358 lines
9.3 KiB
C
358 lines
9.3 KiB
C
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/*
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* Copyright (c) 2009 Erin Catto http://www.box2d.org
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef DYNAMIC_TREE_TEST_H
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#define DYNAMIC_TREE_TEST_H
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class DynamicTreeTest : public Test
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{
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public:
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enum
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{
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e_actorCount = 128
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};
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DynamicTreeTest()
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{
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m_worldExtent = 15.0f;
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m_proxyExtent = 0.5f;
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srand(888);
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for (int32 i = 0; i < e_actorCount; ++i)
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{
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Actor* actor = m_actors + i;
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GetRandomAABB(&actor->aabb);
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actor->proxyId = m_tree.CreateProxy(actor->aabb, actor);
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}
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m_stepCount = 0;
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float32 h = m_worldExtent;
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m_queryAABB.lowerBound.Set(-3.0f, -4.0f + h);
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m_queryAABB.upperBound.Set(5.0f, 6.0f + h);
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m_rayCastInput.p1.Set(-5.0, 5.0f + h);
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m_rayCastInput.p2.Set(7.0f, -4.0f + h);
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//m_rayCastInput.p1.Set(0.0f, 2.0f + h);
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//m_rayCastInput.p2.Set(0.0f, -2.0f + h);
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m_rayCastInput.maxFraction = 1.0f;
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m_automated = false;
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}
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static Test* Create()
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{
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return new DynamicTreeTest;
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}
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void Step(Settings* settings)
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{
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B2_NOT_USED(settings);
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m_rayActor = NULL;
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for (int32 i = 0; i < e_actorCount; ++i)
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{
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m_actors[i].fraction = 1.0f;
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m_actors[i].overlap = false;
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}
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if (m_automated == true)
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{
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int32 actionCount = b2Max(1, e_actorCount >> 2);
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for (int32 i = 0; i < actionCount; ++i)
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{
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Action();
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}
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}
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Query();
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RayCast();
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for (int32 i = 0; i < e_actorCount; ++i)
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{
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Actor* actor = m_actors + i;
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if (actor->proxyId == b2_nullNode)
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continue;
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b2Color c(0.9f, 0.9f, 0.9f);
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if (actor == m_rayActor && actor->overlap)
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{
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c.Set(0.9f, 0.6f, 0.6f);
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}
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else if (actor == m_rayActor)
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{
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c.Set(0.6f, 0.9f, 0.6f);
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}
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else if (actor->overlap)
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{
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c.Set(0.6f, 0.6f, 0.9f);
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}
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m_debugDraw.DrawAABB(&actor->aabb, c);
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}
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b2Color c(0.7f, 0.7f, 0.7f);
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m_debugDraw.DrawAABB(&m_queryAABB, c);
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m_debugDraw.DrawSegment(m_rayCastInput.p1, m_rayCastInput.p2, c);
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b2Color c1(0.2f, 0.9f, 0.2f);
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b2Color c2(0.9f, 0.2f, 0.2f);
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m_debugDraw.DrawPoint(m_rayCastInput.p1, 6.0f, c1);
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m_debugDraw.DrawPoint(m_rayCastInput.p2, 6.0f, c2);
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if (m_rayActor)
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{
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b2Color cr(0.2f, 0.2f, 0.9f);
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b2Vec2 p = m_rayCastInput.p1 + m_rayActor->fraction * (m_rayCastInput.p2 - m_rayCastInput.p1);
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m_debugDraw.DrawPoint(p, 6.0f, cr);
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}
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{
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int32 height = m_tree.GetHeight();
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m_debugDraw.DrawString(5, m_textLine, "dynamic tree height = %d", height);
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m_textLine += 15;
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}
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++m_stepCount;
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}
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void Keyboard(unsigned char key)
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{
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switch (key)
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{
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case 'a':
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m_automated = !m_automated;
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break;
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case 'c':
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CreateProxy();
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break;
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case 'd':
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DestroyProxy();
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break;
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case 'm':
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MoveProxy();
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break;
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}
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}
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bool QueryCallback(int32 proxyId)
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{
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Actor* actor = (Actor*)m_tree.GetUserData(proxyId);
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actor->overlap = b2TestOverlap(m_queryAABB, actor->aabb);
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return true;
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}
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float32 RayCastCallback(const b2RayCastInput& input, int32 proxyId)
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{
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Actor* actor = (Actor*)m_tree.GetUserData(proxyId);
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b2RayCastOutput output;
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bool hit = actor->aabb.RayCast(&output, input);
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if (hit)
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{
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m_rayCastOutput = output;
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m_rayActor = actor;
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m_rayActor->fraction = output.fraction;
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return output.fraction;
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}
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return input.maxFraction;
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}
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private:
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struct Actor
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{
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b2AABB aabb;
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float32 fraction;
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bool overlap;
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int32 proxyId;
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};
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void GetRandomAABB(b2AABB* aabb)
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{
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b2Vec2 w; w.Set(2.0f * m_proxyExtent, 2.0f * m_proxyExtent);
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//aabb->lowerBound.x = -m_proxyExtent;
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//aabb->lowerBound.y = -m_proxyExtent + m_worldExtent;
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aabb->lowerBound.x = RandomFloat(-m_worldExtent, m_worldExtent);
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aabb->lowerBound.y = RandomFloat(0.0f, 2.0f * m_worldExtent);
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aabb->upperBound = aabb->lowerBound + w;
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}
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void MoveAABB(b2AABB* aabb)
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{
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b2Vec2 d;
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d.x = RandomFloat(-0.5f, 0.5f);
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d.y = RandomFloat(-0.5f, 0.5f);
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//d.x = 2.0f;
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//d.y = 0.0f;
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aabb->lowerBound += d;
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aabb->upperBound += d;
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b2Vec2 c0 = 0.5f * (aabb->lowerBound + aabb->upperBound);
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b2Vec2 min; min.Set(-m_worldExtent, 0.0f);
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b2Vec2 max; max.Set(m_worldExtent, 2.0f * m_worldExtent);
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b2Vec2 c = b2Clamp(c0, min, max);
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aabb->lowerBound += c - c0;
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aabb->upperBound += c - c0;
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}
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void CreateProxy()
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{
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for (int32 i = 0; i < e_actorCount; ++i)
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{
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int32 j = rand() % e_actorCount;
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Actor* actor = m_actors + j;
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if (actor->proxyId == b2_nullNode)
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{
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GetRandomAABB(&actor->aabb);
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actor->proxyId = m_tree.CreateProxy(actor->aabb, actor);
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return;
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}
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}
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}
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void DestroyProxy()
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{
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for (int32 i = 0; i < e_actorCount; ++i)
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{
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int32 j = rand() % e_actorCount;
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Actor* actor = m_actors + j;
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if (actor->proxyId != b2_nullNode)
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{
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m_tree.DestroyProxy(actor->proxyId);
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actor->proxyId = b2_nullNode;
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return;
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}
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}
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}
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void MoveProxy()
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{
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for (int32 i = 0; i < e_actorCount; ++i)
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{
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int32 j = rand() % e_actorCount;
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Actor* actor = m_actors + j;
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if (actor->proxyId == b2_nullNode)
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{
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continue;
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}
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b2AABB aabb0 = actor->aabb;
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MoveAABB(&actor->aabb);
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b2Vec2 displacement = actor->aabb.GetCenter() - aabb0.GetCenter();
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m_tree.MoveProxy(actor->proxyId, actor->aabb, displacement);
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return;
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}
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}
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void Action()
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{
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int32 choice = rand() % 20;
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switch (choice)
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{
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case 0:
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CreateProxy();
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break;
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case 1:
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DestroyProxy();
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break;
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default:
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MoveProxy();
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}
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}
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void Query()
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{
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m_tree.Query(this, m_queryAABB);
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for (int32 i = 0; i < e_actorCount; ++i)
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{
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if (m_actors[i].proxyId == b2_nullNode)
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{
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continue;
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}
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bool overlap = b2TestOverlap(m_queryAABB, m_actors[i].aabb);
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B2_NOT_USED(overlap);
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b2Assert(overlap == m_actors[i].overlap);
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}
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}
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void RayCast()
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{
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m_rayActor = NULL;
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b2RayCastInput input = m_rayCastInput;
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// Ray cast against the dynamic tree.
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m_tree.RayCast(this, input);
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// Brute force ray cast.
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Actor* bruteActor = NULL;
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b2RayCastOutput bruteOutput;
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for (int32 i = 0; i < e_actorCount; ++i)
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{
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if (m_actors[i].proxyId == b2_nullNode)
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{
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continue;
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}
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b2RayCastOutput output;
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bool hit = m_actors[i].aabb.RayCast(&output, input);
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if (hit)
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{
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bruteActor = m_actors + i;
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bruteOutput = output;
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input.maxFraction = output.fraction;
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}
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}
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if (bruteActor != NULL)
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{
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b2Assert(bruteOutput.fraction == m_rayCastOutput.fraction);
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}
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}
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float32 m_worldExtent;
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float32 m_proxyExtent;
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b2DynamicTree m_tree;
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b2AABB m_queryAABB;
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b2RayCastInput m_rayCastInput;
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b2RayCastOutput m_rayCastOutput;
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Actor* m_rayActor;
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Actor m_actors[e_actorCount];
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int32 m_stepCount;
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bool m_automated;
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};
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#endif
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