1 // MIT License 2 3 // Copyright (c) 2019 Erin Catto 4 5 // Permission is hereby granted, free of charge, to any person obtaining a copy 6 // of this software and associated documentation files (the "Software"), to deal 7 // in the Software without restriction, including without limitation the rights 8 // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 // copies of the Software, and to permit persons to whom the Software is 10 // furnished to do so, subject to the following conditions: 11 12 // The above copyright notice and this permission notice shall be included in all 13 // copies or substantial portions of the Software. 14 15 // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 // SOFTWARE. 22 23 #include "test.h" 24 25 class ContinuousTest : public Test 26 { 27 public: 28 ContinuousTest()29 ContinuousTest() 30 { 31 { 32 b2BodyDef bd; 33 bd.position.Set(0.0f, 0.0f); 34 b2Body* body = m_world->CreateBody(&bd); 35 36 b2EdgeShape edge; 37 38 edge.SetTwoSided(b2Vec2(-10.0f, 0.0f), b2Vec2(10.0f, 0.0f)); 39 body->CreateFixture(&edge, 0.0f); 40 41 b2PolygonShape shape; 42 shape.SetAsBox(0.2f, 1.0f, b2Vec2(0.5f, 1.0f), 0.0f); 43 body->CreateFixture(&shape, 0.0f); 44 } 45 46 #if 1 47 { 48 b2BodyDef bd; 49 bd.type = b2_dynamicBody; 50 bd.position.Set(0.0f, 20.0f); 51 //bd.angle = 0.1f; 52 53 b2PolygonShape shape; 54 shape.SetAsBox(2.0f, 0.1f); 55 56 m_body = m_world->CreateBody(&bd); 57 m_body->CreateFixture(&shape, 1.0f); 58 59 m_angularVelocity = RandomFloat(-50.0f, 50.0f); 60 //m_angularVelocity = 46.661274f; 61 m_body->SetLinearVelocity(b2Vec2(0.0f, -100.0f)); 62 m_body->SetAngularVelocity(m_angularVelocity); 63 } 64 #else 65 { 66 b2BodyDef bd; 67 bd.type = b2_dynamicBody; 68 bd.position.Set(0.0f, 2.0f); 69 b2Body* body = m_world->CreateBody(&bd); 70 71 b2CircleShape shape; 72 shape.m_p.SetZero(); 73 shape.m_radius = 0.5f; 74 body->CreateFixture(&shape, 1.0f); 75 76 bd.bullet = true; 77 bd.position.Set(0.0f, 10.0f); 78 body = m_world->CreateBody(&bd); 79 body->CreateFixture(&shape, 1.0f); 80 body->SetLinearVelocity(b2Vec2(0.0f, -100.0f)); 81 } 82 #endif 83 84 extern B2_API int32 b2_gjkCalls, b2_gjkIters, b2_gjkMaxIters; 85 extern B2_API int32 b2_toiCalls, b2_toiIters; 86 extern B2_API int32 b2_toiRootIters, b2_toiMaxRootIters; 87 extern B2_API float b2_toiTime, b2_toiMaxTime; 88 89 b2_gjkCalls = 0; b2_gjkIters = 0; b2_gjkMaxIters = 0; 90 b2_toiCalls = 0; b2_toiIters = 0; 91 b2_toiRootIters = 0; b2_toiMaxRootIters = 0; 92 b2_toiTime = 0.0f; b2_toiMaxTime = 0.0f; 93 } 94 Launch()95 void Launch() 96 { 97 extern B2_API int32 b2_gjkCalls, b2_gjkIters, b2_gjkMaxIters; 98 extern B2_API int32 b2_toiCalls, b2_toiIters; 99 extern B2_API int32 b2_toiRootIters, b2_toiMaxRootIters; 100 extern B2_API float b2_toiTime, b2_toiMaxTime; 101 102 b2_gjkCalls = 0; b2_gjkIters = 0; b2_gjkMaxIters = 0; 103 b2_toiCalls = 0; b2_toiIters = 0; 104 b2_toiRootIters = 0; b2_toiMaxRootIters = 0; 105 b2_toiTime = 0.0f; b2_toiMaxTime = 0.0f; 106 107 m_body->SetTransform(b2Vec2(0.0f, 20.0f), 0.0f); 108 m_angularVelocity = RandomFloat(-50.0f, 50.0f); 109 m_body->SetLinearVelocity(b2Vec2(0.0f, -100.0f)); 110 m_body->SetAngularVelocity(m_angularVelocity); 111 } 112 Step(Settings & settings)113 void Step(Settings& settings) override 114 { 115 Test::Step(settings); 116 117 extern B2_API int32 b2_gjkCalls, b2_gjkIters, b2_gjkMaxIters; 118 119 if (b2_gjkCalls > 0) 120 { 121 g_debugDraw.DrawString(5, m_textLine, "gjk calls = %d, ave gjk iters = %3.1f, max gjk iters = %d", 122 b2_gjkCalls, b2_gjkIters / float(b2_gjkCalls), b2_gjkMaxIters); 123 m_textLine += m_textIncrement; 124 } 125 126 extern B2_API int32 b2_toiCalls, b2_toiIters; 127 extern B2_API int32 b2_toiRootIters, b2_toiMaxRootIters; 128 extern B2_API float b2_toiTime, b2_toiMaxTime; 129 130 if (b2_toiCalls > 0) 131 { 132 g_debugDraw.DrawString(5, m_textLine, "toi calls = %d, ave [max] toi iters = %3.1f [%d]", 133 b2_toiCalls, b2_toiIters / float(b2_toiCalls), b2_toiMaxRootIters); 134 m_textLine += m_textIncrement; 135 136 g_debugDraw.DrawString(5, m_textLine, "ave [max] toi root iters = %3.1f [%d]", 137 b2_toiRootIters / float(b2_toiCalls), b2_toiMaxRootIters); 138 m_textLine += m_textIncrement; 139 140 g_debugDraw.DrawString(5, m_textLine, "ave [max] toi time = %.1f [%.1f] (microseconds)", 141 1000.0f * b2_toiTime / float(b2_toiCalls), 1000.0f * b2_toiMaxTime); 142 m_textLine += m_textIncrement; 143 } 144 145 if (m_stepCount % 60 == 0) 146 { 147 //Launch(); 148 } 149 } 150 Create()151 static Test* Create() 152 { 153 return new ContinuousTest; 154 } 155 156 b2Body* m_body; 157 float m_angularVelocity; 158 }; 159 160 static int testIndex = RegisterTest("Continuous", "Continuous Test", ContinuousTest::Create); 161