summaryrefslogtreecommitdiff
path: root/Client/ThirdParty/Box2D/testbed/tests/car.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'Client/ThirdParty/Box2D/testbed/tests/car.cpp')
-rw-r--r--Client/ThirdParty/Box2D/testbed/tests/car.cpp284
1 files changed, 284 insertions, 0 deletions
diff --git a/Client/ThirdParty/Box2D/testbed/tests/car.cpp b/Client/ThirdParty/Box2D/testbed/tests/car.cpp
new file mode 100644
index 0000000..06a9b65
--- /dev/null
+++ b/Client/ThirdParty/Box2D/testbed/tests/car.cpp
@@ -0,0 +1,284 @@
+// 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"
+
+// This is a fun demo that shows off the wheel joint
+class Car : public Test
+{
+public:
+ Car()
+ {
+ m_speed = 50.0f;
+
+ b2Body* ground = NULL;
+ {
+ b2BodyDef bd;
+ ground = m_world->CreateBody(&bd);
+
+ b2EdgeShape shape;
+
+ b2FixtureDef fd;
+ fd.shape = &shape;
+ fd.density = 0.0f;
+ fd.friction = 0.6f;
+
+ shape.SetTwoSided(b2Vec2(-20.0f, 0.0f), b2Vec2(20.0f, 0.0f));
+ ground->CreateFixture(&fd);
+
+ float hs[10] = {0.25f, 1.0f, 4.0f, 0.0f, 0.0f, -1.0f, -2.0f, -2.0f, -1.25f, 0.0f};
+
+ float x = 20.0f, y1 = 0.0f, dx = 5.0f;
+
+ for (int32 i = 0; i < 10; ++i)
+ {
+ float y2 = hs[i];
+ shape.SetTwoSided(b2Vec2(x, y1), b2Vec2(x + dx, y2));
+ ground->CreateFixture(&fd);
+ y1 = y2;
+ x += dx;
+ }
+
+ for (int32 i = 0; i < 10; ++i)
+ {
+ float y2 = hs[i];
+ shape.SetTwoSided(b2Vec2(x, y1), b2Vec2(x + dx, y2));
+ ground->CreateFixture(&fd);
+ y1 = y2;
+ x += dx;
+ }
+
+ shape.SetTwoSided(b2Vec2(x, 0.0f), b2Vec2(x + 40.0f, 0.0f));
+ ground->CreateFixture(&fd);
+
+ x += 80.0f;
+ shape.SetTwoSided(b2Vec2(x, 0.0f), b2Vec2(x + 40.0f, 0.0f));
+ ground->CreateFixture(&fd);
+
+ x += 40.0f;
+ shape.SetTwoSided(b2Vec2(x, 0.0f), b2Vec2(x + 10.0f, 5.0f));
+ ground->CreateFixture(&fd);
+
+ x += 20.0f;
+ shape.SetTwoSided(b2Vec2(x, 0.0f), b2Vec2(x + 40.0f, 0.0f));
+ ground->CreateFixture(&fd);
+
+ x += 40.0f;
+ shape.SetTwoSided(b2Vec2(x, 0.0f), b2Vec2(x, 20.0f));
+ ground->CreateFixture(&fd);
+ }
+
+ // Teeter
+ {
+ b2BodyDef bd;
+ bd.position.Set(140.0f, 1.0f);
+ bd.type = b2_dynamicBody;
+ b2Body* body = m_world->CreateBody(&bd);
+
+ b2PolygonShape box;
+ box.SetAsBox(10.0f, 0.25f);
+ body->CreateFixture(&box, 1.0f);
+
+ b2RevoluteJointDef jd;
+ jd.Initialize(ground, body, body->GetPosition());
+ jd.lowerAngle = -8.0f * b2_pi / 180.0f;
+ jd.upperAngle = 8.0f * b2_pi / 180.0f;
+ jd.enableLimit = true;
+ m_world->CreateJoint(&jd);
+
+ body->ApplyAngularImpulse(100.0f, true);
+ }
+
+ // Bridge
+ {
+ int32 N = 20;
+ b2PolygonShape shape;
+ shape.SetAsBox(1.0f, 0.125f);
+
+ b2FixtureDef fd;
+ fd.shape = &shape;
+ fd.density = 1.0f;
+ fd.friction = 0.6f;
+
+ b2RevoluteJointDef jd;
+
+ b2Body* prevBody = ground;
+ for (int32 i = 0; i < N; ++i)
+ {
+ b2BodyDef bd;
+ bd.type = b2_dynamicBody;
+ bd.position.Set(161.0f + 2.0f * i, -0.125f);
+ b2Body* body = m_world->CreateBody(&bd);
+ body->CreateFixture(&fd);
+
+ b2Vec2 anchor(160.0f + 2.0f * i, -0.125f);
+ jd.Initialize(prevBody, body, anchor);
+ m_world->CreateJoint(&jd);
+
+ prevBody = body;
+ }
+
+ b2Vec2 anchor(160.0f + 2.0f * N, -0.125f);
+ jd.Initialize(prevBody, ground, anchor);
+ m_world->CreateJoint(&jd);
+ }
+
+ // Boxes
+ {
+ b2PolygonShape box;
+ box.SetAsBox(0.5f, 0.5f);
+
+ b2Body* body = NULL;
+ b2BodyDef bd;
+ bd.type = b2_dynamicBody;
+
+ bd.position.Set(230.0f, 0.5f);
+ body = m_world->CreateBody(&bd);
+ body->CreateFixture(&box, 0.5f);
+
+ bd.position.Set(230.0f, 1.5f);
+ body = m_world->CreateBody(&bd);
+ body->CreateFixture(&box, 0.5f);
+
+ bd.position.Set(230.0f, 2.5f);
+ body = m_world->CreateBody(&bd);
+ body->CreateFixture(&box, 0.5f);
+
+ bd.position.Set(230.0f, 3.5f);
+ body = m_world->CreateBody(&bd);
+ body->CreateFixture(&box, 0.5f);
+
+ bd.position.Set(230.0f, 4.5f);
+ body = m_world->CreateBody(&bd);
+ body->CreateFixture(&box, 0.5f);
+ }
+
+ // Car
+ {
+ b2PolygonShape chassis;
+ b2Vec2 vertices[8];
+ vertices[0].Set(-1.5f, -0.5f);
+ vertices[1].Set(1.5f, -0.5f);
+ vertices[2].Set(1.5f, 0.0f);
+ vertices[3].Set(0.0f, 0.9f);
+ vertices[4].Set(-1.15f, 0.9f);
+ vertices[5].Set(-1.5f, 0.2f);
+ chassis.Set(vertices, 6);
+
+ b2CircleShape circle;
+ circle.m_radius = 0.4f;
+
+ b2BodyDef bd;
+ bd.type = b2_dynamicBody;
+ bd.position.Set(0.0f, 1.0f);
+ m_car = m_world->CreateBody(&bd);
+ m_car->CreateFixture(&chassis, 1.0f);
+
+ b2FixtureDef fd;
+ fd.shape = &circle;
+ fd.density = 1.0f;
+ fd.friction = 0.9f;
+
+ bd.position.Set(-1.0f, 0.35f);
+ m_wheel1 = m_world->CreateBody(&bd);
+ m_wheel1->CreateFixture(&fd);
+
+ bd.position.Set(1.0f, 0.4f);
+ m_wheel2 = m_world->CreateBody(&bd);
+ m_wheel2->CreateFixture(&fd);
+
+ b2WheelJointDef jd;
+ b2Vec2 axis(0.0f, 1.0f);
+
+ float mass1 = m_wheel1->GetMass();
+ float mass2 = m_wheel2->GetMass();
+
+ float hertz = 4.0f;
+ float dampingRatio = 0.7f;
+ float omega = 2.0f * b2_pi * hertz;
+
+ jd.Initialize(m_car, m_wheel1, m_wheel1->GetPosition(), axis);
+ jd.motorSpeed = 0.0f;
+ jd.maxMotorTorque = 20.0f;
+ jd.enableMotor = true;
+ jd.stiffness = mass1 * omega * omega;
+ jd.damping = 2.0f * mass1 * dampingRatio * omega;
+ jd.lowerTranslation = -0.25f;
+ jd.upperTranslation = 0.25f;
+ jd.enableLimit = true;
+ m_spring1 = (b2WheelJoint*)m_world->CreateJoint(&jd);
+
+ jd.Initialize(m_car, m_wheel2, m_wheel2->GetPosition(), axis);
+ jd.motorSpeed = 0.0f;
+ jd.maxMotorTorque = 10.0f;
+ jd.enableMotor = false;
+ jd.stiffness = mass2 * omega * omega;
+ jd.damping = 2.0f * mass2 * dampingRatio * omega;
+ jd.lowerTranslation = -0.25f;
+ jd.upperTranslation = 0.25f;
+ jd.enableLimit = true;
+ m_spring2 = (b2WheelJoint*)m_world->CreateJoint(&jd);
+ }
+ }
+
+ void Keyboard(int key) override
+ {
+ switch (key)
+ {
+ case GLFW_KEY_A:
+ m_spring1->SetMotorSpeed(m_speed);
+ break;
+
+ case GLFW_KEY_S:
+ m_spring1->SetMotorSpeed(0.0f);
+ break;
+
+ case GLFW_KEY_D:
+ m_spring1->SetMotorSpeed(-m_speed);
+ break;
+ }
+ }
+
+ void Step(Settings& settings) override
+ {
+ g_debugDraw.DrawString(5, m_textLine, "Keys: left = a, brake = s, right = d, hz down = q, hz up = e");
+ m_textLine += m_textIncrement;
+
+ g_camera.m_center.x = m_car->GetPosition().x;
+ Test::Step(settings);
+ }
+
+ static Test* Create()
+ {
+ return new Car;
+ }
+
+ b2Body* m_car;
+ b2Body* m_wheel1;
+ b2Body* m_wheel2;
+
+ float m_speed;
+ b2WheelJoint* m_spring1;
+ b2WheelJoint* m_spring2;
+};
+
+static int testIndex = RegisterTest("Examples", "Car", Car::Create);
generated by cgit v1.1-26-g67d0 at 2025-05-22 13:42:55 +0000