Add initial prototype.
This commit is contained in:
Rod Kay
284
3-mid/physics/implement/box2d/contrib/testbed/tests/car.cpp
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284
3-mid/physics/implement/box2d/contrib/testbed/tests/car.cpp
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// 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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// This is a fun demo that shows off the wheel joint
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class Car : public Test
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{
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public:
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Car()
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{
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m_speed = 50.0f;
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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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b2FixtureDef fd;
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fd.shape = &shape;
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fd.density = 0.0f;
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fd.friction = 0.6f;
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shape.SetTwoSided(b2Vec2(-20.0f, 0.0f), b2Vec2(20.0f, 0.0f));
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ground->CreateFixture(&fd);
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float hs[10] = {0.25f, 1.0f, 4.0f, 0.0f, 0.0f, -1.0f, -2.0f, -2.0f, -1.25f, 0.0f};
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float x = 20.0f, y1 = 0.0f, dx = 5.0f;
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for (int32 i = 0; i < 10; ++i)
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{
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float y2 = hs[i];
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shape.SetTwoSided(b2Vec2(x, y1), b2Vec2(x + dx, y2));
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ground->CreateFixture(&fd);
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y1 = y2;
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x += dx;
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}
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for (int32 i = 0; i < 10; ++i)
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{
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float y2 = hs[i];
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shape.SetTwoSided(b2Vec2(x, y1), b2Vec2(x + dx, y2));
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ground->CreateFixture(&fd);
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y1 = y2;
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x += dx;
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}
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shape.SetTwoSided(b2Vec2(x, 0.0f), b2Vec2(x + 40.0f, 0.0f));
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ground->CreateFixture(&fd);
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x += 80.0f;
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shape.SetTwoSided(b2Vec2(x, 0.0f), b2Vec2(x + 40.0f, 0.0f));
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ground->CreateFixture(&fd);
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x += 40.0f;
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shape.SetTwoSided(b2Vec2(x, 0.0f), b2Vec2(x + 10.0f, 5.0f));
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ground->CreateFixture(&fd);
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x += 20.0f;
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shape.SetTwoSided(b2Vec2(x, 0.0f), b2Vec2(x + 40.0f, 0.0f));
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ground->CreateFixture(&fd);
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x += 40.0f;
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shape.SetTwoSided(b2Vec2(x, 0.0f), b2Vec2(x, 20.0f));
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ground->CreateFixture(&fd);
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}
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// Teeter
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{
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b2BodyDef bd;
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bd.position.Set(140.0f, 1.0f);
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bd.type = b2_dynamicBody;
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b2Body* body = m_world->CreateBody(&bd);
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b2PolygonShape box;
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box.SetAsBox(10.0f, 0.25f);
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body->CreateFixture(&box, 1.0f);
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b2RevoluteJointDef jd;
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jd.Initialize(ground, body, body->GetPosition());
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jd.lowerAngle = -8.0f * b2_pi / 180.0f;
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jd.upperAngle = 8.0f * b2_pi / 180.0f;
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jd.enableLimit = true;
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m_world->CreateJoint(&jd);
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body->ApplyAngularImpulse(100.0f, true);
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}
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// Bridge
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{
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int32 N = 20;
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b2PolygonShape shape;
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shape.SetAsBox(1.0f, 0.125f);
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b2FixtureDef fd;
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fd.shape = &shape;
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fd.density = 1.0f;
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fd.friction = 0.6f;
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b2RevoluteJointDef jd;
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b2Body* prevBody = ground;
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for (int32 i = 0; i < N; ++i)
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{
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b2BodyDef bd;
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bd.type = b2_dynamicBody;
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bd.position.Set(161.0f + 2.0f * i, -0.125f);
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b2Body* body = m_world->CreateBody(&bd);
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body->CreateFixture(&fd);
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b2Vec2 anchor(160.0f + 2.0f * i, -0.125f);
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jd.Initialize(prevBody, body, anchor);
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m_world->CreateJoint(&jd);
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prevBody = body;
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}
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b2Vec2 anchor(160.0f + 2.0f * N, -0.125f);
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jd.Initialize(prevBody, ground, anchor);
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m_world->CreateJoint(&jd);
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}
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// Boxes
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{
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b2PolygonShape box;
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box.SetAsBox(0.5f, 0.5f);
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b2Body* body = NULL;
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b2BodyDef bd;
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bd.type = b2_dynamicBody;
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bd.position.Set(230.0f, 0.5f);
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body = m_world->CreateBody(&bd);
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body->CreateFixture(&box, 0.5f);
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bd.position.Set(230.0f, 1.5f);
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body = m_world->CreateBody(&bd);
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body->CreateFixture(&box, 0.5f);
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bd.position.Set(230.0f, 2.5f);
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body = m_world->CreateBody(&bd);
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body->CreateFixture(&box, 0.5f);
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bd.position.Set(230.0f, 3.5f);
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body = m_world->CreateBody(&bd);
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body->CreateFixture(&box, 0.5f);
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bd.position.Set(230.0f, 4.5f);
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body = m_world->CreateBody(&bd);
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body->CreateFixture(&box, 0.5f);
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}
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// Car
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{
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b2PolygonShape chassis;
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b2Vec2 vertices[8];
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vertices[0].Set(-1.5f, -0.5f);
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vertices[1].Set(1.5f, -0.5f);
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vertices[2].Set(1.5f, 0.0f);
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vertices[3].Set(0.0f, 0.9f);
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vertices[4].Set(-1.15f, 0.9f);
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vertices[5].Set(-1.5f, 0.2f);
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chassis.Set(vertices, 6);
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b2CircleShape circle;
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circle.m_radius = 0.4f;
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b2BodyDef bd;
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bd.type = b2_dynamicBody;
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bd.position.Set(0.0f, 1.0f);
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m_car = m_world->CreateBody(&bd);
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m_car->CreateFixture(&chassis, 1.0f);
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b2FixtureDef fd;
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fd.shape = &circle;
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fd.density = 1.0f;
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fd.friction = 0.9f;
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bd.position.Set(-1.0f, 0.35f);
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m_wheel1 = m_world->CreateBody(&bd);
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m_wheel1->CreateFixture(&fd);
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bd.position.Set(1.0f, 0.4f);
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m_wheel2 = m_world->CreateBody(&bd);
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m_wheel2->CreateFixture(&fd);
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b2WheelJointDef jd;
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b2Vec2 axis(0.0f, 1.0f);
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float mass1 = m_wheel1->GetMass();
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float mass2 = m_wheel2->GetMass();
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float hertz = 4.0f;
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float dampingRatio = 0.7f;
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float omega = 2.0f * b2_pi * hertz;
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jd.Initialize(m_car, m_wheel1, m_wheel1->GetPosition(), axis);
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jd.motorSpeed = 0.0f;
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jd.maxMotorTorque = 20.0f;
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jd.enableMotor = true;
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jd.stiffness = mass1 * omega * omega;
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jd.damping = 2.0f * mass1 * dampingRatio * omega;
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jd.lowerTranslation = -0.25f;
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jd.upperTranslation = 0.25f;
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jd.enableLimit = true;
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m_spring1 = (b2WheelJoint*)m_world->CreateJoint(&jd);
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jd.Initialize(m_car, m_wheel2, m_wheel2->GetPosition(), axis);
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jd.motorSpeed = 0.0f;
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jd.maxMotorTorque = 10.0f;
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jd.enableMotor = false;
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jd.stiffness = mass2 * omega * omega;
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jd.damping = 2.0f * mass2 * dampingRatio * omega;
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jd.lowerTranslation = -0.25f;
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jd.upperTranslation = 0.25f;
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jd.enableLimit = true;
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m_spring2 = (b2WheelJoint*)m_world->CreateJoint(&jd);
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}
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}
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void Keyboard(int key) override
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{
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switch (key)
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{
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case GLFW_KEY_A:
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m_spring1->SetMotorSpeed(m_speed);
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break;
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case GLFW_KEY_S:
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m_spring1->SetMotorSpeed(0.0f);
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break;
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case GLFW_KEY_D:
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m_spring1->SetMotorSpeed(-m_speed);
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break;
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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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g_debugDraw.DrawString(5, m_textLine, "Keys: left = a, brake = s, right = d, hz down = q, hz up = e");
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m_textLine += m_textIncrement;
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g_camera.m_center.x = m_car->GetPosition().x;
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Test::Step(settings);
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}
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static Test* Create()
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{
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return new Car;
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}
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b2Body* m_car;
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b2Body* m_wheel1;
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b2Body* m_wheel2;
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float m_speed;
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b2WheelJoint* m_spring1;
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b2WheelJoint* m_spring2;
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};
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static int testIndex = RegisterTest("Examples", "Car", Car::Create);
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