Add initial prototype.

3-mid/physics/implement/box2d/contrib/testbed/tests/distance_test.cpp

@@ -0,0 +1,139 @@
+// MIT License
+
+// Copyright (c) 2019 Erin Catto
+
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+
+// The above copyright notice and this permission notice shall be included in all
+// copies or substantial portions of the Software.
+
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+#include "test.h"
+#include "box2d/b2_distance.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) override
+	{
+		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);
+
+		g_debugDraw.DrawString(5, m_textLine, "distance = %g", output.distance);
+		m_textLine += m_textIncrement;
+
+		g_debugDraw.DrawString(5, m_textLine, "iterations = %d", output.iterations);
+		m_textLine += m_textIncrement;
+
+		{
+			b2Color color(0.9f, 0.9f, 0.9f);
+			b2Vec2 v[b2_maxPolygonVertices];
+			for (int32 i = 0; i < m_polygonA.m_count; ++i)
+			{
+				v[i] = b2Mul(m_transformA, m_polygonA.m_vertices[i]);
+			}
+			g_debugDraw.DrawPolygon(v, m_polygonA.m_count, color);
+
+			for (int32 i = 0; i < m_polygonB.m_count; ++i)
+			{
+				v[i] = b2Mul(m_transformB, m_polygonB.m_vertices[i]);
+			}
+			g_debugDraw.DrawPolygon(v, m_polygonB.m_count, color);
+		}
+
+		b2Vec2 x1 = output.pointA;
+		b2Vec2 x2 = output.pointB;
+
+		b2Color c1(1.0f, 0.0f, 0.0f);
+		g_debugDraw.DrawPoint(x1, 4.0f, c1);
+
+		b2Color c2(1.0f, 1.0f, 0.0f);
+		g_debugDraw.DrawPoint(x2, 4.0f, c2);
+	}
+
+	void Keyboard(int key) override
+	{
+		switch (key)
+		{
+		case GLFW_KEY_A:
+			m_positionB.x -= 0.1f;
+			break;
+
+		case GLFW_KEY_D:
+			m_positionB.x += 0.1f;
+			break;
+
+		case GLFW_KEY_S:
+			m_positionB.y -= 0.1f;
+			break;
+
+		case GLFW_KEY_W:
+			m_positionB.y += 0.1f;
+			break;
+
+		case GLFW_KEY_Q:
+			m_angleB += 0.1f * b2_pi;
+			break;
+
+		case GLFW_KEY_E:
+			m_angleB -= 0.1f * b2_pi;
+			break;
+		}
+
+		m_transformB.Set(m_positionB, m_angleB);
+	}
+
+	b2Vec2 m_positionB;
+	float m_angleB;
+
+	b2Transform m_transformA;
+	b2Transform m_transformB;
+	b2PolygonShape m_polygonA;
+	b2PolygonShape m_polygonB;
+};
+
+static int testIndex = RegisterTest("Geometry", "Distance Test", DistanceTest::Create);