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Viewing changes to tests/box2d/Testbed/Tests/SliderCrank.h

  • Committer: Package Import Robot
  • Author(s): Sylvestre Ledru
  • Date: 2013-05-02 13:11:51 UTC
  • Revision ID: package-import@ubuntu.com-20130502131151-q8dvteqr1ef2x7xz
Tags: upstream-1.4.1~20130504~adb56cb
Import upstream version 1.4.1~20130504~adb56cb

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tests/box2d/Testbed/Tests/SliderCrank.h
 
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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 SLIDER_CRANK_H
 
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#define SLIDER_CRANK_H
 
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// A motor driven slider crank with joint friction.
 
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class SliderCrank : public Test
 
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{
 
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public:
 
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        SliderCrank()
 
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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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                        b2Body* prevBody = ground;
 
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                        // Define crank.
 
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                        {
 
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                                b2PolygonShape shape;
 
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                                shape.SetAsBox(0.5f, 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, 7.0f);
 
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                                b2Body* body = m_world->CreateBody(&bd);
 
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                                body->CreateFixture(&shape, 2.0f);
 
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                                b2RevoluteJointDef rjd;
 
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                                rjd.Initialize(prevBody, body, b2Vec2(0.0f, 5.0f));
 
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                                rjd.motorSpeed = 1.0f * b2_pi;
 
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                                rjd.maxMotorTorque = 10000.0f;
 
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                                rjd.enableMotor = true;
 
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                                m_joint1 = (b2RevoluteJoint*)m_world->CreateJoint(&rjd);
 
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                                prevBody = body;
 
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                        }
 
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                        // Define follower.
 
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                        {
 
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                                b2PolygonShape shape;
 
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                                shape.SetAsBox(0.5f, 4.0f);
 
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                                b2BodyDef bd;
 
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                                bd.type = b2_dynamicBody;
 
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                                bd.position.Set(0.0f, 13.0f);
 
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                                b2Body* body = m_world->CreateBody(&bd);
 
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                                body->CreateFixture(&shape, 2.0f);
 
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                                b2RevoluteJointDef rjd;
 
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                                rjd.Initialize(prevBody, body, b2Vec2(0.0f, 9.0f));
 
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                                rjd.enableMotor = false;
 
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                                m_world->CreateJoint(&rjd);
 
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                                prevBody = body;
 
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                        }
 
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                        // Define piston
 
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                        {
 
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                                b2PolygonShape shape;
 
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                                shape.SetAsBox(1.5f, 1.5f);
 
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                                b2BodyDef bd;
 
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                                bd.type = b2_dynamicBody;
 
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                                bd.fixedRotation = true;
 
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                                bd.position.Set(0.0f, 17.0f);
 
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                                b2Body* body = m_world->CreateBody(&bd);
 
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                                body->CreateFixture(&shape, 2.0f);
 
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                                b2RevoluteJointDef rjd;
 
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                                rjd.Initialize(prevBody, body, b2Vec2(0.0f, 17.0f));
 
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                                m_world->CreateJoint(&rjd);
 
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                                b2PrismaticJointDef pjd;
 
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                                pjd.Initialize(ground, body, b2Vec2(0.0f, 17.0f), b2Vec2(0.0f, 1.0f));
 
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                                pjd.maxMotorForce = 1000.0f;
 
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                                pjd.enableMotor = true;
 
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                                m_joint2 = (b2PrismaticJoint*)m_world->CreateJoint(&pjd);
 
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                        }
 
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                        // Create a payload
 
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                        {
 
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                                b2PolygonShape shape;
 
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                                shape.SetAsBox(1.5f, 1.5f);
 
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                                b2BodyDef bd;
 
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                                bd.type = b2_dynamicBody;
 
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                                bd.position.Set(0.0f, 23.0f);
 
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                                b2Body* body = m_world->CreateBody(&bd);
 
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                                body->CreateFixture(&shape, 2.0f);
 
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                        }
 
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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 'f':
 
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                        m_joint2->EnableMotor(!m_joint2->IsMotorEnabled());
 
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                        m_joint2->GetBodyB()->SetAwake(true);
 
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                        break;
 
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                case 'm':
 
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                        m_joint1->EnableMotor(!m_joint1->IsMotorEnabled());
 
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                        m_joint1->GetBodyB()->SetAwake(true);
 
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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: (f) toggle friction, (m) toggle motor");
 
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                m_textLine += 15;
 
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                float32 torque = m_joint1->GetMotorTorque(settings->hz);
 
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                m_debugDraw.DrawString(5, m_textLine, "Motor Torque = %5.0f", (float) torque);
 
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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 SliderCrank;
 
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        }
 
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        b2RevoluteJoint* m_joint1;
 
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        b2PrismaticJoint* m_joint2;
 
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};
 
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#endif