diff options
Diffstat (limited to 'Client/ThirdParty/Box2D/testbed/tests/gear_joint.cpp')
| -rw-r--r-- | Client/ThirdParty/Box2D/testbed/tests/gear_joint.cpp | 180 |
1 files changed, 180 insertions, 0 deletions
diff --git a/Client/ThirdParty/Box2D/testbed/tests/gear_joint.cpp b/Client/ThirdParty/Box2D/testbed/tests/gear_joint.cpp new file mode 100644 index 0000000..6f31283 --- /dev/null +++ b/Client/ThirdParty/Box2D/testbed/tests/gear_joint.cpp @@ -0,0 +1,180 @@ +// 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" + +class GearJoint : public Test +{ +public: + GearJoint() + { + b2Body* ground = NULL; + { + b2BodyDef bd; + ground = m_world->CreateBody(&bd); + + b2EdgeShape shape; + shape.SetTwoSided(b2Vec2(50.0f, 0.0f), b2Vec2(-50.0f, 0.0f)); + ground->CreateFixture(&shape, 0.0f); + } + + { + b2CircleShape circle1; + circle1.m_radius = 1.0f; + + b2PolygonShape box; + box.SetAsBox(0.5f, 5.0f); + + b2CircleShape circle2; + circle2.m_radius = 2.0f; + + b2BodyDef bd1; + bd1.type = b2_staticBody; + bd1.position.Set(10.0f, 9.0f); + b2Body* body1 = m_world->CreateBody(&bd1); + body1->CreateFixture(&circle1, 5.0f); + + b2BodyDef bd2; + bd2.type = b2_dynamicBody; + bd2.position.Set(10.0f, 8.0f); + b2Body* body2 = m_world->CreateBody(&bd2); + body2->CreateFixture(&box, 5.0f); + + b2BodyDef bd3; + bd3.type = b2_dynamicBody; + bd3.position.Set(10.0f, 6.0f); + b2Body* body3 = m_world->CreateBody(&bd3); + body3->CreateFixture(&circle2, 5.0f); + + b2RevoluteJointDef jd1; + jd1.Initialize(body1, body2, bd1.position); + b2Joint* joint1 = m_world->CreateJoint(&jd1); + + b2RevoluteJointDef jd2; + jd2.Initialize(body2, body3, bd3.position); + b2Joint* joint2 = m_world->CreateJoint(&jd2); + + b2GearJointDef jd4; + jd4.bodyA = body1; + jd4.bodyB = body3; + jd4.joint1 = joint1; + jd4.joint2 = joint2; + jd4.ratio = circle2.m_radius / circle1.m_radius; + m_world->CreateJoint(&jd4); + } + + { + b2CircleShape circle1; + circle1.m_radius = 1.0f; + + b2CircleShape circle2; + circle2.m_radius = 2.0f; + + b2PolygonShape box; + box.SetAsBox(0.5f, 5.0f); + + b2BodyDef bd1; + bd1.type = b2_dynamicBody; + bd1.position.Set(-3.0f, 12.0f); + b2Body* body1 = m_world->CreateBody(&bd1); + body1->CreateFixture(&circle1, 5.0f); + + b2RevoluteJointDef jd1; + jd1.bodyA = ground; + jd1.bodyB = body1; + jd1.localAnchorA = ground->GetLocalPoint(bd1.position); + jd1.localAnchorB = body1->GetLocalPoint(bd1.position); + jd1.referenceAngle = body1->GetAngle() - ground->GetAngle(); + m_joint1 = (b2RevoluteJoint*)m_world->CreateJoint(&jd1); + + b2BodyDef bd2; + bd2.type = b2_dynamicBody; + bd2.position.Set(0.0f, 12.0f); + b2Body* body2 = m_world->CreateBody(&bd2); + body2->CreateFixture(&circle2, 5.0f); + + b2RevoluteJointDef jd2; + jd2.Initialize(ground, body2, bd2.position); + m_joint2 = (b2RevoluteJoint*)m_world->CreateJoint(&jd2); + + b2BodyDef bd3; + bd3.type = b2_dynamicBody; + bd3.position.Set(2.5f, 12.0f); + b2Body* body3 = m_world->CreateBody(&bd3); + body3->CreateFixture(&box, 5.0f); + + b2PrismaticJointDef jd3; + jd3.Initialize(ground, body3, bd3.position, b2Vec2(0.0f, 1.0f)); + jd3.lowerTranslation = -5.0f; + jd3.upperTranslation = 5.0f; + jd3.enableLimit = true; + + m_joint3 = (b2PrismaticJoint*)m_world->CreateJoint(&jd3); + + b2GearJointDef jd4; + jd4.bodyA = body1; + jd4.bodyB = body2; + jd4.joint1 = m_joint1; + jd4.joint2 = m_joint2; + jd4.ratio = circle2.m_radius / circle1.m_radius; + m_joint4 = (b2GearJoint*)m_world->CreateJoint(&jd4); + + b2GearJointDef jd5; + jd5.bodyA = body2; + jd5.bodyB = body3; + jd5.joint1 = m_joint2; + jd5.joint2 = m_joint3; + jd5.ratio = -1.0f / circle2.m_radius; + m_joint5 = (b2GearJoint*)m_world->CreateJoint(&jd5); + } + } + + void Step(Settings& settings) override + { + Test::Step(settings); + + float ratio, value; + + ratio = m_joint4->GetRatio(); + value = m_joint1->GetJointAngle() + ratio * m_joint2->GetJointAngle(); + g_debugDraw.DrawString(5, m_textLine, "theta1 + %4.2f * theta2 = %4.2f", (float) ratio, (float) value); + m_textLine += m_textIncrement; + + ratio = m_joint5->GetRatio(); + value = m_joint2->GetJointAngle() + ratio * m_joint3->GetJointTranslation(); + g_debugDraw.DrawString(5, m_textLine, "theta2 + %4.2f * delta = %4.2f", (float) ratio, (float) value); + m_textLine += m_textIncrement; + } + + static Test* Create() + { + return new GearJoint; + } + + b2RevoluteJoint* m_joint1; + b2RevoluteJoint* m_joint2; + b2PrismaticJoint* m_joint3; + b2GearJoint* m_joint4; + b2GearJoint* m_joint5; +}; + +static int testIndex = RegisterTest("Joints", "Gear", GearJoint::Create); |