embedded_libs/box2d-2.4.1/testbed/tests/continuous_test.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.

#include "test.h"

class ContinuousTest : public Test
{
public:

	ContinuousTest()
	{
		{
			b2BodyDef bd;
			bd.position.Set(0.0f, 0.0f);
			b2Body* body = m_world->CreateBody(&bd);

			b2EdgeShape edge;

			edge.SetTwoSided(b2Vec2(-10.0f, 0.0f), b2Vec2(10.0f, 0.0f));
			body->CreateFixture(&edge, 0.0f);

			b2PolygonShape shape;
			shape.SetAsBox(0.2f, 1.0f, b2Vec2(0.5f, 1.0f), 0.0f);
			body->CreateFixture(&shape, 0.0f);
		}

#if 1
		{
			b2BodyDef bd;
			bd.type = b2_dynamicBody;
			bd.position.Set(0.0f, 20.0f);
			//bd.angle = 0.1f;

			b2PolygonShape shape;
			shape.SetAsBox(2.0f, 0.1f);

			m_body = m_world->CreateBody(&bd);
			m_body->CreateFixture(&shape, 1.0f);

			m_angularVelocity = RandomFloat(-50.0f, 50.0f);
			//m_angularVelocity = 46.661274f;
			m_body->SetLinearVelocity(b2Vec2(0.0f, -100.0f));
			m_body->SetAngularVelocity(m_angularVelocity);
		}
#else
		{
			b2BodyDef bd;
			bd.type = b2_dynamicBody;
			bd.position.Set(0.0f, 2.0f);
			b2Body* body = m_world->CreateBody(&bd);

			b2CircleShape shape;
			shape.m_p.SetZero();
			shape.m_radius = 0.5f;
			body->CreateFixture(&shape, 1.0f);

			bd.bullet = true;
			bd.position.Set(0.0f, 10.0f);
			body = m_world->CreateBody(&bd);
			body->CreateFixture(&shape, 1.0f);
			body->SetLinearVelocity(b2Vec2(0.0f, -100.0f));
		}
#endif

		extern B2_API int32 b2_gjkCalls, b2_gjkIters, b2_gjkMaxIters;
		extern B2_API int32 b2_toiCalls, b2_toiIters;
		extern B2_API int32 b2_toiRootIters, b2_toiMaxRootIters;
		extern B2_API float b2_toiTime, b2_toiMaxTime;

		b2_gjkCalls = 0; b2_gjkIters = 0; b2_gjkMaxIters = 0;
		b2_toiCalls = 0; b2_toiIters = 0;
		b2_toiRootIters = 0; b2_toiMaxRootIters = 0;
		b2_toiTime = 0.0f; b2_toiMaxTime = 0.0f;
	}

	void Launch()
	{
		extern B2_API int32 b2_gjkCalls, b2_gjkIters, b2_gjkMaxIters;
		extern B2_API int32 b2_toiCalls, b2_toiIters;
		extern B2_API int32 b2_toiRootIters, b2_toiMaxRootIters;
		extern B2_API float b2_toiTime, b2_toiMaxTime;

		b2_gjkCalls = 0; b2_gjkIters = 0; b2_gjkMaxIters = 0;
		b2_toiCalls = 0; b2_toiIters = 0;
		b2_toiRootIters = 0; b2_toiMaxRootIters = 0;
		b2_toiTime = 0.0f; b2_toiMaxTime = 0.0f;

		m_body->SetTransform(b2Vec2(0.0f, 20.0f), 0.0f);
		m_angularVelocity = RandomFloat(-50.0f, 50.0f);
		m_body->SetLinearVelocity(b2Vec2(0.0f, -100.0f));
		m_body->SetAngularVelocity(m_angularVelocity);
	}

	void Step(Settings& settings) override
	{
		Test::Step(settings);

		extern B2_API int32 b2_gjkCalls, b2_gjkIters, b2_gjkMaxIters;

		if (b2_gjkCalls > 0)
		{
			g_debugDraw.DrawString(5, m_textLine, "gjk calls = %d, ave gjk iters = %3.1f, max gjk iters = %d",
				b2_gjkCalls, b2_gjkIters / float(b2_gjkCalls), b2_gjkMaxIters);
			m_textLine += m_textIncrement;
		}

		extern B2_API int32 b2_toiCalls, b2_toiIters;
		extern B2_API int32 b2_toiRootIters, b2_toiMaxRootIters;
		extern B2_API float b2_toiTime, b2_toiMaxTime;

		if (b2_toiCalls > 0)
		{
			g_debugDraw.DrawString(5, m_textLine, "toi calls = %d, ave [max] toi iters = %3.1f [%d]",
								b2_toiCalls, b2_toiIters / float(b2_toiCalls), b2_toiMaxRootIters);
			m_textLine += m_textIncrement;
			
			g_debugDraw.DrawString(5, m_textLine, "ave [max] toi root iters = %3.1f [%d]",
				b2_toiRootIters / float(b2_toiCalls), b2_toiMaxRootIters);
			m_textLine += m_textIncrement;

			g_debugDraw.DrawString(5, m_textLine, "ave [max] toi time = %.1f [%.1f] (microseconds)",
				1000.0f * b2_toiTime / float(b2_toiCalls), 1000.0f * b2_toiMaxTime);
			m_textLine += m_textIncrement;
		}

		if (m_stepCount % 60 == 0)
		{
			//Launch();
		}
	}

	static Test* Create()
	{
		return new ContinuousTest;
	}

	b2Body* m_body;
	float m_angularVelocity;
};

static int testIndex = RegisterTest("Continuous", "Continuous Test", ContinuousTest::Create);