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/*
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
*
* 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 DISTANCE_TEST_H
#define DISTANCE_TEST_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)
{
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);
m_debugDraw.DrawString(5, m_textLine, "distance = %g", output.distance);
m_textLine += 15;
m_debugDraw.DrawString(5, m_textLine, "iterations = %d", output.iterations);
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);
}
b2Vec2 x1 = output.pointA;
b2Vec2 x2 = output.pointB;
b2Color c1(1.0f, 0.0f, 0.0f);
m_debugDraw.DrawPoint(x1, 4.0f, c1);
b2Color c2(1.0f, 1.0f, 0.0f);
m_debugDraw.DrawPoint(x2, 4.0f, c2);
}
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);
}
b2Vec2 m_positionB;
float32 m_angleB;
b2Transform m_transformA;
b2Transform m_transformB;
b2PolygonShape m_polygonA;
b2PolygonShape m_polygonB;
};
#endif
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