diff options
Diffstat (limited to 'Client/ThirdParty/Box2D/testbed/tests/revolute_joint.cpp')
| -rw-r--r-- | Client/ThirdParty/Box2D/testbed/tests/revolute_joint.cpp | 162 |
1 files changed, 162 insertions, 0 deletions
diff --git a/Client/ThirdParty/Box2D/testbed/tests/revolute_joint.cpp b/Client/ThirdParty/Box2D/testbed/tests/revolute_joint.cpp new file mode 100644 index 0000000..a67fea6 --- /dev/null +++ b/Client/ThirdParty/Box2D/testbed/tests/revolute_joint.cpp @@ -0,0 +1,162 @@ +// 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 "settings.h" +#include "test.h" +#include "imgui/imgui.h" + +class RevoluteJoint : public Test +{ +public: + RevoluteJoint() + { + b2Body* ground = NULL; + { + b2BodyDef bd; + ground = m_world->CreateBody(&bd); + + b2EdgeShape shape; + shape.SetTwoSided(b2Vec2(-40.0f, 0.0f), b2Vec2(40.0f, 0.0f)); + + b2FixtureDef fd; + fd.shape = &shape; + //fd.filter.categoryBits = 2; + + ground->CreateFixture(&fd); + } + + m_enableLimit = true; + m_enableMotor = false; + m_motorSpeed = 1.0f; + + { + b2PolygonShape shape; + shape.SetAsBox(0.25f, 3.0f, b2Vec2(0.0f, 3.0f), 0.0f); + + b2BodyDef bd; + bd.type = b2_dynamicBody; + bd.position.Set(-10.0f, 20.0f); + b2Body* body = m_world->CreateBody(&bd); + body->CreateFixture(&shape, 5.0f); + + b2RevoluteJointDef jd; + jd.Initialize(ground, body, b2Vec2(-10.0f, 20.5f)); + jd.motorSpeed = m_motorSpeed; + jd.maxMotorTorque = 10000.0f; + jd.enableMotor = m_enableMotor; + jd.lowerAngle = -0.25f * b2_pi; + jd.upperAngle = 0.5f * b2_pi; + jd.enableLimit = m_enableLimit; + + m_joint1 = (b2RevoluteJoint*)m_world->CreateJoint(&jd); + } + + { + b2CircleShape circle_shape; + circle_shape.m_radius = 2.0f; + + b2BodyDef circle_bd; + circle_bd.type = b2_dynamicBody; + circle_bd.position.Set(5.0f, 30.0f); + + b2FixtureDef fd; + fd.density = 5.0f; + fd.filter.maskBits = 1; + fd.shape = &circle_shape; + + m_ball = m_world->CreateBody(&circle_bd); + m_ball->CreateFixture(&fd); + + b2PolygonShape polygon_shape; + polygon_shape.SetAsBox(10.0f, 0.5f, b2Vec2 (-10.0f, 0.0f), 0.0f); + + b2BodyDef polygon_bd; + polygon_bd.position.Set(20.0f, 10.0f); + polygon_bd.type = b2_dynamicBody; + polygon_bd.bullet = true; + b2Body* polygon_body = m_world->CreateBody(&polygon_bd); + polygon_body->CreateFixture(&polygon_shape, 2.0f); + + b2RevoluteJointDef jd; + jd.Initialize(ground, polygon_body, b2Vec2(19.0f, 10.0f)); + jd.lowerAngle = -0.25f * b2_pi; + jd.upperAngle = 0.0f * b2_pi; + jd.enableLimit = true; + jd.enableMotor = true; + jd.motorSpeed = 0.0f; + jd.maxMotorTorque = 10000.0f; + + m_joint2 = (b2RevoluteJoint*)m_world->CreateJoint(&jd); + } + } + + void UpdateUI() override + { + ImGui::SetNextWindowPos(ImVec2(10.0f, 100.0f)); + ImGui::SetNextWindowSize(ImVec2(200.0f, 100.0f)); + ImGui::Begin("Joint Controls", nullptr, ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoResize); + + if (ImGui::Checkbox("Limit", &m_enableLimit)) + { + m_joint1->EnableLimit(m_enableLimit); + } + + if (ImGui::Checkbox("Motor", &m_enableMotor)) + { + m_joint1->EnableMotor(m_enableMotor); + } + + if (ImGui::SliderFloat("Speed", &m_motorSpeed, -20.0f, 20.0f, "%.0f")) + { + m_joint1->SetMotorSpeed(m_motorSpeed); + } + + ImGui::End(); + } + + void Step(Settings& settings) override + { + Test::Step(settings); + + float torque1 = m_joint1->GetMotorTorque(settings.m_hertz); + g_debugDraw.DrawString(5, m_textLine, "Motor Torque 1= %4.0f", torque1); + m_textLine += m_textIncrement; + + float torque2 = m_joint2->GetMotorTorque(settings.m_hertz); + g_debugDraw.DrawString(5, m_textLine, "Motor Torque 2= %4.0f", torque2); + m_textLine += m_textIncrement; + } + + static Test* Create() + { + return new RevoluteJoint; + } + + b2Body* m_ball; + b2RevoluteJoint* m_joint1; + b2RevoluteJoint* m_joint2; + float m_motorSpeed; + bool m_enableMotor; + bool m_enableLimit; +}; + +static int testIndex = RegisterTest("Joints", "Revolute", RevoluteJoint::Create); |