void PackageCanvas::prepare_for_move(bool on_resize) {
if (! on_resize) {
DiagramCanvas::prepare_for_move(on_resize);
Q3CanvasItemList l = collisions(TRUE);
Q3CanvasItemList::ConstIterator it;
Q3CanvasItemList::ConstIterator end = l.end();
DiagramItem * di;
BrowserNode * p = get_bn();
for (it = l.begin(); it != end; ++it) {
if ((*it)->visible() && // at least not deleted
!(*it)->selected() &&
((di = QCanvasItemToDiagramItem(*it)) != 0) &&
di->move_with_its_package()) {
BrowserNode * bn = di->get_bn();
do
bn = (BrowserNode *) bn->parent();
while (bn->get_type() != UmlPackage);
if (bn == p) {
the_canvas()->select(*it);
di->prepare_for_move(FALSE);
}
}
}
}
}
Q3CanvasItem * UmlCanvas::collision(const QPoint & p) const
{
Q3CanvasItemList l = collisions(p);
Q3CanvasItemList::ConstIterator it;
Q3CanvasItemList::ConstIterator end = l.end();
ArrowCanvas * arrow = 0;
for (it = l.begin(); it != end; ++it)
if (((*it)->visible()) && // at least not deleted
!isa_alien(*it) &&
!isa_col_msg_dirs(*it)) {
switch ((*it)->rtti()) {
case RTTI_ARROW:
if (arrow == 0)
arrow = (ArrowCanvas *) *it;
break;
case RTTI_LABEL:
return (arrow == 0) ? *it : arrow;
default:
// isa DiagramCanvas
return ((arrow == 0) ||
(small_element(((DiagramCanvas *) *it)->rect()) &&
((DiagramCanvas *) *it)->attached_to(arrow)))
? *it : arrow;
}
}
return arrow;
}
void VerletShapeTests::sphereMissesCapsule() {
// non-overlapping sphere and capsule
float radiusA = 1.5f;
float radiusB = 2.3f;
float totalRadius = radiusA + radiusB;
float halfHeightB = 1.7f;
float axialOffset = totalRadius + 1.1f * halfHeightB;
float radialOffset = 1.2f * radiusA + 1.3f * radiusB;
// create points for the sphere + capsule
VerletPoint points[3];
for (int i = 0; i < 3; ++i) {
points[i]._position = glm::vec3(0.0f);
}
// give the points to the shapes
VerletSphereShape sphereA(radiusA, points);
VerletCapsuleShape capsuleB(radiusB, points+1, points+2);
capsuleB.setHalfHeight(halfHeightB);
// give the capsule some arbitrary transform
float angle = 37.8f;
glm::vec3 axis = glm::normalize( glm::vec3(-7.0f, 2.8f, 9.3f) );
glm::quat rotation = glm::angleAxis(angle, axis);
glm::vec3 translation(15.1f, -27.1f, -38.6f);
capsuleB.setRotation(rotation);
capsuleB.setTranslation(translation);
CollisionList collisions(16);
// walk sphereA along the local yAxis next to, but not touching, capsuleB
glm::vec3 localStartPosition(radialOffset, axialOffset, 0.0f);
int numberOfSteps = 10;
float delta = 1.3f * (totalRadius + halfHeightB) / (numberOfSteps - 1);
for (int i = 0; i < numberOfSteps; ++i) {
// translate sphereA into world-frame
glm::vec3 localPosition = localStartPosition + ((float)i * delta) * yAxis;
sphereA.setTranslation(rotation * localPosition + translation);
// sphereA agains capsuleB
if (ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphere and capsule should NOT touch" << std::endl;
}
// capsuleB against sphereA
if (ShapeCollider::collideShapes(&capsuleB, &sphereA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphere and capsule should NOT touch" << std::endl;
}
}
if (collisions.size() > 0) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected empty collision list but size is " << collisions.size() << std::endl;
}
}
/** create an animated cell from pixmaps at position row,col */
GraphicalCell::GraphicalCell( int row, int col , QCanvas *canvas)
: QCanvasSprite( ImageTheme.cells, canvas )
{
collisions( true );
setFrame( 0 );
move( _size*col, _size*row );
setZ( CAN_GROUND );
show();
}
void load_game(void)
{
update_background();
update_content();
collisions();
update_stats();
display_content();
draw();
}
//=============================================================================
// Call repeatedly by the main message loop in WinMain
//=============================================================================
void Game::run(HWND hwnd)
{
if(graphics == NULL) // if graphics not initialized
return;
// calculate elapsed time of last frame, save in frameTime
QueryPerformanceCounter(&timeEnd);
frameTime = (float)(timeEnd.QuadPart - timeStart.QuadPart ) / (float)timerFreq.QuadPart;
// Power saving code, requires winmm.lib
// if not enough time has elapsed for desired frame rate
if (frameTime < MIN_FRAME_TIME)
{
sleepTime = (DWORD)((MIN_FRAME_TIME - frameTime)*1000);
timeBeginPeriod(1); // Request 1mS resolution for windows timer
Sleep(sleepTime); // release cpu for sleepTime
timeEndPeriod(1); // End 1mS timer resolution
return;
}
if (frameTime > 0.0)
fps = (fps*0.99f) + (0.01f/frameTime); // average fps
if (frameTime > MAX_FRAME_TIME) // if frame rate is very slow
frameTime = MAX_FRAME_TIME; // limit maximum frameTime
timeStart = timeEnd;
// update(), ai(), and collisions() are pure virtual functions.
// These functions must be provided in the class that inherits from Game.
if (!paused) // if not paused
{
update(); // update all game items
ai(); // artificial intelligence
collisions(); // handle collisions
input->vibrateControllers(frameTime); // handle controller vibration
}
//for FPS on the title
char windowtext[255];
sprintf(windowtext,"frameTime = %f, FPS= %f",frameTime, fps);
SetWindowText(hwnd, windowtext);
renderGame(); // draw all game items
// input->readCoSntrollers(); // read state of controllers
// if Alt+Enter toggle fullscreen/window
if (input->isKeyDown(ALT_KEY) && input->wasKeyPressed(ENTER_KEY))
setDisplayMode(graphicsNS::TOGGLE); // toggle fullscreen/window
// if Esc key, set window mode
if (input->isKeyDown(ESC_KEY))
setDisplayMode(graphicsNS::WINDOW); // set window mode
// Clear input
// Call this after all key checks are done
input->clear(inputNS::KEYS_PRESSED);
}
void VerletShapeTests::sphereMissesSphere() {
// non-overlapping spheres of unequal size
float radiusA = 7.0f;
float radiusB = 3.0f;
float alpha = 1.2f;
float beta = 1.3f;
glm::vec3 offsetDirection = glm::normalize(glm::vec3(1.0f, 2.0f, 3.0f));
float offsetDistance = alpha * radiusA + beta * radiusB;
// create points for the sphere centers
VerletPoint points[2];
// give pointers to the spheres
VerletSphereShape sphereA(radiusA, (points + 0));
VerletSphereShape sphereB(radiusB, (points + 1));
// set the positions of the spheres by slamming the points directly
points[0]._position = origin;
points[1]._position = offsetDistance * offsetDirection;
CollisionList collisions(16);
// collide A to B...
{
bool touching = ShapeCollider::collideShapes(&sphereA, &sphereB, collisions);
if (touching) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphereA and sphereB should NOT touch" << std::endl;
}
}
// collide B to A...
{
bool touching = ShapeCollider::collideShapes(&sphereB, &sphereA, collisions);
if (touching) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphereA and sphereB should NOT touch" << std::endl;
}
}
// also test shapeShape
{
bool touching = ShapeCollider::collideShapes(&sphereB, &sphereA, collisions);
if (touching) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphereA and sphereB should NOT touch" << std::endl;
}
}
if (collisions.size() > 0) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected empty collision list but size is " << collisions.size() << std::endl;
}
}
// ==================================================================
// WinMain内のメインのメッセージループで繰り返し呼び出される
// ==================================================================
void Game::run(HWND hwnd)
{
if(graphics == NULL) // グラフィックスが初期化されていない場合
return;
// エスケープキーで終了
if(input->isKeyDown(ESC_KEY))
{
PostQuitMessage(0);
return;
}
// 最後のフレームからの経過時間を計算、frameTimeに保存
QueryPerformanceCounter(&timeEnd);
frameTime = (float)(timeEnd.QuadPart - timeStart.QuadPart) / (float)timeFreq.QuadPart;
// 省電力コード(winmm.libが必要)
// 希望するフレームレートに対して経過時間が短い場合
if(frameTime < MIN_FRAME_TIME)
{
sleepTime = (DWORD)((MIN_FRAME_TIME - frameTime) * 1000);
timeBeginPeriod(1); // 1ミリ秒の分解能をWindowsタイマーに要求
Sleep(sleepTime); // sleepTimeの間、CPUを解放
timeEndPeriod(1); // 1ミリ秒のタイマー分解能を終了
return;
}
if(frameTime > 0.0)
fps = (fps * 0.99f) + (0.01f / frameTime); // 平均fps
if(frameTime > MAX_FRAME_TIME) // フレームレートが非常に遅い場合
frameTime = MAX_FRAME_TIME; // 最大frameTimeを制限
timeStart = timeEnd;
input->readControllers(); // コントローラの状態を読み取る
// update()、ai()、collisions()は純粋仮想関数です
// これらの関数は、Gameを継承しているクラス側で記述する必要があります
if(!paused) // 一時停止中でない
{
update(); // すべてのゲームアイテムを更新
ai(); // 人工知能
collisions(); // 衝突を処理
input->vibrateControllers(frameTime); //コントローラの振動を処理
}
renderGame(); // すべてのゲームアイテムを描画
// 入力をクリア
// すべてのキーチェックが行われた後これを呼び出す
input->clear(inputNS::KEYS_PRESSED);
}
/** add comments here */
GraphicalFightUnit::GraphicalFightUnit( QCanvas * canvas )
: QCanvasSprite( (*ImageTheme.creatures[0])[0], canvas )
{
collisions( true );
setFrame( 0 );
setZ( CAN_LORD );
show();
/*QBrush brush( yellow );
_numBox = new QCanvasRectangle( canvas );
_numBox->setBrush( brush );
_numBox->collisions( true );
_numBox->setZ( CAN_ARROW );
_numBox->setSize( 50, 25 );
_numBox->show();*/
}
void Floater::moveBy(double dx, double dy)
{
if (!isEnabled())
return;
QCanvasItemList l = collisions(false);
for (QCanvasItemList::Iterator it = l.begin(); it != l.end(); ++it)
{
CanvasItem *item = dynamic_cast<CanvasItem *>(*it);
if (!noUpdateZ && item && item->canBeMovedByOthers())
item->updateZ(this);
if ((*it)->z() >= z())
{
if (item && item->canBeMovedByOthers() && collidesWith(*it))
{
if ((*it)->rtti() == Rtti_Ball)
{
//((Ball *)(*it))->setState(Rolling);
(*it)->moveBy(dx, dy);
if (game && game->hasFocus() && !game->isEditing() && game->curBall() == (Ball *)(*it))
game->ballMoved();
}
else if ((*it)->rtti() != Rtti_Putter)
(*it)->moveBy(dx, dy);
}
}
}
point->dontMove();
point->move(x() + width(), y() + height());
// this call must come after we have tested for collisions, otherwise we skip them when saving!
// that's a bad thing
QCanvasRectangle::moveBy(dx, dy);
// because we don't do Bridge::moveBy();
topWall->move(x(), y());
botWall->move(x(), y() - 1);
leftWall->move(x(), y());
rightWall->move(x(), y());
if (game && game->isEditing())
game->updateHighlighter();
}
void FixedSet::Init(const std::vector<int>& elements) {
int size = elements.size();
std::vector<std::vector <int> > collisions(size);
buckets_.resize(size);
function_ = GenerateUniversalHashFunctor(PRIME_NUMBER);
for (auto iterator = elements.begin(); iterator != elements.end(); ++iterator) {
int element = AdjustElement(*iterator);
int index = GetIndex(element);
collisions[index].push_back(element);
}
for (int bucket_index = 0; bucket_index != size; ++bucket_index) {
buckets_[bucket_index].Init(collisions[bucket_index]);
}
}
void ShapeColliderTests::sphereMissesSphere() {
// non-overlapping spheres of unequal size
float radiusA = 7.f;
float radiusB = 3.f;
float alpha = 1.2f;
float beta = 1.3f;
glm::vec3 offsetDirection = glm::normalize(glm::vec3(1.f, 2.f, 3.f));
float offsetDistance = alpha * radiusA + beta * radiusB;
SphereShape sphereA(radiusA, origin);
SphereShape sphereB(radiusB, offsetDistance * offsetDirection);
CollisionList collisions(16);
// collide A to B...
{
bool touching = ShapeCollider::collideShapes(&sphereA, &sphereB, collisions);
if (touching) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphereA and sphereB should NOT touch" << std::endl;
}
}
// collide B to A...
{
bool touching = ShapeCollider::collideShapes(&sphereB, &sphereA, collisions);
if (touching) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphereA and sphereB should NOT touch" << std::endl;
}
}
// also test shapeShape
{
bool touching = ShapeCollider::collideShapes(&sphereB, &sphereA, collisions);
if (touching) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphereA and sphereB should NOT touch" << std::endl;
}
}
if (collisions.size() > 0) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected empty collision list but size is " << collisions.size()
<< std::endl;
}
}
void Game::Draw()
{
//SFML is a polling based system, This is why we call pollEvent.
//If there is an event, it returns true, and is set equall to currentEvent.
if(player1score > 9)
{
cout<<"Player 1 Wins!!! "<<endl;
_gameState = GameOver;
}
if(player2score > 9)
{
cout<<"Player 2 Wins!!! "<<endl;
_gameState = GameOver;
}
sf::Event event;
while(ballMoving && !ballGoal){
//cout<<"ball moving"<<endl;
_mainWindow.clear(sf::Color(0,0,0));//Clears the stuff drawn to the screen.
ball.move();
playerUpdate();
ball.update(_mainWindow);
collisions();//check collisions with the ball.
// playerUpdate();
_mainWindow.display();
while(_mainWindow.pollEvent(event))
{
movement();//Update the movement of the paddles
playerUpdate();
ball.update(_mainWindow);
_mainWindow.display();
switch(event.type)
{
case sf::Event::Closed:
_gameState = Game::Exiting;
break;
}
}
}
}
//=============================================================================
// Call repeatedly by the main message loop in WinMain
//=============================================================================
void Game::run(HWND hwnd)
{
if(graphics == NULL) // if graphics not initialized
return;
// calculate elapsed time of last frame, save in frameTime
QueryPerformanceCounter(&timeEnd);
frameTime = (float)(timeEnd.QuadPart - timeStart.QuadPart ) /
(float)timerFreq.QuadPart;
// Power saving code, requires winmm.lib
// if not enough time has elapsed for desired frame rate
if (frameTime < MIN_FRAME_TIME)
{
sleepTime = (DWORD)((MIN_FRAME_TIME - frameTime)*1000);
timeBeginPeriod(1); // Request 1mS resolution for windows timer
Sleep(sleepTime); // release cpu for sleepTime
timeEndPeriod(1); // End 1mS timer resolution
return;
}
if (frameTime > 0.0)
fps = (fps*0.99f) + (0.01f/frameTime); // average fps
if (frameTime > MAX_FRAME_TIME) // if frame rate is very slow
frameTime = MAX_FRAME_TIME; // limit maximum frameTime
timeStart = timeEnd;
// update(), ai(), and collisions() are pure virtual functions.
// These functions must be provided in the class that inherits from Game.
if (!paused) // if not paused
{
update(); // update all game items
ai(); // artificial intelligence
collisions(); // handle collisions
input->vibrateControllers(frameTime); // handle controller vibration
}
renderGame(); // draw all game items
input->readControllers(); // read state of controllers
// Clear input
// Call this after all key checks are done
input->clear(inputNS::KEYS_PRESSED);
}
void PhysicsEntity::disableCurrentSelfCollisions() {
CollisionList collisions(10);
int numShapes = _shapes.size();
for (int i = 0; i < numShapes; ++i) {
const Shape* shape = _shapes.at(i);
if (!shape) {
continue;
}
for (int j = i+1; j < numShapes; ++j) {
if (!collisionsAreEnabled(i, j)) {
continue;
}
const Shape* otherShape = _shapes.at(j);
if (otherShape && ShapeCollider::collideShapes(shape, otherShape, collisions)) {
disableCollisions(i, j);
collisions.clear();
}
}
}
}
void FragmentCanvas::prepare_for_move(bool on_resize) {
if (!on_resize) {
DiagramCanvas::prepare_for_move(on_resize);
QRect r = rect();
Q3CanvasItemList l = collisions(TRUE);
Q3CanvasItemList::ConstIterator it;
Q3CanvasItemList::ConstIterator end = l.end();
DiagramItem * di;
for (it = l.begin(); it != end; ++it) {
if ((*it)->visible() && // at least not deleted
!(*it)->selected() &&
((di = QCanvasItemToDiagramItem(*it)) != 0) &&
r.contains(di->rect(), TRUE) &&
di->move_with(UmlFragment)) {
the_canvas()->select(*it);
di->prepare_for_move(FALSE);
}
}
}
}
void Bullet::checkCollision()
{
QCanvasItem* item;
QCanvasItemList l=collisions(FALSE);
for (QCanvasItemList::Iterator it=l.begin(); it!=l.end(); ++it) {
item = *it;
if ( (item->rtti()== 1500) && (item->collidesWith(this)) ) {
Man* deadman = (Man*)item;
if (deadman->frame() != 5) return;
deadman->done();
emit score(10);
setShotCount(shotcount+1);
setAnimated(false);
nobullets--;
delete this;
return;
}
else if ( (item->rtti()==1900) && (item->collidesWith(this)) ) {
Helicopter* deadchopper = (Helicopter*) item;
deadchopper->done();
emit score(50);
setAnimated(false);
nobullets--;
delete this;
return;
}
}
//check shot is not out of bounds
if ( (y() < 0) || (x() < 0) ||
(y() > canvas()->height()) ||
( x() > canvas()->width())) {
setAnimated(false);
nobullets--;
delete this;
return;
}
}
//=============================================================================
// Call repeatedly by the main message loop in WinMain
//=============================================================================
void Game::run(HWND hwnd)
{
if(graphics == NULL) // if graphics not initialized
return;
// calculate elapsed time of last frame, save in frameTime
QueryPerformanceCounter(&timeEnd);
frameTime = (float)(timeEnd.QuadPart - timeStart.QuadPart ) / (float)timerFreq.QuadPart;
// Power saving code, requires winmm.lib
// if not enough time has elapsed for desired frame rate
if (frameTime < MIN_FRAME_TIME)
{
sleepTime = (DWORD)((MIN_FRAME_TIME - frameTime)*1000);
timeBeginPeriod(1); // Request 1mS resolution for windows timer
Sleep(sleepTime); // release cpu for sleepTime
timeEndPeriod(1); // End 1mS timer resolution
return;
}
if (frameTime > 0.0)
fps = (fps*0.99f) + (0.01f/frameTime); // average fps
if (frameTime > MAX_FRAME_TIME) // if frame rate is very slow
frameTime = MAX_FRAME_TIME; // limit maximum frameTime
timeStart = timeEnd;
// update(), ai(), and collisions() are pure virtual functions.
// These functions must be provided in the class that inherits from Game.
if (!paused) // if not paused
{
update(); // update all game items
ai(); // artificial intelligence
collisions(); // handle collisions
input->vibrateControllers(frameTime); // handle controller vibration
}
renderGame(); // draw all game items
//check for console key
if (input->getCharIn() == CONSOLE_KEY)
{
input->clearCharIn(); // clear last char
console->showHide();
paused = console->getVisible(); // pause game when console is visible
}
consoleCommand(); // process user entered console command
input->readControllers(); // read state of controllers
messageDialog->update();
inputDialog->update();
audio->run(); // perform periodic sound engine tasks
// if Alt+Enter toggle fullscreen/window
if (input->isKeyDown(ALT_KEY) && input->wasKeyPressed(ENTER_KEY))
setDisplayMode(graphicsNS::TOGGLE); // toggle fullscreen/window
// if Esc key, set window mode
if (input->isKeyDown(ESC_KEY))
setDisplayMode(graphicsNS::WINDOW); // set window mode
// if Pause key
if (input->wasKeyPressed(VK_PAUSE))
paused = !paused;
// Clear input keys pressed
// Call this after all key checks are done
input->clear(inputNS::KEYS_PRESSED);
}
void ShapeColliderTests::sphereTouchesSphere() {
// overlapping spheres of unequal size
float radiusA = 7.f;
float radiusB = 3.f;
float alpha = 0.2f;
float beta = 0.3f;
glm::vec3 offsetDirection = glm::normalize(glm::vec3(1.f, 2.f, 3.f));
float offsetDistance = alpha * radiusA + beta * radiusB;
float expectedPenetrationDistance = (1.f - alpha) * radiusA + (1.f - beta) * radiusB;
glm::vec3 expectedPenetration = expectedPenetrationDistance * offsetDirection;
SphereShape sphereA(radiusA, origin);
SphereShape sphereB(radiusB, offsetDistance * offsetDirection);
CollisionList collisions(16);
int numCollisions = 0;
// collide A to B...
{
bool touching = ShapeCollider::collideShapes(&sphereA, &sphereB, collisions);
if (!touching) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphereA and sphereB should touch" << std::endl;
} else {
++numCollisions;
}
// verify state of collisions
if (numCollisions != collisions.size()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected collisions size of " << numCollisions << " but actual size is " << collisions.size()
<< std::endl;
}
CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
if (!collision) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: null collision" << std::endl;
}
// penetration points from sphereA into sphereB
float inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration
<< std::endl;
}
// contactPoint is on surface of sphereA
glm::vec3 AtoB = sphereB.getPosition() - sphereA.getPosition();
glm::vec3 expectedContactPoint = sphereA.getPosition() + radiusA * glm::normalize(AtoB);
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint
<< std::endl;
}
}
// collide B to A...
{
bool touching = ShapeCollider::collideShapes(&sphereB, &sphereA, collisions);
if (!touching) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphereA and sphereB should touch" << std::endl;
} else {
++numCollisions;
}
// penetration points from sphereA into sphereB
CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
float inaccuracy = glm::length(collision->_penetration + expectedPenetration);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration
<< std::endl;
}
// contactPoint is on surface of sphereA
glm::vec3 BtoA = sphereA.getPosition() - sphereB.getPosition();
glm::vec3 expectedContactPoint = sphereB.getPosition() + radiusB * glm::normalize(BtoA);
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint
<< std::endl;
}
}
}
void ShapeColliderTests::capsuleTouchesCapsule() {
// overlapping capsules
float radiusA = 2.f;
float halfHeightA = 3.f;
float radiusB = 3.f;
float halfHeightB = 4.f;
float totalRadius = radiusA + radiusB;
float totalHalfLength = totalRadius + halfHeightA + halfHeightB;
CapsuleShape capsuleA(radiusA, halfHeightA);
CapsuleShape capsuleB(radiusB, halfHeightB);
CollisionList collisions(16);
int numCollisions = 0;
{ // side by side
capsuleB.setPosition((0.99f * totalRadius) * xAxis);
if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
} else {
++numCollisions;
}
if (!ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
} else {
++numCollisions;
}
}
{ // end to end
capsuleB.setPosition((0.99f * totalHalfLength) * yAxis);
if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
} else {
++numCollisions;
}
if (!ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
} else {
++numCollisions;
}
}
{ // rotate B and move it to the side
glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
capsuleB.setRotation(rotation);
capsuleB.setPosition((0.99f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
} else {
++numCollisions;
}
if (!ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
} else {
++numCollisions;
}
}
{ // again, but this time check collision details
float overlap = 0.1f;
glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
capsuleB.setRotation(rotation);
glm::vec3 positionB = ((totalRadius + capsuleB.getHalfHeight()) - overlap) * xAxis;
capsuleB.setPosition(positionB);
// capsuleA vs capsuleB
if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
} else {
++numCollisions;
}
CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
glm::vec3 expectedPenetration = overlap * xAxis;
float inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration
<< std::endl;
}
glm::vec3 expectedContactPoint = capsuleA.getPosition() + radiusA * xAxis;
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint
<< std::endl;
}
// capsuleB vs capsuleA
if (!ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
} else {
++numCollisions;
}
collision = collisions.getCollision(numCollisions - 1);
expectedPenetration = - overlap * xAxis;
inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration
<< std::endl;
}
expectedContactPoint = capsuleB.getPosition() - (radiusB + halfHeightB) * xAxis;
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint
<< std::endl;
}
}
{ // collide cylinder wall against cylinder wall
float overlap = 0.137f;
float shift = 0.317f * halfHeightA;
glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
capsuleB.setRotation(rotation);
glm::vec3 positionB = (totalRadius - overlap) * zAxis + shift * yAxis;
capsuleB.setPosition(positionB);
// capsuleA vs capsuleB
if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should touch"
<< std::endl;
} else {
++numCollisions;
}
CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
glm::vec3 expectedPenetration = overlap * zAxis;
float inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration
<< std::endl;
}
glm::vec3 expectedContactPoint = capsuleA.getPosition() + radiusA * zAxis + shift * yAxis;
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint
<< std::endl;
}
}
}
void ShapeColliderTests::capsuleMissesCapsule() {
// non-overlapping capsules
float radiusA = 2.f;
float halfHeightA = 3.f;
float radiusB = 3.f;
float halfHeightB = 4.f;
float totalRadius = radiusA + radiusB;
float totalHalfLength = totalRadius + halfHeightA + halfHeightB;
CapsuleShape capsuleA(radiusA, halfHeightA);
CapsuleShape capsuleB(radiusA, halfHeightA);
CollisionList collisions(16);
// side by side
capsuleB.setPosition((1.01f * totalRadius) * xAxis);
if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch"
<< std::endl;
}
if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch"
<< std::endl;
}
// end to end
capsuleB.setPosition((1.01f * totalHalfLength) * xAxis);
if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch"
<< std::endl;
}
if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch"
<< std::endl;
}
// rotate B and move it to the side
glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
capsuleB.setRotation(rotation);
capsuleB.setPosition((1.01f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch"
<< std::endl;
}
if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch"
<< std::endl;
}
if (collisions.size() > 0) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected empty collision list but size is " << collisions.size()
<< std::endl;
}
}
void VerletShapeTests::capsuleMissesCapsule() {
// non-overlapping capsules
float radiusA = 2.0f;
float halfHeightA = 3.0f;
float radiusB = 3.0f;
float halfHeightB = 4.0f;
float totalRadius = radiusA + radiusB;
float totalHalfLength = totalRadius + halfHeightA + halfHeightB;
// create points for the shapes
VerletPoint points[4];
for (int i = 0; i < 4; ++i) {
points[i]._position = glm::vec3(0.0f);
}
// give the points to the shapes
VerletCapsuleShape capsuleA(radiusA, points+0, points+1);
VerletCapsuleShape capsuleB(radiusB, points+2, points+3);
capsuleA.setHalfHeight(halfHeightA);
capsuleA.setHalfHeight(halfHeightB);
CollisionList collisions(16);
// side by side
capsuleB.setTranslation((1.01f * totalRadius) * xAxis);
if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch" << std::endl;
}
if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch" << std::endl;
}
// end to end
capsuleB.setTranslation((1.01f * totalHalfLength) * xAxis);
if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch" << std::endl;
}
if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch" << std::endl;
}
// rotate B and move it to the side
glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
capsuleB.setRotation(rotation);
capsuleB.setTranslation((1.01f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch" << std::endl;
}
if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and capsule should NOT touch" << std::endl;
}
if (collisions.size() > 0) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected empty collision list but size is " << collisions.size() << std::endl;
}
}
//=============================================================================
// Call repeatedly by the main message loop in WinMain
//=============================================================================
void Game::run(HWND hwnd)
{
if(graphics == NULL) // if graphics not initialized
return;
// calculate elapsed time of last frame, save in frameTime
QueryPerformanceCounter(&timeEnd);
frameTime = (float)(timeEnd.QuadPart - timeStart.QuadPart ) / (float)timerFreq.QuadPart;
// Power saving code, requires winmm.lib
// if not enough time has elapsed for desired frame rate
if (frameTime < MIN_FRAME_TIME)
{
sleepTime = (DWORD)((MIN_FRAME_TIME - frameTime)*1000);
timeBeginPeriod(1); // Request 1mS resolution for windows timer
Sleep(sleepTime); // release cpu for sleepTime
timeEndPeriod(1); // End 1mS timer resolution
return;
}
if (frameTime > 0.0)
fps = (fps*0.99f) + (0.01f/frameTime); // average fps
if (frameTime > MAX_FRAME_TIME) // if frame rate is very slow
frameTime = MAX_FRAME_TIME; // limit maximum frameTime
timeStart = timeEnd;
//PAUSE and UNPAUSE the game
if(input->isStartPressed() && (currentState == OVERWORLD || currentState == BATTLE))
{
if(paused)
{
paused = false;
if(currentState == BATTLE)
{
audio->stopCue(NOSTRINGS);
audio->playCue(BATTLELOOP);
}
else if (currentState == OVERWORLD)
{
audio->stopCue(BATTLELOOP);
audio->playCue(NOSTRINGS);
}
}
else
{
audio->stopCue(NOSTRINGS);
audio->stopCue(BATTLELOOP);
paused = true;
}
}
// update(), ai(), and collisions() are pure virtual functions.
// These functions must be provided in the class that inherits from Game.
if (!paused) // if not paused
{
update(); // update all game items
ai(); // artificial intelligence
collisions(); // handle collisions
input->vibrateControllers(frameTime); // handle controller vibration
}
renderGame(); // draw all game items
input->readControllers(); // read state of controllers
audio->run(); // perform periodic sound engine tasks
// if Alt+Enter toggle fullscreen/window
if (input->isKeyDown(ALT_KEY) && input->wasKeyPressed(ENTER_KEY))
setDisplayMode(graphicsNS::TOGGLE); // toggle fullscreen/window
// if Esc key, set window mode
//if (input->isKeyDown(ESC_KEY))
// setDisplayMode(graphicsNS::WINDOW); // set window mode
// Clear input
// Call this after all key checks are done
input->clear(inputNS::KEYS_PRESSED);
}
void BouncyLogo::advance(int stage)
{
switch ( stage ) {
case 0: {
double vx = xVelocity();
double vy = yVelocity();
if ( vx == 0.0 && vy == 0.0 ) {
// stopped last turn
initSpeed();
vx = xVelocity();
vy = yVelocity();
}
double nx = x() + vx;
double ny = y() + vy;
if ( nx < 0 || nx >= canvas()->width() )
vx = -vx; // 換反方向
if ( ny < 0 || ny >= canvas()->height() )
vy = -vy; // 換反方向
for (int bounce=0; bounce<4; bounce++) {
QCanvasItemList l=collisions(FALSE); // 沒有那麼精準的傳回所有有碰撞的canvas item
for (QCanvasItemList::Iterator it=l.begin(); it!=l.end(); ++it) {
QCanvasItem *hit = *it;
if ( hit->rtti()==logo_rtti && hit->collidesWith(this) ) {
switch ( bounce ) {
case 0:
vx = -vx;
break;
case 1:
vy = -vy;
vx = -vx;
break;
case 2:
vx = -vx;
break;
case 3:
// Stop for this turn
vx = 0;
vy = 0;
break;
}
setVelocity(vx,vy);
break;
}
}
}
if ( x()+vx < 0 || x()+vx >= canvas()->width() )
vx = 0;
if ( y()+vy < 0 || y()+vy >= canvas()->height() )
vy = 0;
setVelocity(vx,vy);
} break;
case 1:
QCanvasItem::advance(stage);
break;
}
}
/**Moves the objects in the game*/
void Game::animate()
{
//updates score
gScene->removeItem(sAmount);
score += 10;
QString temp = QString::number(score);
sAmount = new QGraphicsSimpleTextItem(temp);
sAmount->setPos(400, 450);
sAmount->setFont(fontT);
sAmount->setZValue(2);
gScene->addItem(sAmount);
//moves all other things
for(int l=0; l<things.size(); l++) {
things[l]->move(yoshi->getLocx(), yoshi->getLocy());
if(things[l]->type == Thing::kamekEnemy && things[l]->frame == 4) {
int mod = levelCnt % 3;
if(mod == 0 || levelCnt >= 3)
mod = 3;
if(things[l]->right) {
int y = things[l]->getLocy();
int x = things[l]->getLocx() +3;
switch(rand()%mod){
case 0:
newMagic(x, y, 0);
break;
case 1:
newBolt(x, y, 0);
break;
case 2:
newWind(x, y, 0);
break;
}
}
else {
int y = things[l]->getLocy();
int x = things[l]->getLocx() -28;
switch(rand()%mod){
case 0:
newMagic(x, y, 1);
break;
case 1:
newBolt(x, y, 1);
break;
case 2:
newWind(x, y, 1);
break;
}
}
}
if(things[l]->del) {
gScene->removeItem(things[l]);
things.pop(l);
}
}
if(timeCnt >= 1000) {
interval -= (interval/16);
timer->setInterval(interval);
timeCnt = 0;
goombaMax-=goombaMax*1/4;
koopaMax-=koopaMax*1/4;
kamekMax-=kamekMax*1/4;
billMax-=billMax*1/4;
background->move(0, 0);
levelCnt++;
gScene->removeItem(levelAmount);
temp = QString::number(levelCnt);
levelAmount = new QGraphicsSimpleTextItem(temp);
levelAmount->setPos(400, 480);
levelAmount->setFont(fontT);
levelAmount->setZValue(2);
gScene->addItem(levelAmount);
}
else
timeCnt++;
//collisions
collisions();
}
void SdDurationCanvas::menu(const QPoint & p) {
Q3PopupMenu m(0);
Q3CanvasItemList items = collisions(TRUE);
Q3PtrList<SdDurationCanvas> l;
Q3CanvasItemList::ConstIterator it;
Q3CanvasItemList::ConstIterator end = items.end();
for (it = items.begin(); it != end; ++it) {
if ((*it)->visible()) {
DiagramItem * di = QCanvasItemToDiagramItem(*it);
if ((di != 0) &&
(di->type() == UmlActivityDuration) &&
(((SdDurationCanvas *) di)->support == support))
l.append((SdDurationCanvas *) di);
}
}
m.insertItem(new MenuTitle(TR("Activity bar"), m.font()), -1);
m.insertSeparator();
m.insertItem(TR("Upper"), 0);
m.insertItem(TR("Lower"), 1);
m.insertItem(TR("Go up"), 9);
m.insertItem(TR("Go down"), 10);
m.insertSeparator();
m.insertItem((coregion) ? TR("Draw as activity bar") : TR("Draw as a coregion"), 7);
m.insertItem(TR("Edit drawing settings"), 2);
m.insertSeparator();
m.insertItem(TR("Select linked items"), 3);
m.insertSeparator();
m.insertItem(TR("Remove from diagram"), 4);
m.insertSeparator();
m.insertItem(TR("Cut here"), 5);
if (!l.isEmpty())
m.insertItem(TR("Merge juxtaposed activity bars"), 6);
if (support->isaDuration())
m.insertItem(TR("Collapse in parent bar"), 8);
switch (m.exec(QCursor::pos())) {
case 0:
upper();
modified();
return;
case 1:
lower();
modified();
return;
case 9:
z_up();
modified(); // call package_modified()
return;
case 10:
z_down();
modified(); // call package_modified()
return;
case 2:
edit_drawing_settings();
return;
case 3:
select_associated();
break;
case 4:
delete_it();
package_modified();
break;
case 5:
cut(p);
package_modified();
break;
case 6:
merge(l);
package_modified();
break;
case 7:
coregion = !coregion;
modified();
return;
case 8:
{
SdDurationCanvas * d = (SdDurationCanvas *) support;
d->collapse(this);
d->update_hpos(); // update sub duration and msg hpos
d->update_self();
}
package_modified();
break;
default:
return;
}
canvas()->update();
}
void ShapeColliderTests::sphereTouchesCapsule() {
// overlapping sphere and capsule
float radiusA = 2.f;
float radiusB = 1.f;
float totalRadius = radiusA + radiusB;
float halfHeightB = 2.f;
float alpha = 0.5f;
float beta = 0.5f;
float radialOffset = alpha * radiusA + beta * radiusB;
SphereShape sphereA(radiusA);
CapsuleShape capsuleB(radiusB, halfHeightB);
CollisionList collisions(16);
int numCollisions = 0;
{ // sphereA collides with capsuleB's cylindrical wall
sphereA.setPosition(radialOffset * xAxis);
if (!ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphere and capsule should touch"
<< std::endl;
} else {
++numCollisions;
}
// penetration points from sphereA into capsuleB
CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
glm::vec3 expectedPenetration = (radialOffset - totalRadius) * xAxis;
float inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration
<< std::endl;
}
// contactPoint is on surface of sphereA
glm::vec3 expectedContactPoint = sphereA.getPosition() - radiusA * xAxis;
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint
<< std::endl;
}
// capsuleB collides with sphereA
if (!ShapeCollider::collideShapes(&capsuleB, &sphereA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and sphere should touch"
<< std::endl;
} else {
++numCollisions;
}
// penetration points from sphereA into capsuleB
collision = collisions.getCollision(numCollisions - 1);
expectedPenetration = - (radialOffset - totalRadius) * xAxis;
inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration
<< std::endl;
}
// contactPoint is on surface of capsuleB
glm::vec3 BtoA = sphereA.getPosition() - capsuleB.getPosition();
glm::vec3 closestApproach = capsuleB.getPosition() + glm::dot(BtoA, yAxis) * yAxis;
expectedContactPoint = closestApproach + radiusB * glm::normalize(BtoA - closestApproach);
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint
<< std::endl;
}
}
{ // sphereA hits end cap at axis
glm::vec3 axialOffset = (halfHeightB + alpha * radiusA + beta * radiusB) * yAxis;
sphereA.setPosition(axialOffset * yAxis);
if (!ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphere and capsule should touch"
<< std::endl;
} else {
++numCollisions;
}
// penetration points from sphereA into capsuleB
CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
glm::vec3 expectedPenetration = - ((1.f - alpha) * radiusA + (1.f - beta) * radiusB) * yAxis;
float inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration
<< std::endl;
}
// contactPoint is on surface of sphereA
glm::vec3 expectedContactPoint = sphereA.getPosition() - radiusA * yAxis;
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint
<< std::endl;
}
// capsuleB collides with sphereA
if (!ShapeCollider::collideShapes(&capsuleB, &sphereA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and sphere should touch"
<< std::endl;
} else {
++numCollisions;
}
// penetration points from sphereA into capsuleB
collision = collisions.getCollision(numCollisions - 1);
expectedPenetration = ((1.f - alpha) * radiusA + (1.f - beta) * radiusB) * yAxis;
inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration
<< std::endl;
}
// contactPoint is on surface of capsuleB
glm::vec3 endPoint;
capsuleB.getEndPoint(endPoint);
expectedContactPoint = endPoint + radiusB * yAxis;
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint
<< std::endl;
}
}
{ // sphereA hits start cap at axis
glm::vec3 axialOffset = - (halfHeightB + alpha * radiusA + beta * radiusB) * yAxis;
sphereA.setPosition(axialOffset * yAxis);
if (!ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: sphere and capsule should touch"
<< std::endl;
} else {
++numCollisions;
}
// penetration points from sphereA into capsuleB
CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
glm::vec3 expectedPenetration = ((1.f - alpha) * radiusA + (1.f - beta) * radiusB) * yAxis;
float inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration
<< std::endl;
}
// contactPoint is on surface of sphereA
glm::vec3 expectedContactPoint = sphereA.getPosition() + radiusA * yAxis;
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint
<< std::endl;
}
// capsuleB collides with sphereA
if (!ShapeCollider::collideShapes(&capsuleB, &sphereA, collisions))
{
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: capsule and sphere should touch"
<< std::endl;
} else {
++numCollisions;
}
// penetration points from sphereA into capsuleB
collision = collisions.getCollision(numCollisions - 1);
expectedPenetration = - ((1.f - alpha) * radiusA + (1.f - beta) * radiusB) * yAxis;
inaccuracy = glm::length(collision->_penetration - expectedPenetration);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad penetration: expected = " << expectedPenetration
<< " actual = " << collision->_penetration
<< std::endl;
}
// contactPoint is on surface of capsuleB
glm::vec3 startPoint;
capsuleB.getStartPoint(startPoint);
expectedContactPoint = startPoint - radiusB * yAxis;
inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
if (fabs(inaccuracy) > EPSILON) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: bad contactPoint: expected = " << expectedContactPoint
<< " actual = " << collision->_contactPoint
<< std::endl;
}
}
if (collisions.size() != numCollisions) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected " << numCollisions << " collisions but actual number is " << collisions.size()
<< std::endl;
}
}