- sweepB.a0 = 513.36676f; // - 162.0f * b2_pi;
- sweepB.c.Set(54.595478f, -51.083473f);
- sweepB.a = 513.62781f; // - 162.0f * b2_pi;
- sweepB.localCenter.SetZero();
- //sweepB.a0 -= 300.0f * b2_pi;
- //sweepB.a -= 300.0f * b2_pi;
- b2TOIInput input;
- input.proxyA.Set(&m_shapeA);
- input.proxyB.Set(&m_shapeB);
- input.sweepA = sweepA;
- input.sweepB = sweepB;
- input.tMax = 1.0f;
- b2TOIOutput output;
- b2TimeOfImpact(&output, &input);
- m_debugDraw.DrawString(5, m_textLine, "toi = %g", output.t);
- m_textLine += 15;
- extern int32 b2_toiMaxIters, b2_toiMaxRootIters;
- m_debugDraw.DrawString(5, m_textLine, "max toi iters = %d, max root iters = %d", b2_toiMaxIters, b2_toiMaxRootIters);
- m_textLine += 15;
- b2Vec2 vertices[b2_maxPolygonVertices];
- b2Transform transformA;
- sweepA.GetTransform(&transformA, 0.0f);
- for (int32 i = 0; i < m_shapeA.m_vertexCount; ++i)
- {
- vertices[i] = b2Mul(transformA, m_shapeA.m_vertices[i]);
- }
- m_debugDraw.DrawPolygon(vertices, m_shapeA.m_vertexCount, b2Color(0.9f, 0.9f, 0.9f));
- b2Transform transformB;
- sweepB.GetTransform(&transformB, 0.0f);
-
- b2Vec2 localPoint(2.0f, -0.1f);
- b2Vec2 rB = b2Mul(transformB, localPoint) - sweepB.c0;
- float32 wB = sweepB.a - sweepB.a0;
- b2Vec2 vB = sweepB.c - sweepB.c0;
- b2Vec2 v = vB + b2Cross(wB, rB);
- for (int32 i = 0; i < m_shapeB.m_vertexCount; ++i)
- {
- vertices[i] = b2Mul(transformB, m_shapeB.m_vertices[i]);
- }
- m_debugDraw.DrawPolygon(vertices, m_shapeB.m_vertexCount, b2Color(0.5f, 0.9f, 0.5f));
- sweepB.GetTransform(&transformB, output.t);
- for (int32 i = 0; i < m_shapeB.m_vertexCount; ++i)
- {
- vertices[i] = b2Mul(transformB, m_shapeB.m_vertices[i]);
- }
- m_debugDraw.DrawPolygon(vertices, m_shapeB.m_vertexCount, b2Color(0.5f, 0.7f, 0.9f));
- sweepB.GetTransform(&transformB, 1.0f);
- for (int32 i = 0; i < m_shapeB.m_vertexCount; ++i)
- {
- vertices[i] = b2Mul(transformB, m_shapeB.m_vertices[i]);
- }
- m_debugDraw.DrawPolygon(vertices, m_shapeB.m_vertexCount, b2Color(0.9f, 0.5f, 0.5f));
- #if 0
- for (float32 t = 0.0f; t < 1.0f; t += 0.1f)
- {
- sweepB.GetTransform(&transformB, t);
- for (int32 i = 0; i < m_shapeB.m_vertexCount; ++i)
- {
- vertices[i] = b2Mul(transformB, m_shapeB.m_vertices[i]);
- }
- m_debugDraw.DrawPolygon(vertices, m_shapeB.m_vertexCount, b2Color(0.9f, 0.5f, 0.5f));
- }
- #endif
- }
- b2PolygonShape m_shapeA;
- b2PolygonShape m_shapeB;
- };
- #endif