Example bounding sphere using macroquad (dimforge#259)

crates/parry2d/examples/bounding_sphere2d.rs

@@ -1,36 +1,130 @@
+mod common_macroquad2d;
+
 extern crate nalgebra as na;
 
+use common_macroquad2d::{draw_polyline, lissajous_2d, mquad_from_na, na_from_mquad};
+use macroquad::prelude::*;
 use na::{Isometry2, Vector2};
-use parry2d::bounding_volume::BoundingVolume;
+use parry2d::bounding_volume::{Aabb, BoundingVolume};
 use parry2d::shape::Cuboid;
 
-fn main() {
-    /*
-     * Initialize the shapes.
-     */
-    let cube1 = Cuboid::new(Vector2::repeat(0.5));
-    let cube2 = Cuboid::new(Vector2::new(1.0, 0.5));
-
-    let cube1_pos = Isometry2::translation(0.0, 1.0);
-    let cube2_pos = Isometry2::identity();
-
-    /*
-     * Compute their bounding spheres.
-     */
-    let bounding_sphere_cube1 = cube1.bounding_sphere(&cube1_pos);
-    let bounding_sphere_cube2 = cube2.bounding_sphere(&cube2_pos);
-
-    // Merge the two spheres.
-    let bounding_bounding_sphere = bounding_sphere_cube1.merged(&bounding_sphere_cube2);
-
-    // Enlarge the cube2 bounding sphere.
-    let loose_bounding_sphere_cube2 = bounding_sphere_cube2.loosened(1.0);
-
-    // Intersection and inclusion tests.
-    assert!(bounding_sphere_cube1.intersects(&bounding_sphere_cube2));
-    assert!(bounding_bounding_sphere.contains(&bounding_sphere_cube1));
-    assert!(bounding_bounding_sphere.contains(&bounding_sphere_cube2));
-    assert!(!bounding_sphere_cube2.contains(&bounding_bounding_sphere));
-    assert!(!bounding_sphere_cube1.contains(&bounding_bounding_sphere));
-    assert!(loose_bounding_sphere_cube2.contains(&bounding_sphere_cube2));
+const RENDER_SCALE: f32 = 30.0;
+
+#[macroquad::main("parry2d::utils::point_in_poly2d")]
+async fn main() {
+    let render_pos = Vec2::new(300.0, 300.0);
+
+    loop {
+        let elapsed_time = get_time() as f32 * 0.7;
+        clear_background(BLACK);
+
+        /*
+         * Initialize the shapes.
+         */
+        let cube1: Cuboid = Cuboid::new(Vector2::repeat(0.5));
+        let cube2 = Cuboid::new(Vector2::new(1., 0.5));
+
+        let cube1_pos = na_from_mquad(lissajous_2d(elapsed_time)) * 5f32;
+        let cube1_pos = Isometry2::from(cube1_pos);
+        let cube2_pos = Isometry2::identity();
+
+        /*
+         * Compute their bounding spheres.
+         */
+        let bounding_sphere_cube1 = cube1.bounding_sphere(&cube1_pos);
+        let bounding_sphere_cube2 = cube2.bounding_sphere(&cube2_pos);
+
+        // Merge the two spheres.
+        let bounding_bounding_sphere = bounding_sphere_cube1.merged(&bounding_sphere_cube2);
+
+        // Enlarge the cube2 bounding sphere.
+        let loose_bounding_sphere_cube2 = bounding_sphere_cube2.loosened(3.0);
+
+        // Intersection test
+        let color = if bounding_sphere_cube1.intersects(&bounding_sphere_cube2) {
+            RED
+        } else {
+            GREEN
+        };
+
+        // Due to float imprecisions, it's dangerous to assume that both shapes will be
+        // contained in the merged.
+        // You can leverage `BoundingVolume::loosened` with an epsilon for expected results.
+        //
+        // These might fail:
+        // assert!(bounding_bounding_sphere.contains(&bounding_sphere_cube1));
+        // assert!(bounding_bounding_sphere.contains(&bounding_sphere_cube2));
+
+        assert!(loose_bounding_sphere_cube2.contains(&bounding_sphere_cube1));
+        assert!(loose_bounding_sphere_cube2.contains(&bounding_sphere_cube2));
+
+        let cube1_translation =
+            mquad_from_na(cube1_pos.translation.vector.into()) * RENDER_SCALE + render_pos;
+        draw_cuboid(cube1, cube1_translation, color);
+
+        let cube2_translation =
+            mquad_from_na(cube2_pos.translation.vector.into()) * RENDER_SCALE + render_pos;
+        draw_cuboid(cube2, cube2_translation, color);
+        draw_circle_lines(
+            bounding_sphere_cube1.center.x * RENDER_SCALE + render_pos.x,
+            bounding_sphere_cube1.center.y * RENDER_SCALE + render_pos.y,
+            bounding_sphere_cube1.radius * RENDER_SCALE,
+            2f32,
+            color,
+        );
+        draw_circle_lines(
+            bounding_sphere_cube2.center.x * RENDER_SCALE + render_pos.x,
+            bounding_sphere_cube2.center.y * RENDER_SCALE + render_pos.y,
+            bounding_sphere_cube2.radius * RENDER_SCALE,
+            2f32,
+            color,
+        );
+        draw_circle_lines(
+            bounding_bounding_sphere.center.x * RENDER_SCALE + render_pos.x,
+            bounding_bounding_sphere.center.y * RENDER_SCALE + render_pos.y,
+            bounding_bounding_sphere.radius * RENDER_SCALE,
+            2f32,
+            YELLOW,
+        );
+
+        // Inclusion test
+        let color_included: Color = if loose_bounding_sphere_cube2.contains(&bounding_sphere_cube1)
+        {
+            BLUE
+        } else {
+            MAGENTA
+        };
+        draw_circle_lines(
+            loose_bounding_sphere_cube2.center.x * RENDER_SCALE + render_pos.x,
+            loose_bounding_sphere_cube2.center.y * RENDER_SCALE + render_pos.y,
+            loose_bounding_sphere_cube2.radius * RENDER_SCALE,
+            2f32,
+            color_included,
+        );
+        next_frame().await
+    }
+}
+
+fn draw_cuboid(cuboid: Cuboid, pos: Vec2, color: Color) {
+    let aabb = cuboid.local_aabb();
+    draw_aabb(aabb, pos, color)
+}
+
+fn draw_aabb(aabb: Aabb, offset: Vec2, color: Color) {
+    let mins = mquad_from_na(aabb.mins) * RENDER_SCALE + offset;
+    let maxs = mquad_from_na(aabb.maxs) * RENDER_SCALE + offset;
+
+    let line = vec![
+        Vec2::new(mins.x, mins.y),
+        Vec2::new(mins.x, maxs.y),
+        Vec2::new(maxs.x, maxs.y),
+        Vec2::new(maxs.x, mins.y),
+        Vec2::new(mins.x, mins.y),
+    ];
+    let drawable_line = line
+        .iter()
+        .zip(line.iter().cycle().skip(1).take(line.len()))
+        .map(|item| (item.0.clone(), item.1.clone()))
+        .collect();
+    draw_polyline(drawable_line, color);
 }

crates/parry3d/examples/bounding_sphere3d.rs

@@ -1,36 +1,113 @@
+mod common_macroquad3d;
+
 extern crate nalgebra as na;
 
+use std::ops::Rem;
+
+use common_macroquad3d::{lissajous_3d, mquad_from_na, na_from_mquad};
+use macroquad::prelude::*;
 use na::{Isometry3, Vector3};
 use parry3d::bounding_volume::BoundingVolume;
 use parry3d::shape::Cuboid;
 
-fn main() {
-    /*
-     * Initialize the shapes.
-     */
-    let cube1 = Cuboid::new(Vector3::repeat(0.5));
-    let cube2 = Cuboid::new(Vector3::new(0.5, 1.0, 0.5));
-
-    let cube1_pos = Isometry3::translation(0.0, 0.0, 1.0); // 1.0 along the `z` axis.
-    let cube2_pos = Isometry3::identity(); // Identity matrix.
-
-    /*
-     * Compute their bounding spheres.
-     */
-    let bounding_sphere_cube1 = cube1.bounding_sphere(&cube1_pos);
-    let bounding_sphere_cube2 = cube2.bounding_sphere(&cube2_pos);
-
-    // Merge the two spheres.
-    let bounding_bounding_sphere = bounding_sphere_cube1.merged(&bounding_sphere_cube2);
-
-    // Enlarge the cube2 bounding sphere.
-    let loose_bounding_sphere_cube2 = bounding_sphere_cube2.loosened(1.0);
-
-    // Intersection and inclusion tests.
-    assert!(bounding_sphere_cube1.intersects(&bounding_sphere_cube2));
-    assert!(bounding_bounding_sphere.contains(&bounding_sphere_cube1));
-    assert!(bounding_bounding_sphere.contains(&bounding_sphere_cube2));
-    assert!(!bounding_sphere_cube2.contains(&bounding_bounding_sphere));
-    assert!(!bounding_sphere_cube1.contains(&bounding_bounding_sphere));
-    assert!(loose_bounding_sphere_cube2.contains(&bounding_sphere_cube2));
+#[macroquad::main("parry2d::utils::point_in_poly2d")]
+async fn main() {
+    let camera_pos = Vec3::new(8f32, 8f32, 12f32);
+
+    loop {
+        let elapsed_time = get_time() as f32 * 0.7;
+        clear_background(BLACK);
+        // Initialize 3D camera.
+        set_camera(&Camera3D {
+            position: camera_pos,
+            up: Vec3::new(0f32, 1f32, 0f32),
+            target: Vec3::new(0.5f32, 0f32, 0.5f32),
+            ..Default::default()
+        });
+
+        /*
+         * Initialize the shapes.
+         */
+        let cube1 = Cuboid::new(Vector3::repeat(0.5));
+        let cube2 = Cuboid::new(Vector3::new(0.5, 1.0, 0.5));
+
+        let cube1_pos = na_from_mquad(lissajous_3d(elapsed_time)) * 4f32;
+        let cube1_pos = Isometry3::from(cube1_pos);
+        let cube2_pos = Isometry3::identity(); // Identity matrix.
+
+        /*
+         * Compute their bounding spheres.
+         */
+        let bounding_sphere_cube1 = cube1.bounding_sphere(&cube1_pos);
+        let bounding_sphere_cube2 = cube2.bounding_sphere(&cube2_pos);
+
+        // Merge the two spheres.
+        let bounding_bounding_sphere = bounding_sphere_cube1.merged(&bounding_sphere_cube2);
+
+        // Enlarge the cube2 bounding sphere.
+        let loose_bounding_sphere_cube2 = bounding_sphere_cube2.loosened(3.0);
+
+        // Intersection and inclusion tests.
+        let mut color = if bounding_sphere_cube1.intersects(&bounding_sphere_cube2) {
+            RED
+        } else {
+            GREEN
+        };
+        color.a = 1f32 * (elapsed_time.rem(1f32) - 0.5).abs() * 2f32;
+
+        // Due to float imprecisions, it's dangerous to assume that both shapes will be
+        // contained in the merged.
+        // You can leverage `BoundingVolume::loosened` with an epsilon for expected results.
+        //
+        // These might fail:
+        //assert!(bounding_bounding_sphere.contains(&bounding_sphere_cube1));
+        //assert!(bounding_bounding_sphere.contains(&bounding_sphere_cube2));
+        assert!(loose_bounding_sphere_cube2.contains(&bounding_sphere_cube2));
+
+        let cube1_translation = mquad_from_na(cube1_pos.translation.vector.into());
+        draw_cube_wires(
+            cube1_translation,
+            mquad_from_na(cube1.half_extents.into()) * 2f32,
+            WHITE,
+        );
+        let cube2_translation = mquad_from_na(cube2_pos.translation.vector.into());
+        draw_cube_wires(
+            cube2_translation,
+            mquad_from_na(cube2.half_extents.into()) * 2f32,
+            WHITE,
+        );
+
+        draw_sphere_wires(
+            mquad_from_na(bounding_sphere_cube1.center),
+            bounding_sphere_cube1.radius,
+            None,
+            color,
+        );
+        draw_sphere_wires(
+            mquad_from_na(bounding_sphere_cube2.center),
+            bounding_sphere_cube2.radius,
+            None,
+            color,
+        );
+        draw_sphere_wires(
+            mquad_from_na(bounding_bounding_sphere.center),
+            bounding_bounding_sphere.radius,
+            None,
+            YELLOW,
+        );
+
+        let color_included: Color = if loose_bounding_sphere_cube2.contains(&bounding_sphere_cube1)
+        {
+            BLUE
+        } else {
+            MAGENTA
+        };
+        draw_sphere_wires(
+            mquad_from_na(loose_bounding_sphere_cube2.center),
+            loose_bounding_sphere_cube2.radius,
+            None,
+            color_included,
+        );
+        next_frame().await
+    }
 }