1 files changed, 126 insertions, 0 deletions
diff --git a/Client/ThirdParty/Box2D/testbed/tests/wheel_joint.cpp b/Client/ThirdParty/Box2D/testbed/tests/wheel_joint.cpp
new file mode 100644
index 0000000..153cac1
--- /dev/null
+++ b/Client/ThirdParty/Box2D/testbed/tests/wheel_joint.cpp
@@ -0,0 +1,126 @@
+// 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"
+
+// Test the wheel joint with motor, spring, and limit options.
+class WheelJoint : public Test
+{
+public:
+	WheelJoint()
+	{
+		b2Body* ground = NULL;
+		{
+			b2BodyDef bd;
+			ground = m_world->CreateBody(&bd);
+
+			b2EdgeShape shape;
+			shape.SetTwoSided(b2Vec2(-40.0f, 0.0f), b2Vec2(40.0f, 0.0f));
+			ground->CreateFixture(&shape, 0.0f);
+		}
+
+		m_enableLimit = true;
+		m_enableMotor = false;
+		m_motorSpeed = 10.0f;
+
+		{
+			b2CircleShape shape;
+			shape.m_radius = 2.0f;
+
+			b2BodyDef bd;
+			bd.type = b2_dynamicBody;
+			bd.position.Set(0.0f, 10.0f);
+			bd.allowSleep = false;
+			b2Body* body = m_world->CreateBody(&bd);
+			body->CreateFixture(&shape, 5.0f);
+
+			b2WheelJointDef jd;
+
+			// Horizontal
+			jd.Initialize(ground, body, bd.position, b2Vec2(0.0f, 1.0f));
+
+			jd.motorSpeed = m_motorSpeed;
+			jd.maxMotorTorque = 10000.0f;
+			jd.enableMotor = m_enableMotor;
+			jd.lowerTranslation = -3.0f;
+			jd.upperTranslation = 3.0f;
+			jd.enableLimit = m_enableLimit;
+
+			float hertz = 1.0f;
+			float dampingRatio = 0.7f;
+			b2LinearStiffness(jd.stiffness, jd.damping, hertz, dampingRatio, ground, body);
+
+			m_joint = (b2WheelJoint*)m_world->CreateJoint(&jd);
+		}
+	}
+
+	void Step(Settings& settings) override
+	{
+		Test::Step(settings);
+
+		float torque = m_joint->GetMotorTorque(settings.m_hertz);
+		g_debugDraw.DrawString(5, m_textLine, "Motor Torque = %4.0f", torque);
+		m_textLine += m_textIncrement;
+
+		b2Vec2 F = m_joint->GetReactionForce(settings.m_hertz);
+		g_debugDraw.DrawString(5, m_textLine, "Reaction Force = (%4.1f, %4.1f)", F.x, F.y);
+		m_textLine += m_textIncrement;
+	}
+
+	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_joint->EnableLimit(m_enableLimit);
+		}
+
+		if (ImGui::Checkbox("Motor", &m_enableMotor))
+		{
+			m_joint->EnableMotor(m_enableMotor);
+		}
+
+		if (ImGui::SliderFloat("Speed", &m_motorSpeed, -100.0f, 100.0f, "%.0f"))
+		{
+			m_joint->SetMotorSpeed(m_motorSpeed);
+		}
+
+		ImGui::End();
+	}
+
+	static Test* Create()
+	{
+		return new WheelJoint;
+	}
+
+	b2WheelJoint* m_joint;
+	float m_motorSpeed;
+	bool m_enableMotor;
+	bool m_enableLimit;
+};
+
+static int testIndex = RegisterTest("Joints", "Wheel", WheelJoint::Create);