mirror of https://github.com/axmolengine/axmol.git
158 lines
5.0 KiB
C++
158 lines
5.0 KiB
C++
// MIT License
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// Copyright (c) 2019 Erin Catto
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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// The above copyright notice and this permission notice shall be included in all
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// copies or substantial portions of the Software.
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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// SOFTWARE.
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#include "settings.h"
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#include "test.h"
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#include "ImGui/ImGuiPresenter.h"
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class RevoluteJoint : public Test
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{
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public:
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RevoluteJoint()
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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.SetTwoSided(b2Vec2(-40.0f, 0.0f), b2Vec2(40.0f, 0.0f));
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b2FixtureDef fd;
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fd.shape = &shape;
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// fd.filter.categoryBits = 2;
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ground->CreateFixture(&fd);
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}
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m_enableLimit = true;
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m_enableMotor = false;
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m_motorSpeed = 1.0f;
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{
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b2PolygonShape shape;
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shape.SetAsBox(0.25f, 3.0f, b2Vec2(0.0f, 3.0f), 0.0f);
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b2BodyDef bd;
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bd.type = b2_dynamicBody;
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bd.position.Set(-10.0f, 20.0f);
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b2Body* body = m_world->CreateBody(&bd);
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body->CreateFixture(&shape, 5.0f);
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b2RevoluteJointDef jd;
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jd.Initialize(ground, body, b2Vec2(-10.0f, 20.5f));
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jd.motorSpeed = m_motorSpeed;
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jd.maxMotorTorque = 10000.0f;
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jd.enableMotor = m_enableMotor;
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jd.lowerAngle = -0.25f * b2_pi;
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jd.upperAngle = 0.5f * b2_pi;
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jd.enableLimit = m_enableLimit;
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m_joint1 = (b2RevoluteJoint*)m_world->CreateJoint(&jd);
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}
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{
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b2CircleShape circle_shape;
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circle_shape.m_radius = 2.0f;
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b2BodyDef circle_bd;
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circle_bd.type = b2_dynamicBody;
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circle_bd.position.Set(5.0f, 30.0f);
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b2FixtureDef fd;
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fd.density = 5.0f;
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fd.filter.maskBits = 1;
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fd.shape = &circle_shape;
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m_ball = m_world->CreateBody(&circle_bd);
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m_ball->CreateFixture(&fd);
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b2PolygonShape polygon_shape;
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polygon_shape.SetAsBox(10.0f, 0.5f, b2Vec2(-10.0f, 0.0f), 0.0f);
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b2BodyDef polygon_bd;
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polygon_bd.position.Set(20.0f, 10.0f);
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polygon_bd.type = b2_dynamicBody;
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polygon_bd.bullet = true;
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b2Body* polygon_body = m_world->CreateBody(&polygon_bd);
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polygon_body->CreateFixture(&polygon_shape, 2.0f);
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b2RevoluteJointDef jd;
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jd.Initialize(ground, polygon_body, b2Vec2(19.0f, 10.0f));
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jd.lowerAngle = -0.25f * b2_pi;
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jd.upperAngle = 0.0f * b2_pi;
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jd.enableLimit = true;
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jd.enableMotor = true;
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jd.motorSpeed = 0.0f;
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jd.maxMotorTorque = 10000.0f;
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m_joint2 = (b2RevoluteJoint*)m_world->CreateJoint(&jd);
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}
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}
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void UpdateUI() override
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{
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// ImGui::SetNextWindowPos(ImVec2(10.0f, 100.0f));
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ImGui::SetNextWindowSize(ImVec2(200.0f, 100.0f));
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ImGui::Begin("Joint Controls", nullptr, ImGuiWindowFlags_NoResize);
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if (ImGui::Checkbox("Limit", &m_enableLimit))
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{
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m_joint1->EnableLimit(m_enableLimit);
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}
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if (ImGui::Checkbox("Motor", &m_enableMotor))
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{
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m_joint1->EnableMotor(m_enableMotor);
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}
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if (ImGui::SliderFloat("Speed", &m_motorSpeed, -20.0f, 20.0f, "%.0f"))
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{
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m_joint1->SetMotorSpeed(m_motorSpeed);
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}
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ImGui::End();
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}
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void Step(Settings& settings) override
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{
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Test::Step(settings);
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float torque1 = m_joint1->GetMotorTorque(settings.m_hertz);
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DrawString(5, m_textLine, "Motor Torque 1= %4.0f", torque1);
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float torque2 = m_joint2->GetMotorTorque(settings.m_hertz);
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DrawString(5, m_textLine, "Motor Torque 2= %4.0f", torque2);
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}
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static Test* Create() { return new RevoluteJoint; }
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b2Body* m_ball;
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b2RevoluteJoint* m_joint1;
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b2RevoluteJoint* m_joint2;
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float m_motorSpeed;
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bool m_enableMotor;
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bool m_enableLimit;
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};
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static int testIndex = RegisterTest("Joints", "Revolute", RevoluteJoint::Create);
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