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+// 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 Tumbler : public Test
+{
+public:
+
+ enum
+ {
+ e_count = 800
+ };
+
+ Tumbler()
+ {
+ b2Body* ground = NULL;
+ {
+ b2BodyDef bd;
+ ground = m_world->CreateBody(&bd);
+ }
+
+ {
+ b2BodyDef bd;
+ bd.type = b2_dynamicBody;
+ bd.allowSleep = false;
+ bd.position.Set(0.0f, 10.0f);
+ b2Body* body = m_world->CreateBody(&bd);
+
+ b2PolygonShape shape;
+ shape.SetAsBox(0.5f, 10.0f, b2Vec2( 10.0f, 0.0f), 0.0);
+ body->CreateFixture(&shape, 5.0f);
+ shape.SetAsBox(0.5f, 10.0f, b2Vec2(-10.0f, 0.0f), 0.0);
+ body->CreateFixture(&shape, 5.0f);
+ shape.SetAsBox(10.0f, 0.5f, b2Vec2(0.0f, 10.0f), 0.0);
+ body->CreateFixture(&shape, 5.0f);
+ shape.SetAsBox(10.0f, 0.5f, b2Vec2(0.0f, -10.0f), 0.0);
+ body->CreateFixture(&shape, 5.0f);
+
+ b2RevoluteJointDef jd;
+ jd.bodyA = ground;
+ jd.bodyB = body;
+ jd.localAnchorA.Set(0.0f, 10.0f);
+ jd.localAnchorB.Set(0.0f, 0.0f);
+ jd.referenceAngle = 0.0f;
+ jd.motorSpeed = 0.05f * b2_pi;
+ jd.maxMotorTorque = 1e8f;
+ jd.enableMotor = true;
+ m_joint = (b2RevoluteJoint*)m_world->CreateJoint(&jd);
+ }
+
+ m_count = 0;
+ }
+
+ void Step(Settings& settings) override
+ {
+ Test::Step(settings);
+
+ if (m_count < e_count)
+ {
+ b2BodyDef bd;
+ bd.type = b2_dynamicBody;
+ bd.position.Set(0.0f, 10.0f);
+ b2Body* body = m_world->CreateBody(&bd);
+
+ b2PolygonShape shape;
+ shape.SetAsBox(0.125f, 0.125f);
+ body->CreateFixture(&shape, 1.0f);
+
+ ++m_count;
+ }
+ }
+
+ static Test* Create()
+ {
+ return new Tumbler;
+ }
+
+ b2RevoluteJoint* m_joint;
+ int32 m_count;
+};
+
+static int testIndex = RegisterTest("Benchmark", "Tumbler", Tumbler::Create);