1 files changed, 218 insertions, 0 deletions
diff --git a/Client/ThirdParty/Box2D/testbed/tests/cantilever.cpp b/Client/ThirdParty/Box2D/testbed/tests/cantilever.cpp
new file mode 100644
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--- /dev/null
+++ b/Client/ThirdParty/Box2D/testbed/tests/cantilever.cpp
@@ -0,0 +1,218 @@
+// 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"
+
+// It is difficult to make a cantilever made of links completely rigid with weld joints.
+// You will have to use a high number of iterations to make them stiff.
+// So why not go ahead and use soft weld joints? They behave like a revolute
+// joint with a rotational spring.
+class Cantilever : public Test
+{
+public:
+
+	enum
+	{
+		e_count = 8
+	};
+
+	Cantilever()
+	{
+		b2Body* ground = NULL;
+		{
+			b2BodyDef bd;
+			ground = m_world->CreateBody(&bd);
+
+			b2EdgeShape shape;
+			shape.SetTwoSided(b2Vec2(-40.0f, 0.0f), b2Vec2(40.0f, 0.0f));
+			ground->CreateFixture(&shape, 0.0f);
+		}
+
+		{
+			b2PolygonShape shape;
+			shape.SetAsBox(0.5f, 0.125f);
+
+			b2FixtureDef fd;
+			fd.shape = &shape;
+			fd.density = 20.0f;
+
+			b2WeldJointDef jd;
+
+			b2Body* prevBody = ground;
+			for (int32 i = 0; i < e_count; ++i)
+			{
+				b2BodyDef bd;
+				bd.type = b2_dynamicBody;
+				bd.position.Set(-14.5f + 1.0f * i, 5.0f);
+				b2Body* body = m_world->CreateBody(&bd);
+				body->CreateFixture(&fd);
+
+				b2Vec2 anchor(-15.0f + 1.0f * i, 5.0f);
+				jd.Initialize(prevBody, body, anchor);
+				m_world->CreateJoint(&jd);
+
+				prevBody = body;
+			}
+		}
+
+		{
+			b2PolygonShape shape;
+			shape.SetAsBox(1.0f, 0.125f);
+
+			b2FixtureDef fd;
+			fd.shape = &shape;
+			fd.density = 20.0f;
+
+			b2WeldJointDef jd;
+			float frequencyHz = 5.0f;
+			float dampingRatio = 0.7f;
+
+			b2Body* prevBody = ground;
+			for (int32 i = 0; i < 3; ++i)
+			{
+				b2BodyDef bd;
+				bd.type = b2_dynamicBody;
+				bd.position.Set(-14.0f + 2.0f * i, 15.0f);
+				b2Body* body = m_world->CreateBody(&bd);
+				body->CreateFixture(&fd);
+
+				b2Vec2 anchor(-15.0f + 2.0f * i, 15.0f);
+				jd.Initialize(prevBody, body, anchor);
+				b2AngularStiffness(jd.stiffness, jd.damping, frequencyHz, dampingRatio, jd.bodyA, jd.bodyB);
+				m_world->CreateJoint(&jd);
+
+				prevBody = body;
+			}
+		}
+
+		{
+			b2PolygonShape shape;
+			shape.SetAsBox(0.5f, 0.125f);
+
+			b2FixtureDef fd;
+			fd.shape = &shape;
+			fd.density = 20.0f;
+
+			b2WeldJointDef jd;
+
+			b2Body* prevBody = ground;
+			for (int32 i = 0; i < e_count; ++i)
+			{
+				b2BodyDef bd;
+				bd.type = b2_dynamicBody;
+				bd.position.Set(-4.5f + 1.0f * i, 5.0f);
+				b2Body* body = m_world->CreateBody(&bd);
+				body->CreateFixture(&fd);
+
+				if (i > 0)
+				{
+					b2Vec2 anchor(-5.0f + 1.0f * i, 5.0f);
+					jd.Initialize(prevBody, body, anchor);
+					m_world->CreateJoint(&jd);
+				}
+
+				prevBody = body;
+			}
+		}
+
+		{
+			b2PolygonShape shape;
+			shape.SetAsBox(0.5f, 0.125f);
+
+			b2FixtureDef fd;
+			fd.shape = &shape;
+			fd.density = 20.0f;
+
+			b2WeldJointDef jd;
+			float frequencyHz = 8.0f;
+			float dampingRatio = 0.7f;
+
+			b2Body* prevBody = ground;
+			for (int32 i = 0; i < e_count; ++i)
+			{
+				b2BodyDef bd;
+				bd.type = b2_dynamicBody;
+				bd.position.Set(5.5f + 1.0f * i, 10.0f);
+				b2Body* body = m_world->CreateBody(&bd);
+				body->CreateFixture(&fd);
+
+				if (i > 0)
+				{
+					b2Vec2 anchor(5.0f + 1.0f * i, 10.0f);
+					jd.Initialize(prevBody, body, anchor);
+
+					b2AngularStiffness(jd.stiffness, jd.damping, frequencyHz, dampingRatio, prevBody, body);
+
+					m_world->CreateJoint(&jd);
+				}
+
+				prevBody = body;
+			}
+		}
+
+		for (int32 i = 0; i < 2; ++i)
+		{
+			b2Vec2 vertices[3];
+			vertices[0].Set(-0.5f, 0.0f);
+			vertices[1].Set(0.5f, 0.0f);
+			vertices[2].Set(0.0f, 1.5f);
+
+			b2PolygonShape shape;
+			shape.Set(vertices, 3);
+
+			b2FixtureDef fd;
+			fd.shape = &shape;
+			fd.density = 1.0f;
+
+			b2BodyDef bd;
+			bd.type = b2_dynamicBody;
+			bd.position.Set(-8.0f + 8.0f * i, 12.0f);
+			b2Body* body = m_world->CreateBody(&bd);
+			body->CreateFixture(&fd);
+		}
+
+		for (int32 i = 0; i < 2; ++i)
+		{
+			b2CircleShape shape;
+			shape.m_radius = 0.5f;
+
+			b2FixtureDef fd;
+			fd.shape = &shape;
+			fd.density = 1.0f;
+
+			b2BodyDef bd;
+			bd.type = b2_dynamicBody;
+			bd.position.Set(-6.0f + 6.0f * i, 10.0f);
+			b2Body* body = m_world->CreateBody(&bd);
+			body->CreateFixture(&fd);
+		}
+	}
+
+	static Test* Create()
+	{
+		return new Cantilever;
+	}
+
+	b2Body* m_middle;
+};
+
+static int testIndex = RegisterTest("Joints", "Cantilever", Cantilever::Create);