441 lines
12 KiB
C
441 lines
12 KiB
C
|
/*
|
||
|
|
* 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 RAY_CAST_H
|
||
|
|
#define RAY_CAST_H
|
||
|
|
|
||
|
|
// This test demonstrates how to use the world ray-cast feature.
|
||
|
|
// NOTE: we are intentionally filtering one of the polygons, therefore
|
||
|
|
// the ray will always miss one type of polygon.
|
||
|
|
|
||
|
|
// This callback finds the closest hit. Polygon 0 is filtered.
|
||
|
|
class RayCastClosestCallback : public b2RayCastCallback
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
RayCastClosestCallback()
|
||
|
|
{
|
||
|
|
m_hit = false;
|
||
|
|
}
|
||
|
|
|
||
|
|
float32 ReportFixture( b2Fixture* fixture, const b2Vec2& point,
|
||
|
|
const b2Vec2& normal, float32 fraction)
|
||
|
|
{
|
||
|
|
b2Body* body = fixture->GetBody();
|
||
|
|
void* userData = body->GetUserData();
|
||
|
|
if (userData)
|
||
|
|
{
|
||
|
|
int32 index = *(int32*)userData;
|
||
|
|
if (index == 0)
|
||
|
|
{
|
||
|
|
// filter
|
||
|
|
return -1.0f;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
m_hit = true;
|
||
|
|
m_point = point;
|
||
|
|
m_normal = normal;
|
||
|
|
return fraction;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool m_hit;
|
||
|
|
b2Vec2 m_point;
|
||
|
|
b2Vec2 m_normal;
|
||
|
|
};
|
||
|
|
|
||
|
|
// This callback finds any hit. Polygon 0 is filtered.
|
||
|
|
class RayCastAnyCallback : public b2RayCastCallback
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
RayCastAnyCallback()
|
||
|
|
{
|
||
|
|
m_hit = false;
|
||
|
|
}
|
||
|
|
|
||
|
|
float32 ReportFixture( b2Fixture* fixture, const b2Vec2& point,
|
||
|
|
const b2Vec2& normal, float32 fraction)
|
||
|
|
{
|
||
|
|
b2Body* body = fixture->GetBody();
|
||
|
|
void* userData = body->GetUserData();
|
||
|
|
if (userData)
|
||
|
|
{
|
||
|
|
int32 index = *(int32*)userData;
|
||
|
|
if (index == 0)
|
||
|
|
{
|
||
|
|
// filter
|
||
|
|
return -1.0f;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
m_hit = true;
|
||
|
|
m_point = point;
|
||
|
|
m_normal = normal;
|
||
|
|
return 0.0f;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool m_hit;
|
||
|
|
b2Vec2 m_point;
|
||
|
|
b2Vec2 m_normal;
|
||
|
|
};
|
||
|
|
|
||
|
|
// This ray cast collects multiple hits along the ray. Polygon 0 is filtered.
|
||
|
|
class RayCastMultipleCallback : public b2RayCastCallback
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
enum
|
||
|
|
{
|
||
|
|
e_maxCount = 3
|
||
|
|
};
|
||
|
|
|
||
|
|
RayCastMultipleCallback()
|
||
|
|
{
|
||
|
|
m_count = 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
float32 ReportFixture( b2Fixture* fixture, const b2Vec2& point,
|
||
|
|
const b2Vec2& normal, float32 fraction)
|
||
|
|
{
|
||
|
|
b2Body* body = fixture->GetBody();
|
||
|
|
void* userData = body->GetUserData();
|
||
|
|
if (userData)
|
||
|
|
{
|
||
|
|
int32 index = *(int32*)userData;
|
||
|
|
if (index == 0)
|
||
|
|
{
|
||
|
|
// filter
|
||
|
|
return -1.0f;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
b2Assert(m_count < e_maxCount);
|
||
|
|
|
||
|
|
m_points[m_count] = point;
|
||
|
|
m_normals[m_count] = normal;
|
||
|
|
++m_count;
|
||
|
|
|
||
|
|
if (m_count == e_maxCount)
|
||
|
|
{
|
||
|
|
return 0.0f;
|
||
|
|
}
|
||
|
|
|
||
|
|
return 1.0f;
|
||
|
|
}
|
||
|
|
|
||
|
|
b2Vec2 m_points[e_maxCount];
|
||
|
|
b2Vec2 m_normals[e_maxCount];
|
||
|
|
int32 m_count;
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
class RayCast : public Test
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
|
||
|
|
enum
|
||
|
|
{
|
||
|
|
e_maxBodies = 256
|
||
|
|
};
|
||
|
|
|
||
|
|
enum Mode
|
||
|
|
{
|
||
|
|
e_closest,
|
||
|
|
e_any,
|
||
|
|
e_multiple
|
||
|
|
};
|
||
|
|
|
||
|
|
RayCast()
|
||
|
|
{
|
||
|
|
// Ground body
|
||
|
|
{
|
||
|
|
b2BodyDef bd;
|
||
|
|
b2Body* ground = m_world->CreateBody(&bd);
|
||
|
|
|
||
|
|
b2EdgeShape shape;
|
||
|
|
shape.Set(b2Vec2(-40.0f, 0.0f), b2Vec2(40.0f, 0.0f));
|
||
|
|
ground->CreateFixture(&shape, 0.0f);
|
||
|
|
}
|
||
|
|
|
||
|
|
{
|
||
|
|
b2Vec2 vertices[3];
|
||
|
|
vertices[0].Set(-0.5f, 0.0f);
|
||
|
|
vertices[1].Set(0.5f, 0.0f);
|
||
|
|
vertices[2].Set(0.0f, 1.5f);
|
||
|
|
m_polygons[0].Set(vertices, 3);
|
||
|
|
}
|
||
|
|
|
||
|
|
{
|
||
|
|
b2Vec2 vertices[3];
|
||
|
|
vertices[0].Set(-0.1f, 0.0f);
|
||
|
|
vertices[1].Set(0.1f, 0.0f);
|
||
|
|
vertices[2].Set(0.0f, 1.5f);
|
||
|
|
m_polygons[1].Set(vertices, 3);
|
||
|
|
}
|
||
|
|
|
||
|
|
{
|
||
|
|
float32 w = 1.0f;
|
||
|
|
float32 b = w / (2.0f + b2Sqrt(2.0f));
|
||
|
|
float32 s = b2Sqrt(2.0f) * b;
|
||
|
|
|
||
|
|
b2Vec2 vertices[8];
|
||
|
|
vertices[0].Set(0.5f * s, 0.0f);
|
||
|
|
vertices[1].Set(0.5f * w, b);
|
||
|
|
vertices[2].Set(0.5f * w, b + s);
|
||
|
|
vertices[3].Set(0.5f * s, w);
|
||
|
|
vertices[4].Set(-0.5f * s, w);
|
||
|
|
vertices[5].Set(-0.5f * w, b + s);
|
||
|
|
vertices[6].Set(-0.5f * w, b);
|
||
|
|
vertices[7].Set(-0.5f * s, 0.0f);
|
||
|
|
|
||
|
|
m_polygons[2].Set(vertices, 8);
|
||
|
|
}
|
||
|
|
|
||
|
|
{
|
||
|
|
m_polygons[3].SetAsBox(0.5f, 0.5f);
|
||
|
|
}
|
||
|
|
|
||
|
|
{
|
||
|
|
m_circle.m_radius = 0.5f;
|
||
|
|
}
|
||
|
|
|
||
|
|
m_bodyIndex = 0;
|
||
|
|
memset(m_bodies, 0, sizeof(m_bodies));
|
||
|
|
|
||
|
|
m_angle = 0.0f;
|
||
|
|
|
||
|
|
m_mode = e_closest;
|
||
|
|
}
|
||
|
|
|
||
|
|
void Create(int32 index)
|
||
|
|
{
|
||
|
|
if (m_bodies[m_bodyIndex] != NULL)
|
||
|
|
{
|
||
|
|
m_world->DestroyBody(m_bodies[m_bodyIndex]);
|
||
|
|
m_bodies[m_bodyIndex] = NULL;
|
||
|
|
}
|
||
|
|
|
||
|
|
b2BodyDef bd;
|
||
|
|
|
||
|
|
float32 x = RandomFloat(-10.0f, 10.0f);
|
||
|
|
float32 y = RandomFloat(0.0f, 20.0f);
|
||
|
|
bd.position.Set(x, y);
|
||
|
|
bd.angle = RandomFloat(-b2_pi, b2_pi);
|
||
|
|
|
||
|
|
m_userData[m_bodyIndex] = index;
|
||
|
|
bd.userData = m_userData + m_bodyIndex;
|
||
|
|
|
||
|
|
if (index == 4)
|
||
|
|
{
|
||
|
|
bd.angularDamping = 0.02f;
|
||
|
|
}
|
||
|
|
|
||
|
|
m_bodies[m_bodyIndex] = m_world->CreateBody(&bd);
|
||
|
|
|
||
|
|
if (index < 4)
|
||
|
|
{
|
||
|
|
b2FixtureDef fd;
|
||
|
|
fd.shape = m_polygons + index;
|
||
|
|
fd.friction = 0.3f;
|
||
|
|
m_bodies[m_bodyIndex]->CreateFixture(&fd);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
b2FixtureDef fd;
|
||
|
|
fd.shape = &m_circle;
|
||
|
|
fd.friction = 0.3f;
|
||
|
|
|
||
|
|
m_bodies[m_bodyIndex]->CreateFixture(&fd);
|
||
|
|
}
|
||
|
|
|
||
|
|
m_bodyIndex = (m_bodyIndex + 1) % e_maxBodies;
|
||
|
|
}
|
||
|
|
|
||
|
|
void DestroyBody()
|
||
|
|
{
|
||
|
|
for (int32 i = 0; i < e_maxBodies; ++i)
|
||
|
|
{
|
||
|
|
if (m_bodies[i] != NULL)
|
||
|
|
{
|
||
|
|
m_world->DestroyBody(m_bodies[i]);
|
||
|
|
m_bodies[i] = NULL;
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void Keyboard(unsigned char key)
|
||
|
|
{
|
||
|
|
switch (key)
|
||
|
|
{
|
||
|
|
case '1':
|
||
|
|
case '2':
|
||
|
|
case '3':
|
||
|
|
case '4':
|
||
|
|
case '5':
|
||
|
|
Create(key - '1');
|
||
|
|
break;
|
||
|
|
|
||
|
|
case 'd':
|
||
|
|
DestroyBody();
|
||
|
|
break;
|
||
|
|
|
||
|
|
case 'm':
|
||
|
|
if (m_mode == e_closest)
|
||
|
|
{
|
||
|
|
m_mode = e_any;
|
||
|
|
}
|
||
|
|
else if (m_mode == e_any)
|
||
|
|
{
|
||
|
|
m_mode = e_multiple;
|
||
|
|
}
|
||
|
|
else if (m_mode == e_multiple)
|
||
|
|
{
|
||
|
|
m_mode = e_closest;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void Step(Settings* settings)
|
||
|
|
{
|
||
|
|
bool advanceRay = settings->pause == 0 || settings->singleStep;
|
||
|
|
|
||
|
|
Test::Step(settings);
|
||
|
|
m_debugDraw.DrawString(5, m_textLine, "Press 1-5 to drop stuff, m to change the mode");
|
||
|
|
m_textLine += 15;
|
||
|
|
m_debugDraw.DrawString(5, m_textLine, "Mode = %d", m_mode);
|
||
|
|
m_textLine += 15;
|
||
|
|
|
||
|
|
float32 L = 11.0f;
|
||
|
|
b2Vec2 point1(0.0f, 10.0f);
|
||
|
|
b2Vec2 d(L * cosf(m_angle), L * sinf(m_angle));
|
||
|
|
b2Vec2 point2 = point1 + d;
|
||
|
|
|
||
|
|
if (m_mode == e_closest)
|
||
|
|
{
|
||
|
|
RayCastClosestCallback callback;
|
||
|
|
m_world->RayCast(&callback, point1, point2);
|
||
|
|
|
||
|
|
if (callback.m_hit)
|
||
|
|
{
|
||
|
|
m_debugDraw.DrawPoint(callback.m_point, 5.0f, b2Color(0.4f, 0.9f, 0.4f));
|
||
|
|
m_debugDraw.DrawSegment(point1, callback.m_point, b2Color(0.8f, 0.8f, 0.8f));
|
||
|
|
b2Vec2 head = callback.m_point + 0.5f * callback.m_normal;
|
||
|
|
m_debugDraw.DrawSegment(callback.m_point, head, b2Color(0.9f, 0.9f, 0.4f));
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
m_debugDraw.DrawSegment(point1, point2, b2Color(0.8f, 0.8f, 0.8f));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else if (m_mode == e_any)
|
||
|
|
{
|
||
|
|
RayCastAnyCallback callback;
|
||
|
|
m_world->RayCast(&callback, point1, point2);
|
||
|
|
|
||
|
|
if (callback.m_hit)
|
||
|
|
{
|
||
|
|
m_debugDraw.DrawPoint(callback.m_point, 5.0f, b2Color(0.4f, 0.9f, 0.4f));
|
||
|
|
m_debugDraw.DrawSegment(point1, callback.m_point, b2Color(0.8f, 0.8f, 0.8f));
|
||
|
|
b2Vec2 head = callback.m_point + 0.5f * callback.m_normal;
|
||
|
|
m_debugDraw.DrawSegment(callback.m_point, head, b2Color(0.9f, 0.9f, 0.4f));
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
m_debugDraw.DrawSegment(point1, point2, b2Color(0.8f, 0.8f, 0.8f));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else if (m_mode == e_multiple)
|
||
|
|
{
|
||
|
|
RayCastMultipleCallback callback;
|
||
|
|
m_world->RayCast(&callback, point1, point2);
|
||
|
|
m_debugDraw.DrawSegment(point1, point2, b2Color(0.8f, 0.8f, 0.8f));
|
||
|
|
|
||
|
|
for (int32 i = 0; i < callback.m_count; ++i)
|
||
|
|
{
|
||
|
|
b2Vec2 p = callback.m_points[i];
|
||
|
|
b2Vec2 n = callback.m_normals[i];
|
||
|
|
m_debugDraw.DrawPoint(p, 5.0f, b2Color(0.4f, 0.9f, 0.4f));
|
||
|
|
m_debugDraw.DrawSegment(point1, p, b2Color(0.8f, 0.8f, 0.8f));
|
||
|
|
b2Vec2 head = p + 0.5f * n;
|
||
|
|
m_debugDraw.DrawSegment(p, head, b2Color(0.9f, 0.9f, 0.4f));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if (advanceRay)
|
||
|
|
{
|
||
|
|
m_angle += 0.25f * b2_pi / 180.0f;
|
||
|
|
}
|
||
|
|
|
||
|
|
#if 0
|
||
|
|
// This case was failing.
|
||
|
|
{
|
||
|
|
b2Vec2 vertices[4];
|
||
|
|
//vertices[0].Set(-22.875f, -3.0f);
|
||
|
|
//vertices[1].Set(22.875f, -3.0f);
|
||
|
|
//vertices[2].Set(22.875f, 3.0f);
|
||
|
|
//vertices[3].Set(-22.875f, 3.0f);
|
||
|
|
|
||
|
|
b2PolygonShape shape;
|
||
|
|
//shape.Set(vertices, 4);
|
||
|
|
shape.SetAsBox(22.875f, 3.0f);
|
||
|
|
|
||
|
|
b2RayCastInput input;
|
||
|
|
input.p1.Set(10.2725f,1.71372f);
|
||
|
|
input.p2.Set(10.2353f,2.21807f);
|
||
|
|
//input.maxFraction = 0.567623f;
|
||
|
|
input.maxFraction = 0.56762173f;
|
||
|
|
|
||
|
|
b2Transform xf;
|
||
|
|
xf.SetIdentity();
|
||
|
|
xf.position.Set(23.0f, 5.0f);
|
||
|
|
|
||
|
|
b2RayCastOutput output;
|
||
|
|
bool hit;
|
||
|
|
hit = shape.RayCast(&output, input, xf);
|
||
|
|
hit = false;
|
||
|
|
|
||
|
|
b2Color color(1.0f, 1.0f, 1.0f);
|
||
|
|
b2Vec2 vs[4];
|
||
|
|
for (int32 i = 0; i < 4; ++i)
|
||
|
|
{
|
||
|
|
vs[i] = b2Mul(xf, shape.m_vertices[i]);
|
||
|
|
}
|
||
|
|
|
||
|
|
m_debugDraw.DrawPolygon(vs, 4, color);
|
||
|
|
m_debugDraw.DrawSegment(input.p1, input.p2, color);
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
static Test* Create()
|
||
|
|
{
|
||
|
|
return new RayCast;
|
||
|
|
}
|
||
|
|
|
||
|
|
int32 m_bodyIndex;
|
||
|
|
b2Body* m_bodies[e_maxBodies];
|
||
|
|
int32 m_userData[e_maxBodies];
|
||
|
|
b2PolygonShape m_polygons[4];
|
||
|
|
b2CircleShape m_circle;
|
||
|
|
|
||
|
|
float32 m_angle;
|
||
|
|
|
||
|
|
Mode m_mode;
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif
|