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);