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* Copyright (c) 2013, Daniel Murphy
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package org.jbox2d.testbed.tests;
import org.jbox2d.collision.Distance.SimplexCache;
import org.jbox2d.collision.DistanceInput;
import org.jbox2d.collision.DistanceOutput;
import org.jbox2d.collision.shapes.PolygonShape;
import org.jbox2d.common.Color3f;
import org.jbox2d.common.MathUtils;
import org.jbox2d.common.Settings;
import org.jbox2d.common.Transform;
import org.jbox2d.common.Vec2;
import org.jbox2d.testbed.framework.TestbedSettings;
import org.jbox2d.testbed.framework.TestbedTest;
public class DistanceTest extends TestbedTest {
Vec2 m_positionB;
float m_angleB;
Transform m_transformA;
Transform m_transformB;
PolygonShape m_polygonA;
PolygonShape m_polygonB;
@Override
public String getTestName() {
return "Distance";
}
@Override
public void initTest(boolean argDeserialized) {
input.transformA = new Transform();
input.transformB = new Transform();
{
m_transformA = new Transform();
m_transformA.setIdentity();
m_transformA.p.set(0.0f, -0.2f);
m_polygonA = new PolygonShape();
m_polygonA.setAsBox(10.0f, 0.2f);
}
{
m_positionB = new Vec2();
m_positionB.set(12.017401f, 0.13678508f);
m_angleB = -0.0109265f;
m_transformB = new Transform();
m_transformB.set(m_positionB, m_angleB);
m_polygonB = new PolygonShape();
m_polygonB.setAsBox(2.0f, 0.1f);
}
for (int i = 0; i < v.length; i++) {
v[i] = new Vec2();
}
}
DistanceInput input = new DistanceInput();
SimplexCache cache = new SimplexCache();
DistanceOutput output = new DistanceOutput();
Color3f color = new Color3f(0.9f, 0.9f, 0.9f);
Vec2[] v = new Vec2[Settings.maxPolygonVertices];
Color3f c1 = new Color3f(1.0f, 0.0f, 0.0f);
Color3f c2 = new Color3f(1.0f, 1.0f, 0.0f);
@Override
public void step(TestbedSettings settings) {
super.step(settings);
input.proxyA.set(m_polygonA,0);
input.proxyB.set(m_polygonB,0);
input.transformA.set(m_transformA);
input.transformB.set(m_transformB);
input.useRadii = true;
cache.count = 0;
getWorld().getPool().getDistance().distance(output, cache, input);
addTextLine("distance = " + output.distance);
addTextLine("iterations = " + output.iterations);
{
for (int i = 0; i < m_polygonA.m_count; ++i) {
Transform.mulToOutUnsafe(m_transformA, m_polygonA.m_vertices[i], v[i]);
}
getDebugDraw().drawPolygon(v, m_polygonA.m_count, color);
for (int i = 0; i < m_polygonB.m_count; ++i) {
Transform.mulToOutUnsafe(m_transformB, m_polygonB.m_vertices[i], v[i]);
}
getDebugDraw().drawPolygon(v, m_polygonB.m_count, color);
}
Vec2 x1 = output.pointA;
Vec2 x2 = output.pointB;
getDebugDraw().drawPoint(x1, 4.0f, c1);
getDebugDraw().drawPoint(x2, 4.0f, c2);
}
@Override
public void keyPressed(char argKeyChar, int argKeyCode) {
switch (argKeyChar) {
case 'a' :
m_positionB.x -= 0.1f;
break;
case 'd' :
m_positionB.x += 0.1f;
break;
case 's' :
m_positionB.y -= 0.1f;
break;
case 'w' :
m_positionB.y += 0.1f;
break;
case 'q' :
m_angleB += 0.1f * MathUtils.PI;
break;
case 'e' :
m_angleB -= 0.1f * MathUtils.PI;
break;
}
m_transformB.set(m_positionB, m_angleB);
}
}