mirror of https://github.com/axmolengine/axmol.git
176 lines
6.0 KiB
C++
176 lines
6.0 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 "test.h"
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class GearJoint : public Test
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{
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public:
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GearJoint()
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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(50.0f, 0.0f), b2Vec2(-50.0f, 0.0f));
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ground->CreateFixture(&shape, 0.0f);
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}
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{
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b2CircleShape circle1;
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circle1.m_radius = 1.0f;
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b2PolygonShape box;
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box.SetAsBox(0.5f, 5.0f);
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b2CircleShape circle2;
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circle2.m_radius = 2.0f;
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b2BodyDef bd1;
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bd1.type = b2_staticBody;
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bd1.position.Set(10.0f, 9.0f);
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b2Body* body1 = m_world->CreateBody(&bd1);
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body1->CreateFixture(&circle1, 5.0f);
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b2BodyDef bd2;
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bd2.type = b2_dynamicBody;
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bd2.position.Set(10.0f, 8.0f);
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b2Body* body2 = m_world->CreateBody(&bd2);
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body2->CreateFixture(&box, 5.0f);
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b2BodyDef bd3;
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bd3.type = b2_dynamicBody;
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bd3.position.Set(10.0f, 6.0f);
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b2Body* body3 = m_world->CreateBody(&bd3);
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body3->CreateFixture(&circle2, 5.0f);
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b2RevoluteJointDef jd1;
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jd1.Initialize(body1, body2, bd1.position);
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b2Joint* joint1 = m_world->CreateJoint(&jd1);
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b2RevoluteJointDef jd2;
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jd2.Initialize(body2, body3, bd3.position);
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b2Joint* joint2 = m_world->CreateJoint(&jd2);
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b2GearJointDef jd4;
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jd4.bodyA = body1;
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jd4.bodyB = body3;
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jd4.joint1 = joint1;
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jd4.joint2 = joint2;
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jd4.ratio = circle2.m_radius / circle1.m_radius;
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m_world->CreateJoint(&jd4);
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}
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{
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b2CircleShape circle1;
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circle1.m_radius = 1.0f;
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b2CircleShape circle2;
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circle2.m_radius = 2.0f;
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b2PolygonShape box;
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box.SetAsBox(0.5f, 5.0f);
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b2BodyDef bd1;
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bd1.type = b2_dynamicBody;
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bd1.position.Set(-3.0f, 12.0f);
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b2Body* body1 = m_world->CreateBody(&bd1);
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body1->CreateFixture(&circle1, 5.0f);
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b2RevoluteJointDef jd1;
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jd1.bodyA = ground;
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jd1.bodyB = body1;
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jd1.localAnchorA = ground->GetLocalPoint(bd1.position);
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jd1.localAnchorB = body1->GetLocalPoint(bd1.position);
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jd1.referenceAngle = body1->GetAngle() - ground->GetAngle();
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m_joint1 = (b2RevoluteJoint*)m_world->CreateJoint(&jd1);
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b2BodyDef bd2;
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bd2.type = b2_dynamicBody;
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bd2.position.Set(0.0f, 12.0f);
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b2Body* body2 = m_world->CreateBody(&bd2);
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body2->CreateFixture(&circle2, 5.0f);
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b2RevoluteJointDef jd2;
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jd2.Initialize(ground, body2, bd2.position);
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m_joint2 = (b2RevoluteJoint*)m_world->CreateJoint(&jd2);
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b2BodyDef bd3;
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bd3.type = b2_dynamicBody;
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bd3.position.Set(2.5f, 12.0f);
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b2Body* body3 = m_world->CreateBody(&bd3);
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body3->CreateFixture(&box, 5.0f);
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b2PrismaticJointDef jd3;
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jd3.Initialize(ground, body3, bd3.position, b2Vec2(0.0f, 1.0f));
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jd3.lowerTranslation = -5.0f;
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jd3.upperTranslation = 5.0f;
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jd3.enableLimit = true;
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m_joint3 = (b2PrismaticJoint*)m_world->CreateJoint(&jd3);
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b2GearJointDef jd4;
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jd4.bodyA = body1;
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jd4.bodyB = body2;
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jd4.joint1 = m_joint1;
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jd4.joint2 = m_joint2;
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jd4.ratio = circle2.m_radius / circle1.m_radius;
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m_joint4 = (b2GearJoint*)m_world->CreateJoint(&jd4);
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b2GearJointDef jd5;
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jd5.bodyA = body2;
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jd5.bodyB = body3;
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jd5.joint1 = m_joint2;
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jd5.joint2 = m_joint3;
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jd5.ratio = -1.0f / circle2.m_radius;
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m_joint5 = (b2GearJoint*)m_world->CreateJoint(&jd5);
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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 ratio, value;
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ratio = m_joint4->GetRatio();
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value = m_joint1->GetJointAngle() + ratio * m_joint2->GetJointAngle();
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DrawString(5, m_textLine, "theta1 + %4.2f * theta2 = %4.2f", (float)ratio, (float)value);
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ratio = m_joint5->GetRatio();
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value = m_joint2->GetJointAngle() + ratio * m_joint3->GetJointTranslation();
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DrawString(5, m_textLine, "theta2 + %4.2f * delta = %4.2f", (float)ratio, (float)value);
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}
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static Test* Create() { return new GearJoint; }
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b2RevoluteJoint* m_joint1;
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b2RevoluteJoint* m_joint2;
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b2PrismaticJoint* m_joint3;
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b2GearJoint* m_joint4;
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b2GearJoint* m_joint5;
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};
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static int testIndex = RegisterTest("Joints", "Gear", GearJoint::Create);
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