1 files changed, 266 insertions, 0 deletions
diff --git a/Client/ThirdParty/Box2D/testbed/tests/theo_jansen.cpp b/Client/ThirdParty/Box2D/testbed/tests/theo_jansen.cpp
new file mode 100644
index 0000000..a3155ac
--- /dev/null
+++ b/Client/ThirdParty/Box2D/testbed/tests/theo_jansen.cpp
@@ -0,0 +1,266 @@
+// 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.
+
+// Inspired by a contribution from roman_m
+// Dimensions scooped from APE (http://www.cove.org/ape/index.htm)
+
+#include "test.h"
+
+class TheoJansen : public Test
+{
+public:
+
+	void CreateLeg(float s, const b2Vec2& wheelAnchor)
+	{
+		b2Vec2 p1(5.4f * s, -6.1f);
+		b2Vec2 p2(7.2f * s, -1.2f);
+		b2Vec2 p3(4.3f * s, -1.9f);
+		b2Vec2 p4(3.1f * s, 0.8f);
+		b2Vec2 p5(6.0f * s, 1.5f);
+		b2Vec2 p6(2.5f * s, 3.7f);
+
+		b2FixtureDef fd1, fd2;
+		fd1.filter.groupIndex = -1;
+		fd2.filter.groupIndex = -1;
+		fd1.density = 1.0f;
+		fd2.density = 1.0f;
+
+		b2PolygonShape poly1, poly2;
+
+		if (s > 0.0f)
+		{
+			b2Vec2 vertices[3];
+
+			vertices[0] = p1;
+			vertices[1] = p2;
+			vertices[2] = p3;
+			poly1.Set(vertices, 3);
+
+			vertices[0] = b2Vec2_zero;
+			vertices[1] = p5 - p4;
+			vertices[2] = p6 - p4;
+			poly2.Set(vertices, 3);
+		}
+		else
+		{
+			b2Vec2 vertices[3];
+
+			vertices[0] = p1;
+			vertices[1] = p3;
+			vertices[2] = p2;
+			poly1.Set(vertices, 3);
+
+			vertices[0] = b2Vec2_zero;
+			vertices[1] = p6 - p4;
+			vertices[2] = p5 - p4;
+			poly2.Set(vertices, 3);
+		}
+
+		fd1.shape = &poly1;
+		fd2.shape = &poly2;
+
+		b2BodyDef bd1, bd2;
+		bd1.type = b2_dynamicBody;
+		bd2.type = b2_dynamicBody;
+		bd1.position = m_offset;
+		bd2.position = p4 + m_offset;
+
+		bd1.angularDamping = 10.0f;
+		bd2.angularDamping = 10.0f;
+
+		b2Body* body1 = m_world->CreateBody(&bd1);
+		b2Body* body2 = m_world->CreateBody(&bd2);
+
+		body1->CreateFixture(&fd1);
+		body2->CreateFixture(&fd2);
+
+		{
+			b2DistanceJointDef jd;
+
+			// Using a soft distance constraint can reduce some jitter.
+			// It also makes the structure seem a bit more fluid by
+			// acting like a suspension system.
+			float dampingRatio = 0.5f;
+			float frequencyHz = 10.0f;
+
+			jd.Initialize(body1, body2, p2 + m_offset, p5 + m_offset);
+			b2LinearStiffness(jd.stiffness, jd.damping, frequencyHz, dampingRatio, jd.bodyA, jd.bodyB);
+			m_world->CreateJoint(&jd);
+
+			jd.Initialize(body1, body2, p3 + m_offset, p4 + m_offset);
+			b2LinearStiffness(jd.stiffness, jd.damping, frequencyHz, dampingRatio, jd.bodyA, jd.bodyB);
+			m_world->CreateJoint(&jd);
+
+			jd.Initialize(body1, m_wheel, p3 + m_offset, wheelAnchor + m_offset);
+			b2LinearStiffness(jd.stiffness, jd.damping, frequencyHz, dampingRatio, jd.bodyA, jd.bodyB);
+			m_world->CreateJoint(&jd);
+
+			jd.Initialize(body2, m_wheel, p6 + m_offset, wheelAnchor + m_offset);
+			b2LinearStiffness(jd.stiffness, jd.damping, frequencyHz, dampingRatio, jd.bodyA, jd.bodyB);
+			m_world->CreateJoint(&jd);
+		}
+
+		{
+			b2RevoluteJointDef jd;
+			jd.Initialize(body2, m_chassis, p4 + m_offset);
+			m_world->CreateJoint(&jd);
+		}
+	}
+
+	TheoJansen()
+	{
+		m_offset.Set(0.0f, 8.0f);
+		m_motorSpeed = 2.0f;
+		m_motorOn = true;
+		b2Vec2 pivot(0.0f, 0.8f);
+
+		// Ground
+		{
+			b2BodyDef bd;
+			b2Body* ground = m_world->CreateBody(&bd);
+
+			b2EdgeShape shape;
+			shape.SetTwoSided(b2Vec2(-50.0f, 0.0f), b2Vec2(50.0f, 0.0f));
+			ground->CreateFixture(&shape, 0.0f);
+
+			shape.SetTwoSided(b2Vec2(-50.0f, 0.0f), b2Vec2(-50.0f, 10.0f));
+			ground->CreateFixture(&shape, 0.0f);
+
+			shape.SetTwoSided(b2Vec2(50.0f, 0.0f), b2Vec2(50.0f, 10.0f));
+			ground->CreateFixture(&shape, 0.0f);
+		}
+
+		// Balls
+		for (int32 i = 0; i < 40; ++i)
+		{
+			b2CircleShape shape;
+			shape.m_radius = 0.25f;
+
+			b2BodyDef bd;
+			bd.type = b2_dynamicBody;
+			bd.position.Set(-40.0f + 2.0f * i, 0.5f);
+
+			b2Body* body = m_world->CreateBody(&bd);
+			body->CreateFixture(&shape, 1.0f);
+		}
+
+		// Chassis
+		{
+			b2PolygonShape shape;
+			shape.SetAsBox(2.5f, 1.0f);
+
+			b2FixtureDef sd;
+			sd.density = 1.0f;
+			sd.shape = &shape;
+			sd.filter.groupIndex = -1;
+			b2BodyDef bd;
+			bd.type = b2_dynamicBody;
+			bd.position = pivot + m_offset;
+			m_chassis = m_world->CreateBody(&bd);
+			m_chassis->CreateFixture(&sd);
+		}
+
+		{
+			b2CircleShape shape;
+			shape.m_radius = 1.6f;
+
+			b2FixtureDef sd;
+			sd.density = 1.0f;
+			sd.shape = &shape;
+			sd.filter.groupIndex = -1;
+			b2BodyDef bd;
+			bd.type = b2_dynamicBody;
+			bd.position = pivot + m_offset;
+			m_wheel = m_world->CreateBody(&bd);
+			m_wheel->CreateFixture(&sd);
+		}
+
+		{
+			b2RevoluteJointDef jd;
+			jd.Initialize(m_wheel, m_chassis, pivot + m_offset);
+			jd.collideConnected = false;
+			jd.motorSpeed = m_motorSpeed;
+			jd.maxMotorTorque = 400.0f;
+			jd.enableMotor = m_motorOn;
+			m_motorJoint = (b2RevoluteJoint*)m_world->CreateJoint(&jd);
+		}
+
+		b2Vec2 wheelAnchor;
+		
+		wheelAnchor = pivot + b2Vec2(0.0f, -0.8f);
+
+		CreateLeg(-1.0f, wheelAnchor);
+		CreateLeg(1.0f, wheelAnchor);
+
+		m_wheel->SetTransform(m_wheel->GetPosition(), 120.0f * b2_pi / 180.0f);
+		CreateLeg(-1.0f, wheelAnchor);
+		CreateLeg(1.0f, wheelAnchor);
+
+		m_wheel->SetTransform(m_wheel->GetPosition(), -120.0f * b2_pi / 180.0f);
+		CreateLeg(-1.0f, wheelAnchor);
+		CreateLeg(1.0f, wheelAnchor);
+	}
+
+	void Step(Settings& settings) override
+	{
+		g_debugDraw.DrawString(5, m_textLine, "Keys: left = a, brake = s, right = d, toggle motor = m");
+		m_textLine += m_textIncrement;
+
+		Test::Step(settings);
+	}
+
+	void Keyboard(int key) override
+	{
+		switch (key)
+		{
+		case GLFW_KEY_A:
+			m_motorJoint->SetMotorSpeed(-m_motorSpeed);
+			break;
+
+		case GLFW_KEY_S:
+			m_motorJoint->SetMotorSpeed(0.0f);
+			break;
+
+		case GLFW_KEY_D:
+			m_motorJoint->SetMotorSpeed(m_motorSpeed);
+			break;
+
+		case GLFW_KEY_M:
+			m_motorJoint->EnableMotor(!m_motorJoint->IsMotorEnabled());
+			break;
+		}
+	}
+
+	static Test* Create()
+	{
+		return new TheoJansen;
+	}
+
+	b2Vec2 m_offset;
+	b2Body* m_chassis;
+	b2Body* m_wheel;
+	b2RevoluteJoint* m_motorJoint;
+	bool m_motorOn;
+	float m_motorSpeed;
+};
+
+static int testIndex = RegisterTest("Examples", "Theo Jansen", TheoJansen::Create);