PolyCollision.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 POLYCOLLISION_H
- #define POLYCOLLISION_H
- class PolyCollision : public Test
- {
- public:
- PolyCollision()
- {
- {
- m_polygonA.SetAsEdge(b2Vec2(20.0f, 0.0f), b2Vec2(20.0f, 20.0f));
- m_transformA.Set(b2Vec2(0.0f, 0.0f), 0.0f);
- }
- {
- m_polygonB.SetAsBox(0.5f, 0.5f);
- m_positionB.Set(19.345284f, 1.5632932f);
- m_angleB = 1.9160721f;
- m_transformB.Set(m_positionB, m_angleB);
- }
- }
- static Test* Create()
- {
- return new PolyCollision;
- }
- void Step(Settings* settings)
- {
- B2_NOT_USED(settings);
- b2Manifold manifold;
- b2CollidePolygons(&manifold, &m_polygonA, m_transformA, &m_polygonB, m_transformB);
- b2WorldManifold worldManifold;
- worldManifold.Initialize(&manifold, m_transformA, m_polygonA.m_radius, m_transformB, m_polygonB.m_radius);
- m_debugDraw.DrawString(5, m_textLine, "point count = %d", manifold.pointCount);
- m_textLine += 15;
- {
- b2Color color(0.9f, 0.9f, 0.9f);
- b2Vec2 v[b2_maxPolygonVertices];
- for (int32 i = 0; i < m_polygonA.m_vertexCount; ++i)
- {
- v[i] = b2Mul(m_transformA, m_polygonA.m_vertices[i]);
- }
- m_debugDraw.DrawPolygon(v, m_polygonA.m_vertexCount, color);
- for (int32 i = 0; i < m_polygonB.m_vertexCount; ++i)
- {
- v[i] = b2Mul(m_transformB, m_polygonB.m_vertices[i]);
- }
- m_debugDraw.DrawPolygon(v, m_polygonB.m_vertexCount, color);
- }
- for (int32 i = 0; i < manifold.pointCount; ++i)
- {
- m_debugDraw.DrawPoint(worldManifold.points[i], 4.0f, b2Color(0.9f, 0.3f, 0.3f));
- }
- }
- void Keyboard(unsigned char key)
- {
- switch (key)
- {
- case 'a':
- m_positionB.x -= 0.1f;
- break;
- case 'd':
- m_positionB.x += 0.1f;
- break;
- case 's':
- m_positionB.y -= 0.1f;
- break;
- case 'w':
- m_positionB.y += 0.1f;
- break;
- case 'q':
- m_angleB += 0.1f * b2_pi;
- break;
- case 'e':
- m_angleB -= 0.1f * b2_pi;
- break;
- }
- m_transformB.Set(m_positionB, m_angleB);
- }
- b2PolygonShape m_polygonA;
- b2PolygonShape m_polygonB;
- b2Transform m_transformA;
- b2Transform m_transformB;
- b2Vec2 m_positionB;
- float32 m_angleB;
- };
- #endif