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@erincatto
erincatto committed Nov 20, 2023
1 parent 48f533a commit de6f7a8
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Showing 3 changed files with 145 additions and 62 deletions.
31 changes: 16 additions & 15 deletions samples/collection/sample_continuous.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -298,21 +298,21 @@ class GhostCollision : public Sample

{
transform.p = {x, y};
b2Polygon polygon = b2MakeOffsetPolygon(&hull, m_round, transform);
b2Polygon polygon = b2MakeOffsetPolygon(&hull, 0.0f, transform);
b2Body_CreatePolygon(m_groundId, &shapeDef, &polygon);
x -= 2.0f * m * hx;
y += 2.0f * m * hx;
}
{
transform.p = {x, y};
b2Polygon polygon = b2MakeOffsetPolygon(&hull, m_round, transform);
b2Polygon polygon = b2MakeOffsetPolygon(&hull, 0.0f, transform);
b2Body_CreatePolygon(m_groundId, &shapeDef, &polygon);
x -= 2.0f * m * hx;
y += 2.0f * m * hx;
}
{
transform.p = {x, y};
b2Polygon polygon = b2MakeOffsetPolygon(&hull, m_round, transform);
b2Polygon polygon = b2MakeOffsetPolygon(&hull, 0.0f, transform);
b2Body_CreatePolygon(m_groundId, &shapeDef, &polygon);
x -= 2.0f * m * hx;
y += 2.0f * m * hx;
Expand All @@ -324,19 +324,19 @@ class GhostCollision : public Sample

{
transform.p = {x, y};
b2Polygon polygon = b2MakeOffsetPolygon(&hull, m_round, transform);
b2Polygon polygon = b2MakeOffsetPolygon(&hull, 0.0f, transform);
b2Body_CreatePolygon(m_groundId, &shapeDef, &polygon);
x += 2.0f * hx;
}
{
transform.p = {x, y};
b2Polygon polygon = b2MakeOffsetPolygon(&hull, m_round, transform);
b2Polygon polygon = b2MakeOffsetPolygon(&hull, 0.0f, transform);
b2Body_CreatePolygon(m_groundId, &shapeDef, &polygon);
x += 2.0f * hx;
}
{
transform.p = {x, y};
b2Polygon polygon = b2MakeOffsetPolygon(&hull, m_round, transform);
b2Polygon polygon = b2MakeOffsetPolygon(&hull, 0.0f, transform);
b2Body_CreatePolygon(m_groundId, &shapeDef, &polygon);
x += 2.0f * hx;
}
Expand All @@ -347,21 +347,21 @@ class GhostCollision : public Sample

{
transform.p = {x, y};
b2Polygon polygon = b2MakeOffsetPolygon(&hull, m_round, transform);
b2Polygon polygon = b2MakeOffsetPolygon(&hull, 0.0f, transform);
b2Body_CreatePolygon(m_groundId, &shapeDef, &polygon);
x += 2.0f * m * hx;
y += 2.0f * m * hx;
}
{
transform.p = {x, y};
b2Polygon polygon = b2MakeOffsetPolygon(&hull, m_round, transform);
b2Polygon polygon = b2MakeOffsetPolygon(&hull, 0.0f, transform);
b2Body_CreatePolygon(m_groundId, &shapeDef, &polygon);
x += 2.0f * m * hx;
y += 2.0f * m * hx;
}
{
transform.p = {x, y};
b2Polygon polygon = b2MakeOffsetPolygon(&hull, m_round, transform);
b2Polygon polygon = b2MakeOffsetPolygon(&hull, 0.0f, transform);
b2Body_CreatePolygon(m_groundId, &shapeDef, &polygon);
x += 2.0f * m * hx;
y += 2.0f * m * hx;
Expand Down Expand Up @@ -394,7 +394,8 @@ class GhostCollision : public Sample
}
else
{
b2Polygon box = b2MakeBox(0.5f, 0.5f);
float h = 0.5f - m_round;
b2Polygon box = b2MakeRoundedBox(h, h, m_round);
m_shapeId = b2Body_CreatePolygon(m_bodyId, &shapeDef, &box);
}
}
Expand All @@ -412,11 +413,6 @@ class GhostCollision : public Sample

if (m_useChain == false)
{
if (ImGui::SliderFloat("Round", &m_round, 0.0f, 0.5f, "%.2f"))
{
CreateScene();
}

if (ImGui::SliderFloat("Bevel", &m_bevel, 0.0f, 1.0f, "%.2f"))
{
CreateScene();
Expand All @@ -430,6 +426,11 @@ class GhostCollision : public Sample
m_shapeType = ShapeType(shapeType);
}

if (m_shapeType == e_boxShape)
{
ImGui::SliderFloat("Round", &m_round, 0.0f, 0.4f, "%.2f");
}

if (ImGui::SliderFloat("Friction", &m_friction, 0.0f, 1.0f, "%.2f"))
{
if (B2_NON_NULL(m_shapeId))
Expand Down
98 changes: 64 additions & 34 deletions samples/collection/sample_manifold.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -560,36 +560,44 @@ class Manifold : public Sample

// smooth-segment vs rounded polygon
{
b2SmoothSegment segment1 = {{2.0f, 1.0f}, {{1.0f, 1.0f}, {-1.0f, 0.0f}}, {-2.0f, 0.0f}};
b2SmoothSegment segment2 = {{3.0f, 1.0f}, {{2.0f, 1.0f}, {1.0f, 1.0f}}, {-1.0f, 0.0f}};
//b2SmoothSegment segment1 = {{2.0f, 1.0f}, {{1.0f, 1.0f}, {-1.0f, 0.0f}}, {-2.0f, 0.0f}};
//b2SmoothSegment segment2 = {{3.0f, 1.0f}, {{2.0f, 1.0f}, {1.0f, 1.0f}}, {-1.0f, 0.0f}};
b2SmoothSegment segment1 = {{2.0f, 0.0f}, {{1.0f, 0.0f}, {-1.0f, 0.0f}}, {-2.0f, 0.0f}};
b2SmoothSegment segment2 = {{3.0f, 0.0f}, {{2.0f, 0.0f}, {1.0f, 0.0f}}, {-1.0f, 0.0f}};
//b2SmoothSegment segment1 = {{0.5f, 1.0f}, {{0.0f, 2.0f}, {-0.5f, 1.0f}}, {-1.0f, 0.0f}};
//b2SmoothSegment segment2 = {{1.0f, 0.0f}, {{0.5f, 1.0f}, {0.0f, 2.0f}}, {-0.5f, 1.0f}};
float h = 0.5f - m_round;
b2Polygon rox = b2MakeRoundedBox(h, h, m_round);

b2Transform xf1 = {offset, b2Rot_identity};
b2Transform xf2 = {b2Add(m_transform.p, offset), m_transform.q};

b2Manifold m1 = b2CollideSmoothSegmentAndPolygon(&segment1, xf1, &rox, xf2, &m_smgroxCache1);
b2Manifold m2 = b2CollideSmoothSegmentAndPolygon(&segment2, xf1, &rox, xf2, &m_smgroxCache2);
//b2Manifold m2 = b2CollideSmoothSegmentAndPolygon(&segment2, xf1, &rox, xf2, &m_smgroxCache2);

{
b2Vec2 g1 = b2TransformPoint(xf1, segment1.ghost1);
b2Vec2 g2 = b2TransformPoint(xf1, segment1.ghost2);
b2Vec2 p1 = b2TransformPoint(xf1, segment1.segment.point1);
b2Vec2 p2 = b2TransformPoint(xf1, segment1.segment.point2);
// g_draw.DrawSegment(g1, p1, b2MakeColor(b2_colorLightGray, 0.5f));
g_draw.DrawSegment(g1, p1, b2MakeColor(b2_colorLightGray, 0.5f));
g_draw.DrawSegment(p1, p2, color1);
g_draw.DrawPoint(p1, 4.0f, color1);
g_draw.DrawPoint(p2, 4.0f, color1);
g_draw.DrawSegment(p2, g2, b2MakeColor(b2_colorLightGray, 0.5f));
}

{
b2Vec2 g1 = b2TransformPoint(xf1, segment2.ghost1);
b2Vec2 g2 = b2TransformPoint(xf1, segment2.ghost2);
b2Vec2 p1 = b2TransformPoint(xf1, segment2.segment.point1);
b2Vec2 p2 = b2TransformPoint(xf1, segment2.segment.point2);
g_draw.DrawSegment(g1, p1, b2MakeColor(b2_colorLightGray, 0.5f));
g_draw.DrawSegment(p1, p2, color1);
// g_draw.DrawSegment(p2, g2, b2MakeColor(b2_colorLightGray, 0.5f));
}
//{
// b2Vec2 g1 = b2TransformPoint(xf1, segment2.ghost1);
// b2Vec2 g2 = b2TransformPoint(xf1, segment2.ghost2);
// b2Vec2 p1 = b2TransformPoint(xf1, segment2.segment.point1);
// b2Vec2 p2 = b2TransformPoint(xf1, segment2.segment.point2);
// g_draw.DrawSegment(g1, p1, b2MakeColor(b2_colorLightGray, 0.5f));
// g_draw.DrawSegment(p1, p2, color1);
// g_draw.DrawPoint(p1, 4.0f, color1);
// g_draw.DrawPoint(p2, 4.0f, color1);
// // g_draw.DrawSegment(p2, g2, b2MakeColor(b2_colorLightGray, 0.5f));
//}

b2Vec2 vertices[b2_maxPolygonVertices];
for (int i = 0; i < rox.count; ++i)
Expand All @@ -606,8 +614,10 @@ class Manifold : public Sample
g_draw.DrawSolidPolygon(vertices, rox.count, color2);
}

g_draw.DrawPoint(b2TransformPoint(xf2, rox.centroid), 5.0f, b2MakeColor(b2_colorGainsboro, 1.0f));

DrawManifold(&m1);
DrawManifold(&m2);
//DrawManifold(&m2);

offset = b2Add(offset, increment);
}
Expand Down Expand Up @@ -675,26 +685,46 @@ class SmoothManifold : public Sample
m_showSeparation = false;

// https://betravis.github.io/shape-tools/path-to-polygon/
float coorinates[] = {-37.042, 21.833, -21.167, 21.833, -15.875, 32.417, -5.292, 32.417, 5.292, 43.000, 21.167,
43.000, 27.000, 40.250, 27.000, 32.417, 47.625, 32.417, 63.500, 43.000, 100.542, 48.292,
111.125, 32.417, 137.583, 27.125, 142.875, 5.958, 153.458, -25.792, 127.000, -41.667, 95.250,
-46.958, 79.375, -36.375, 84.667, -20.500, 63.500, 11.250, 47.625, -41.667, 26.458, -36.375,
10.583, -36.375, 15.875, -4.625, 5.292, -4.625, -4.036, -12.916, -42.333, -46.958, -63.500,
-36.375, -42.333, -20.500, -63.500, -15.208, -79.375, -4.625, -79.375, 16.542, -68.792, 32.417,
-58.208, 11.250, -47.625, 16.542, -42.333, 21.833};


b2Vec2 points[sizeof(coorinates) / sizeof(coorinates[0]) / 2];
m_count = sizeof(coorinates) / sizeof(coorinates[0]) / 2;
float scale = 0.25f;
float xoffset = -10.0f;
float yoffset = 20.0f;

for (int i = 0; i < m_count; ++i)
{
points[m_count - i - 1] = {scale * coorinates[2 * i] + xoffset, yoffset - scale * coorinates[2 * i + 1]};
}

m_count = 36;

b2Vec2 points[36];
points[0] = {-20.58325, 14.54175};
points[1] = {-21.90625, 15.8645};
points[2] = {-24.552, 17.1875};
points[3] = {-27.198, 11.89575};
points[4] = {-29.84375, 15.8645};
points[5] = {-29.84375, 21.15625};
points[6] = {-25.875, 23.802};
points[7] = {-20.58325, 25.125};
points[8] = {-25.875, 29.09375};
points[9] = {-20.58325, 31.7395};
points[10] = {-11.0089998, 23.2290001};
points[11] = {-8.67700005, 21.15625};
points[12] = {-6.03125, 21.15625};
points[13] = {-7.35424995, 29.09375};
points[14] = {-3.38549995, 29.09375};
points[15] = {1.90625, 30.41675};
points[16] = {5.875, 17.1875};
points[17] = {11.16675, 25.125};
points[18] = {9.84375, 29.09375};
points[19] = {13.8125, 31.7395};
points[20] = {21.75, 30.41675};
points[21] = {28.3644981, 26.448};
points[22] = {25.71875, 18.5105};
points[23] = {24.3957481, 13.21875};
points[24] = {17.78125, 11.89575};
points[25] = {15.1355, 7.92700005};
points[26] = {5.875, 9.25};
points[27] = {1.90625, 11.89575};
points[28] = {-3.25, 11.89575};
points[29] = {-3.25, 9.9375};
points[30] = {-4.70825005, 9.25};
points[31] = {-8.67700005, 9.25};
points[32] = {-11.323, 11.89575};
points[33] = {-13.96875, 11.89575};
points[34] = {-15.29175, 14.54175};
points[35] = {-19.2605, 14.54175};

m_segments = (b2SmoothSegment*)malloc(m_count * sizeof(b2SmoothSegment));

for (int i = 0; i < m_count; ++i)
Expand Down
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