1 /* 2 * Copyright (c) 2006-2009 Erin Catto http://www.box2d.org 3 * 4 * This software is provided 'as-is', without any express or implied 5 * warranty. In no event will the authors be held liable for any damages 6 * arising from the use of this software. 7 * Permission is granted to anyone to use this software for any purpose, 8 * including commercial applications, and to alter it and redistribute it 9 * freely, subject to the following restrictions: 10 * 1. The origin of this software must not be misrepresented; you must not 11 * claim that you wrote the original software. If you use this software 12 * in a product, an acknowledgment in the product documentation would be 13 * appreciated but is not required. 14 * 2. Altered source versions must be plainly marked as such, and must not be 15 * misrepresented as being the original software. 16 * 3. This notice may not be removed or altered from any source distribution. 17 */ 18 19 #ifndef TIME_OF_IMPACT_H 20 #define TIME_OF_IMPACT_H 21 22 class TimeOfImpact : public Test 23 { 24 public: TimeOfImpact()25 TimeOfImpact() 26 { 27 m_shapeA.SetAsBox(25.0f, 5.0f); 28 m_shapeB.SetAsBox(2.5f, 2.5f); 29 } 30 Create()31 static Test* Create() 32 { 33 return new TimeOfImpact; 34 } 35 Step(Settings * settings)36 void Step(Settings* settings) 37 { 38 Test::Step(settings); 39 40 b2Sweep sweepA; 41 sweepA.c0.Set(24.0f, -60.0f); 42 sweepA.a0 = 2.95f; 43 sweepA.c = sweepA.c0; 44 sweepA.a = sweepA.a0; 45 sweepA.localCenter.SetZero(); 46 47 b2Sweep sweepB; 48 sweepB.c0.Set(53.474274f, -50.252514f); 49 sweepB.a0 = 513.36676f; // - 162.0f * b2_pi; 50 sweepB.c.Set(54.595478f, -51.083473f); 51 sweepB.a = 513.62781f; // - 162.0f * b2_pi; 52 sweepB.localCenter.SetZero(); 53 54 //sweepB.a0 -= 300.0f * b2_pi; 55 //sweepB.a -= 300.0f * b2_pi; 56 57 b2TOIInput input; 58 input.proxyA.Set(&m_shapeA, 0); 59 input.proxyB.Set(&m_shapeB, 0); 60 input.sweepA = sweepA; 61 input.sweepB = sweepB; 62 input.tMax = 1.0f; 63 64 b2TOIOutput output; 65 66 b2TimeOfImpact(&output, &input); 67 68 m_debugDraw.DrawString(5, m_textLine, "toi = %g", output.t); 69 m_textLine += 15; 70 71 extern int32 b2_toiMaxIters, b2_toiMaxRootIters; 72 m_debugDraw.DrawString(5, m_textLine, "max toi iters = %d, max root iters = %d", b2_toiMaxIters, b2_toiMaxRootIters); 73 m_textLine += 15; 74 75 b2Vec2 vertices[b2_maxPolygonVertices]; 76 77 b2Transform transformA; 78 sweepA.GetTransform(&transformA, 0.0f); 79 for (int32 i = 0; i < m_shapeA.m_vertexCount; ++i) 80 { 81 vertices[i] = b2Mul(transformA, m_shapeA.m_vertices[i]); 82 } 83 m_debugDraw.DrawPolygon(vertices, m_shapeA.m_vertexCount, b2Color(0.9f, 0.9f, 0.9f)); 84 85 b2Transform transformB; 86 sweepB.GetTransform(&transformB, 0.0f); 87 88 b2Vec2 localPoint(2.0f, -0.1f); 89 b2Vec2 rB = b2Mul(transformB, localPoint) - sweepB.c0; 90 float32 wB = sweepB.a - sweepB.a0; 91 b2Vec2 vB = sweepB.c - sweepB.c0; 92 b2Vec2 v = vB + b2Cross(wB, rB); 93 94 for (int32 i = 0; i < m_shapeB.m_vertexCount; ++i) 95 { 96 vertices[i] = b2Mul(transformB, m_shapeB.m_vertices[i]); 97 } 98 m_debugDraw.DrawPolygon(vertices, m_shapeB.m_vertexCount, b2Color(0.5f, 0.9f, 0.5f)); 99 100 sweepB.GetTransform(&transformB, output.t); 101 for (int32 i = 0; i < m_shapeB.m_vertexCount; ++i) 102 { 103 vertices[i] = b2Mul(transformB, m_shapeB.m_vertices[i]); 104 } 105 m_debugDraw.DrawPolygon(vertices, m_shapeB.m_vertexCount, b2Color(0.5f, 0.7f, 0.9f)); 106 107 sweepB.GetTransform(&transformB, 1.0f); 108 for (int32 i = 0; i < m_shapeB.m_vertexCount; ++i) 109 { 110 vertices[i] = b2Mul(transformB, m_shapeB.m_vertices[i]); 111 } 112 m_debugDraw.DrawPolygon(vertices, m_shapeB.m_vertexCount, b2Color(0.9f, 0.5f, 0.5f)); 113 114 #if 0 115 for (float32 t = 0.0f; t < 1.0f; t += 0.1f) 116 { 117 sweepB.GetTransform(&transformB, t); 118 for (int32 i = 0; i < m_shapeB.m_vertexCount; ++i) 119 { 120 vertices[i] = b2Mul(transformB, m_shapeB.m_vertices[i]); 121 } 122 m_debugDraw.DrawPolygon(vertices, m_shapeB.m_vertexCount, b2Color(0.9f, 0.5f, 0.5f)); 123 } 124 #endif 125 } 126 127 b2PolygonShape m_shapeA; 128 b2PolygonShape m_shapeB; 129 }; 130 131 #endif 132