axmol/tests/cpp-tests/Source/Box2DTestBed/tests/sensor.cpp

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// 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.
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#include "test.h"
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#include "ImGui/ImGuiPresenter.h"
// This shows how to use sensor shapes. Sensors don't have collision, but report overlap events.
class Sensors : public Test
{
public:
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enum
{
e_count = 7
};
Sensors()
{
{
b2BodyDef bd;
b2Body* ground = m_world->CreateBody(&bd);
{
b2EdgeShape shape;
shape.SetTwoSided(b2Vec2(-40.0f, 0.0f), b2Vec2(40.0f, 0.0f));
ground->CreateFixture(&shape, 0.0f);
}
#if 0
{
b2FixtureDef sd;
sd.SetAsBox(10.0f, 2.0f, b2Vec2(0.0f, 20.0f), 0.0f);
sd.isSensor = true;
m_sensor = ground->CreateFixture(&sd);
}
#else
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{
b2CircleShape shape;
shape.m_radius = 5.0f;
shape.m_p.Set(0.0f, 10.0f);
b2FixtureDef fd;
fd.shape = &shape;
fd.isSensor = true;
m_sensor = ground->CreateFixture(&fd);
}
#endif
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}
{
b2CircleShape shape;
shape.m_radius = 1.0f;
for (int32 i = 0; i < e_count; ++i)
{
b2BodyDef bd;
bd.type = b2_dynamicBody;
bd.position.Set(-10.0f + 3.0f * i, 20.0f);
bd.userData.pointer = i;
m_touching[i] = false;
m_bodies[i] = m_world->CreateBody(&bd);
m_bodies[i]->CreateFixture(&shape, 1.0f);
}
}
m_force = 100.0f;
}
// Implement contact listener.
void BeginContact(b2Contact* contact) override
{
b2Fixture* fixtureA = contact->GetFixtureA();
b2Fixture* fixtureB = contact->GetFixtureB();
if (fixtureA == m_sensor)
{
uintptr_t index = fixtureB->GetBody()->GetUserData().pointer;
if (index < e_count)
{
m_touching[index] = true;
}
}
if (fixtureB == m_sensor)
{
uintptr_t index = fixtureA->GetBody()->GetUserData().pointer;
if (index < e_count)
{
m_touching[index] = true;
}
}
}
// Implement contact listener.
void EndContact(b2Contact* contact) override
{
b2Fixture* fixtureA = contact->GetFixtureA();
b2Fixture* fixtureB = contact->GetFixtureB();
if (fixtureA == m_sensor)
{
uintptr_t index = fixtureB->GetBody()->GetUserData().pointer;
if (index < e_count)
{
m_touching[index] = false;
}
}
if (fixtureB == m_sensor)
{
uintptr_t index = fixtureA->GetBody()->GetUserData().pointer;
if (index < e_count)
{
m_touching[index] = false;
}
}
}
void UpdateUI() override
{
// ImGui::SetNextWindowPos(ImVec2(10.0f, 100.0f));
ImGui::SetNextWindowSize(ImVec2(200.0f, 60.0f));
ImGui::Begin("Sensor Controls", nullptr, ImGuiWindowFlags_NoResize);
ImGui::SliderFloat("Force", &m_force, 0.0f, 2000.0f, "%.0f");
ImGui::End();
}
void Step(Settings& settings) override
{
Test::Step(settings);
// Traverse the contact results. Apply a force on shapes
// that overlap the sensor.
for (int32 i = 0; i < e_count; ++i)
{
if (m_touching[i] == false)
{
continue;
}
b2Body* body = m_bodies[i];
b2Body* ground = m_sensor->GetBody();
b2CircleShape* circle = (b2CircleShape*)m_sensor->GetShape();
b2Vec2 center = ground->GetWorldPoint(circle->m_p);
b2Vec2 position = body->GetPosition();
b2Vec2 d = center - position;
if (d.LengthSquared() < FLT_EPSILON * FLT_EPSILON)
{
continue;
}
d.Normalize();
b2Vec2 F = m_force * d;
body->ApplyForce(F, position, false);
}
}
static Test* Create() { return new Sensors; }
b2Fixture* m_sensor;
b2Body* m_bodies[e_count];
float m_force;
bool m_touching[e_count];
};
static int testIndex = RegisterTest("Collision", "Sensors", Sensors::Create);