mirror of https://github.com/axmolengine/axmol.git
122 lines
3.8 KiB
C++
122 lines
3.8 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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// Test the wheel joint with motor, spring, and limit options.
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class WheelJoint : public Test
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{
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public:
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WheelJoint()
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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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ground->CreateFixture(&shape, 0.0f);
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}
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m_enableLimit = true;
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m_enableMotor = false;
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m_motorSpeed = 10.0f;
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{
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b2CircleShape shape;
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shape.m_radius = 2.0f;
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b2BodyDef bd;
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bd.type = b2_dynamicBody;
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bd.position.Set(0.0f, 10.0f);
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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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b2WheelJointDef jd;
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// Horizontal
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jd.Initialize(ground, body, bd.position, b2Vec2(0.0f, 1.0f));
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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.lowerTranslation = -3.0f;
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jd.upperTranslation = 3.0f;
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jd.enableLimit = m_enableLimit;
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float hertz = 1.0f;
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float dampingRatio = 0.7f;
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b2LinearStiffness(jd.stiffness, jd.damping, hertz, dampingRatio, ground, body);
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m_joint = (b2WheelJoint*)m_world->CreateJoint(&jd);
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}
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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 torque = m_joint->GetMotorTorque(settings.m_hertz);
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DrawString(5, m_textLine, "Motor Torque = %4.0f", torque);
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b2Vec2 F = m_joint->GetReactionForce(settings.m_hertz);
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DrawString(5, m_textLine, "Reaction Force = (%4.1f, %4.1f)", F.x, F.y);
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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_joint->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_joint->EnableMotor(m_enableMotor);
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}
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if (ImGui::SliderFloat("Speed", &m_motorSpeed, -100.0f, 100.0f, "%.0f"))
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{
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m_joint->SetMotorSpeed(m_motorSpeed);
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}
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ImGui::End();
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}
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static Test* Create() { return new WheelJoint; }
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b2WheelJoint* m_joint;
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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", "Wheel", WheelJoint::Create);
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