108 lines
3.3 KiB
C
108 lines
3.3 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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#ifndef PRISMATIC_H
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#define PRISMATIC_H
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// The motor in this test gets smoother with higher velocity iterations.
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class Prismatic : public Test
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{
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public:
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Prismatic()
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{
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b2Body* ground = NULL;
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{
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b2BodyDef bd;
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ground = m_world->CreateBody(&bd);
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b2EdgeShape shape;
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shape.Set(b2Vec2(-40.0f, 0.0f), b2Vec2(40.0f, 0.0f));
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ground->CreateFixture(&shape, 0.0f);
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}
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{
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b2PolygonShape shape;
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shape.SetAsBox(2.0f, 0.5f);
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b2BodyDef bd;
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bd.type = b2_dynamicBody;
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bd.position.Set(-10.0f, 10.0f);
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bd.angle = 0.5f * b2_pi;
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bd.allowSleep = false;
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b2Body* body = m_world->CreateBody(&bd);
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body->CreateFixture(&shape, 5.0f);
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b2PrismaticJointDef pjd;
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// Bouncy limit
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b2Vec2 axis(2.0f, 1.0f);
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axis.Normalize();
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pjd.Initialize(ground, body, b2Vec2(0.0f, 0.0f), axis);
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// Non-bouncy limit
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//pjd.Initialize(ground, body, b2Vec2(-10.0f, 10.0f), b2Vec2(1.0f, 0.0f));
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pjd.motorSpeed = 10.0f;
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pjd.maxMotorForce = 10000.0f;
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pjd.enableMotor = true;
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pjd.lowerTranslation = 0.0f;
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pjd.upperTranslation = 20.0f;
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pjd.enableLimit = true;
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m_joint = (b2PrismaticJoint*)m_world->CreateJoint(&pjd);
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}
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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 'l':
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m_joint->EnableLimit(!m_joint->IsLimitEnabled());
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break;
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case 'm':
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m_joint->EnableMotor(!m_joint->IsMotorEnabled());
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break;
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case 's':
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m_joint->SetMotorSpeed(-m_joint->GetMotorSpeed());
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break;
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}
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}
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void Step(Settings* settings)
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{
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Test::Step(settings);
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m_debugDraw.DrawString(5, m_textLine, "Keys: (l) limits, (m) motors, (s) speed");
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m_textLine += 15;
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float32 force = m_joint->GetMotorForce(settings->hz);
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m_debugDraw.DrawString(5, m_textLine, "Motor Force = %4.0f", (float) force);
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m_textLine += 15;
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}
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static Test* Create()
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{
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return new Prismatic;
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}
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b2PrismaticJoint* m_joint;
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};
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#endif
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