257 lines
7.3 KiB
C
257 lines
7.3 KiB
C
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/*
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* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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// Inspired by a contribution by roman_m
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// Dimensions scooped from APE (http://www.cove.org/ape/index.htm)
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#ifndef THEO_JANSEN_H
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#define THEO_JANSEN_H
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class TheoJansen : public Test
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{
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public:
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void CreateLeg(float32 s, const b2Vec2& wheelAnchor)
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{
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b2Vec2 p1(5.4f * s, -6.1f);
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b2Vec2 p2(7.2f * s, -1.2f);
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b2Vec2 p3(4.3f * s, -1.9f);
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b2Vec2 p4(3.1f * s, 0.8f);
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b2Vec2 p5(6.0f * s, 1.5f);
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b2Vec2 p6(2.5f * s, 3.7f);
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b2FixtureDef fd1, fd2;
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fd1.filter.groupIndex = -1;
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fd2.filter.groupIndex = -1;
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fd1.density = 1.0f;
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fd2.density = 1.0f;
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b2PolygonShape poly1, poly2;
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if (s > 0.0f)
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{
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b2Vec2 vertices[3];
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vertices[0] = p1;
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vertices[1] = p2;
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vertices[2] = p3;
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poly1.Set(vertices, 3);
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vertices[0] = b2Vec2_zero;
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vertices[1] = p5 - p4;
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vertices[2] = p6 - p4;
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poly2.Set(vertices, 3);
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}
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else
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{
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b2Vec2 vertices[3];
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vertices[0] = p1;
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vertices[1] = p3;
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vertices[2] = p2;
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poly1.Set(vertices, 3);
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vertices[0] = b2Vec2_zero;
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vertices[1] = p6 - p4;
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vertices[2] = p5 - p4;
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poly2.Set(vertices, 3);
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}
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fd1.shape = &poly1;
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fd2.shape = &poly2;
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b2BodyDef bd1, bd2;
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bd1.type = b2_dynamicBody;
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bd2.type = b2_dynamicBody;
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bd1.position = m_offset;
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bd2.position = p4 + m_offset;
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bd1.angularDamping = 10.0f;
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bd2.angularDamping = 10.0f;
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b2Body* body1 = m_world->CreateBody(&bd1);
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b2Body* body2 = m_world->CreateBody(&bd2);
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body1->CreateFixture(&fd1);
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body2->CreateFixture(&fd2);
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b2DistanceJointDef djd;
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// Using a soft distance constraint can reduce some jitter.
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// It also makes the structure seem a bit more fluid by
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// acting like a suspension system.
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djd.dampingRatio = 0.5f;
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djd.frequencyHz = 10.0f;
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djd.Initialize(body1, body2, p2 + m_offset, p5 + m_offset);
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m_world->CreateJoint(&djd);
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djd.Initialize(body1, body2, p3 + m_offset, p4 + m_offset);
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m_world->CreateJoint(&djd);
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djd.Initialize(body1, m_wheel, p3 + m_offset, wheelAnchor + m_offset);
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m_world->CreateJoint(&djd);
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djd.Initialize(body2, m_wheel, p6 + m_offset, wheelAnchor + m_offset);
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m_world->CreateJoint(&djd);
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b2RevoluteJointDef rjd;
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rjd.Initialize(body2, m_chassis, p4 + m_offset);
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m_world->CreateJoint(&rjd);
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}
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TheoJansen()
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{
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m_offset.Set(0.0f, 8.0f);
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m_motorSpeed = 2.0f;
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m_motorOn = true;
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b2Vec2 pivot(0.0f, 0.8f);
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// Ground
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{
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b2BodyDef bd;
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b2Body* ground = m_world->CreateBody(&bd);
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b2EdgeShape shape;
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shape.Set(b2Vec2(-50.0f, 0.0f), b2Vec2(50.0f, 0.0f));
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ground->CreateFixture(&shape, 0.0f);
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shape.Set(b2Vec2(-50.0f, 0.0f), b2Vec2(-50.0f, 10.0f));
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ground->CreateFixture(&shape, 0.0f);
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shape.Set(b2Vec2(50.0f, 0.0f), b2Vec2(50.0f, 10.0f));
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ground->CreateFixture(&shape, 0.0f);
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}
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// Balls
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for (int32 i = 0; i < 40; ++i)
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{
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b2CircleShape shape;
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shape.m_radius = 0.25f;
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b2BodyDef bd;
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bd.type = b2_dynamicBody;
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bd.position.Set(-40.0f + 2.0f * i, 0.5f);
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b2Body* body = m_world->CreateBody(&bd);
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body->CreateFixture(&shape, 1.0f);
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}
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// Chassis
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{
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b2PolygonShape shape;
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shape.SetAsBox(2.5f, 1.0f);
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b2FixtureDef sd;
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sd.density = 1.0f;
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sd.shape = &shape;
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sd.filter.groupIndex = -1;
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b2BodyDef bd;
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bd.type = b2_dynamicBody;
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bd.position = pivot + m_offset;
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m_chassis = m_world->CreateBody(&bd);
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m_chassis->CreateFixture(&sd);
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}
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{
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b2CircleShape shape;
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shape.m_radius = 1.6f;
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b2FixtureDef sd;
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sd.density = 1.0f;
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sd.shape = &shape;
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sd.filter.groupIndex = -1;
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b2BodyDef bd;
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bd.type = b2_dynamicBody;
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bd.position = pivot + m_offset;
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m_wheel = m_world->CreateBody(&bd);
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m_wheel->CreateFixture(&sd);
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}
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{
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b2RevoluteJointDef jd;
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jd.Initialize(m_wheel, m_chassis, pivot + m_offset);
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jd.collideConnected = false;
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jd.motorSpeed = m_motorSpeed;
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jd.maxMotorTorque = 400.0f;
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jd.enableMotor = m_motorOn;
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m_motorJoint = (b2RevoluteJoint*)m_world->CreateJoint(&jd);
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}
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b2Vec2 wheelAnchor;
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wheelAnchor = pivot + b2Vec2(0.0f, -0.8f);
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CreateLeg(-1.0f, wheelAnchor);
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CreateLeg(1.0f, wheelAnchor);
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m_wheel->SetTransform(m_wheel->GetPosition(), 120.0f * b2_pi / 180.0f);
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CreateLeg(-1.0f, wheelAnchor);
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CreateLeg(1.0f, wheelAnchor);
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m_wheel->SetTransform(m_wheel->GetPosition(), -120.0f * b2_pi / 180.0f);
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CreateLeg(-1.0f, wheelAnchor);
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CreateLeg(1.0f, wheelAnchor);
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}
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void Step(Settings* settings)
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{
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m_debugDraw.DrawString(5, m_textLine, "Keys: left = a, brake = s, right = d, toggle motor = m");
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m_textLine += 15;
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Test::Step(settings);
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}
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void Keyboard(unsigned char key)
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{
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switch (key)
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{
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case 'a':
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m_motorJoint->SetMotorSpeed(-m_motorSpeed);
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break;
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case 's':
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m_motorJoint->SetMotorSpeed(0.0f);
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break;
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case 'd':
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m_motorJoint->SetMotorSpeed(m_motorSpeed);
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break;
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case 'm':
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m_motorJoint->EnableMotor(!m_motorJoint->IsMotorEnabled());
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break;
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}
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}
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static Test* Create()
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{
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return new TheoJansen;
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}
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b2Vec2 m_offset;
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b2Body* m_chassis;
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b2Body* m_wheel;
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b2RevoluteJoint* m_motorJoint;
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bool m_motorOn;
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float32 m_motorSpeed;
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};
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#endif // THEO_JANSEN_H
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