aabb example using macroquad (#257)

crates/parry2d/examples/aabb2d.rs

@@ -1,36 +1,101 @@
+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;
-use parry2d::bounding_volume::BoundingVolume;
+use parry2d::bounding_volume::{Aabb, BoundingVolume};
 use parry2d::shape::Ball;
 
-fn main() {
-    /*
-     * Initialize the shapes.
-     */
-    let ball1 = Ball::new(0.5);
-    let ball2 = Ball::new(1.0);
-
-    let ball1_pos = Isometry2::translation(0.0, 1.0);
-    let ball2_pos = Isometry2::identity();
-
-    /*
-     * Compute their axis-aligned bounding boxes.
-     */
-    let aabb_ball1 = ball1.aabb(&ball1_pos);
-    let aabb_ball2 = ball2.aabb(&ball2_pos);
-
-    // Merge the two boxes.
-    let bounding_aabb = aabb_ball1.merged(&aabb_ball2);
-
-    // Enlarge the ball2 aabb.
-    let loose_aabb_ball2 = aabb_ball2.loosened(1.0);
-
-    // Intersection and inclusion tests.
-    assert!(aabb_ball1.intersects(&aabb_ball2));
-    assert!(bounding_aabb.contains(&aabb_ball1));
-    assert!(bounding_aabb.contains(&aabb_ball2));
-    assert!(!aabb_ball2.contains(&bounding_aabb));
-    assert!(!aabb_ball1.contains(&bounding_aabb));
-    assert!(loose_aabb_ball2.contains(&aabb_ball2));
+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 ball1 = Ball::new(0.5);
+        let ball2 = Ball::new(1.0);
+
+        let ball1_pos = na_from_mquad(lissajous_2d(elapsed_time)) * 5f32;
+        let ball2_pos = Isometry2::identity();
+
+        /*
+         * Compute their axis-aligned bounding boxes.
+         */
+        let aabb_ball1 = ball1.aabb(&ball1_pos.into());
+        let aabb_ball2 = ball2.aabb(&ball2_pos);
+
+        // Merge the two boxes.
+        let bounding_aabb = aabb_ball1.merged(&aabb_ball2);
+
+        // Enlarge the ball2 aabb.
+        let loose_aabb_ball2 = aabb_ball2.loosened(2f32);
+
+        // Intersection test
+        let color = if aabb_ball1.intersects(&aabb_ball2) {
+            RED
+        } else {
+            GREEN
+        };
+
+        assert!(bounding_aabb.contains(&aabb_ball1));
+        assert!(bounding_aabb.contains(&aabb_ball2));
+        assert!(loose_aabb_ball2.contains(&aabb_ball2));
+
+        let ball1_translation = mquad_from_na(ball1_pos.coords.into()) * RENDER_SCALE + render_pos;
+        draw_circle(
+            ball1_translation.x,
+            ball1_translation.y,
+            ball1.radius * RENDER_SCALE,
+            color,
+        );
+        let ball2_translation =
+            mquad_from_na(ball2_pos.translation.vector.into()) * RENDER_SCALE + render_pos;
+        draw_circle(
+            ball2_translation.x,
+            ball2_translation.y,
+            ball2.radius * RENDER_SCALE,
+            color,
+        );
+
+        draw_aabb(aabb_ball1, render_pos, color);
+        draw_aabb(aabb_ball2, render_pos, color);
+        draw_aabb(bounding_aabb, render_pos, YELLOW);
+
+        // Inclusion test
+        let color_included: Color = if loose_aabb_ball2.contains(&aabb_ball1) {
+            BLUE
+        } else {
+            MAGENTA
+        };
+        draw_aabb(loose_aabb_ball2, render_pos, color_included);
+        next_frame().await
+    }
+}
+
+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/aabb3d.rs

@@ -1,36 +1,84 @@
+mod common_macroquad3d;
+
 extern crate nalgebra as na;
 
+use common_macroquad3d::{lissajous_3d, mquad_from_na, na_from_mquad};
+use macroquad::prelude::*;
 use na::Isometry3;
-use parry3d::bounding_volume::BoundingVolume;
+use parry3d::bounding_volume::{Aabb, BoundingVolume};
 use parry3d::shape::Ball;
 
-fn main() {
-    /*
-     * Initialize the shapes.
-     */
-    let ball1 = Ball::new(0.5);
-    let ball2 = Ball::new(1.0);
-
-    let ball1_pos = Isometry3::translation(0.0, 1.0, 0.0);
-    let ball2_pos = Isometry3::identity(); // Identity matrix.
-
-    /*
-     * Compute their axis-aligned bounding boxes.
-     */
-    let aabb_ball1 = ball1.aabb(&ball1_pos);
-    let aabb_ball2 = ball2.aabb(&ball2_pos);
-
-    // Merge the two boxes.
-    let bounding_aabb = aabb_ball1.merged(&aabb_ball2);
-
-    // Enlarge the ball2 aabb.
-    let loose_aabb_ball2 = aabb_ball2.loosened(1.0);
-
-    // Intersection and inclusion tests.
-    assert!(aabb_ball1.intersects(&aabb_ball2));
-    assert!(bounding_aabb.contains(&aabb_ball1));
-    assert!(bounding_aabb.contains(&aabb_ball2));
-    assert!(!aabb_ball2.contains(&bounding_aabb));
-    assert!(!aabb_ball1.contains(&bounding_aabb));
-    assert!(loose_aabb_ball2.contains(&aabb_ball2));
+#[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 ball1 = Ball::new(0.5);
+        let ball2 = Ball::new(1.0);
+
+        let ball1_pos = na_from_mquad(lissajous_3d(elapsed_time)) * 4f32;
+        let ball2_pos = Isometry3::identity();
+
+        /*
+         * Compute their axis-aligned bounding boxes.
+         */
+        let aabb_ball1 = ball1.aabb(&ball1_pos.into());
+        let aabb_ball2 = ball2.aabb(&ball2_pos);
+
+        // Merge the two boxes.
+        let bounding_aabb = aabb_ball1.merged(&aabb_ball2);
+
+        // Enlarge the ball2 aabb.
+        let loose_aabb_ball2 = aabb_ball2.loosened(2.25f32);
+
+        // Intersection and inclusion tests.
+        let color = if aabb_ball1.intersects(&aabb_ball2) {
+            RED
+        } else {
+            GREEN
+        };
+
+        assert!(bounding_aabb.contains(&aabb_ball1));
+        assert!(bounding_aabb.contains(&aabb_ball2));
+        assert!(loose_aabb_ball2.contains(&aabb_ball2));
+
+        let ball1_translation = mquad_from_na(ball1_pos.coords.into());
+        draw_sphere(ball1_translation, ball1.radius, None, color);
+        let ball2_translation = mquad_from_na(ball2_pos.translation.vector.into());
+        draw_sphere(ball2_translation, ball2.radius, None, color);
+
+        draw_aabb(aabb_ball1, color);
+        draw_aabb(aabb_ball2, color);
+        draw_aabb(bounding_aabb, YELLOW);
+
+        let color_included: Color = if loose_aabb_ball2.contains(&aabb_ball1) {
+            BLUE
+        } else {
+            MAGENTA
+        };
+        draw_aabb(loose_aabb_ball2, color_included);
+        next_frame().await
+    }
+}
+
+fn draw_aabb(aabb: Aabb, color: Color) {
+    let size = aabb.maxs - aabb.mins;
+    draw_cube_wires(
+        mquad_from_na(aabb.maxs - size / 2f32),
+        mquad_from_na(size.into()),
+        color,
+    );
 }