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package sims.test.gjk
import processing.core.PApplet
import processing.core.PConstants._
class GJKTest extends PApplet {
implicit val top = this
import sims.dynamics._
import sims.math._
import sims.test.gui._
import sims.test.gui.RichShape._
var s1: GraphicalShape = _
var s2: GraphicalShape = _
override def setup() = {
size(600, 600, P2D)
background(255,255,255)
frameRate(60)
s1 = (new Rectangle(1, 3) {position = Vector2D(5,5)}).toGraphical
s2 = (new Rectangle(1, 2) {position = Vector2D(8,8); rotation = 0.2}).toGraphical
}
val PPM = 39.37f * 96
var viewScale: Float = 1.0f / 80
val GJK = new GJK2[Shape]
var invert = false
def pair = if (!invert) (s1, s2) else (s2, s1)
override def draw() = {
smooth()
background(255,255,255)
translate(0, height)
scale(viewScale * PPM, -viewScale * PPM)
if (keyCode == 32) invert = true
else invert = false
val collision = GJK.collision(pair._1.shape, pair._2.shape)
/*if (collision != None) {
pushMatrix()
rectMode(CORNER)
stroke(255, 0, 50)
strokeWeight(10)
fill(0, 0, 0, 0)
rect(0, 0, 600, 600)
strokeWeight(1)
popMatrix()
}*/
//val separation = GJK.collision(pair._1.shape, pair._2.shape)
//if (!separation.isEmpty)
//List(separation.get.point1, separation.get.point2) foreach (p => ellipse(p.x.toFloat, p.y.toFloat, 0.1f, 0.1f))
label()
s2.shape.position = Vector2D(mouseX / viewScale / PPM, -(mouseY - height) / viewScale / PPM)
s1.render()
s2.render()
collision match {
case Some(c) => {
stroke(0, 255, 0)
for (p <- c.points) {
ellipse(p.x.toFloat, p.y.toFloat, 0.1f, 0.1f)
val s = p
val e = p + c.normal
line(s.x.toFloat, s.y.toFloat, e.x.toFloat, e.y.toFloat)
println(c.overlap)
}
}
case _ => ()
}
/*stroke(255, 0, 255)
val f = FeatureManifold.farthestFeature(pair._1.shape, Vector2D.j + Vector2D.i)
f match {
case Left(p) => ellipse(p.x.toFloat, p.y.toFloat, 0.1f, 0.1f)
case Right(s) => line(s.point1.x.toFloat, s.point1.y.toFloat, s.point2.x.toFloat, s.point2.y.toFloat)
}*/
}
private val fontSize = 16
private val f = createFont("Monospaced.plain", fontSize)
private def label() = {
val size = 16
fill(0, 0, 0)
textMode(SCREEN)
textFont(f)
val p1 = pair._1.shape
val p2 = pair._2.shape
text("1", (p1.position.x * PPM * viewScale).toFloat, (height - p1.position.y * PPM * viewScale).toFloat)
text("2", (p2.position.x * PPM * viewScale).toFloat, (height - p2.position.y * PPM * viewScale).toFloat)
}
}
object GJKTest {
def main(args: Array[String]): Unit = {
PApplet.main(args ++ Array("sims.test.gjk.GJKTest"))
}
}
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