267 lines
6.6 KiB
C++
267 lines
6.6 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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// Inspired by a contribution from roman_m
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// Dimensions scooped from APE (http://www.cove.org/ape/index.htm)
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#include "test.h"
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class TheoJansen : public Test
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{
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public:
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void CreateLeg(float s, const b2Vec2& wheelAnchor)
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{
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b2Vec2 p1(5.4f * s, -6.1f);
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b2Vec2 p2(7.2f * s, -1.2f);
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b2Vec2 p3(4.3f * s, -1.9f);
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b2Vec2 p4(3.1f * s, 0.8f);
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b2Vec2 p5(6.0f * s, 1.5f);
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b2Vec2 p6(2.5f * s, 3.7f);
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b2FixtureDef fd1, fd2;
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fd1.filter.groupIndex = -1;
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fd2.filter.groupIndex = -1;
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fd1.density = 1.0f;
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fd2.density = 1.0f;
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b2PolygonShape poly1, poly2;
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if (s > 0.0f)
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{
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b2Vec2 vertices[3];
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vertices[0] = p1;
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vertices[1] = p2;
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vertices[2] = p3;
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poly1.Set(vertices, 3);
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vertices[0] = b2Vec2_zero;
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vertices[1] = p5 - p4;
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vertices[2] = p6 - p4;
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poly2.Set(vertices, 3);
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}
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else
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{
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b2Vec2 vertices[3];
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vertices[0] = p1;
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vertices[1] = p3;
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vertices[2] = p2;
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poly1.Set(vertices, 3);
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vertices[0] = b2Vec2_zero;
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vertices[1] = p6 - p4;
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vertices[2] = p5 - p4;
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poly2.Set(vertices, 3);
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}
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fd1.shape = &poly1;
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fd2.shape = &poly2;
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b2BodyDef bd1, bd2;
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bd1.type = b2_dynamicBody;
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bd2.type = b2_dynamicBody;
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bd1.position = m_offset;
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bd2.position = p4 + m_offset;
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bd1.angularDamping = 10.0f;
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bd2.angularDamping = 10.0f;
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b2Body* body1 = m_world->CreateBody(&bd1);
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b2Body* body2 = m_world->CreateBody(&bd2);
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body1->CreateFixture(&fd1);
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body2->CreateFixture(&fd2);
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{
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b2DistanceJointDef jd;
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// Using a soft distance constraint can reduce some jitter.
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// It also makes the structure seem a bit more fluid by
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// acting like a suspension system.
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float dampingRatio = 0.5f;
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float frequencyHz = 10.0f;
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jd.Initialize(body1, body2, p2 + m_offset, p5 + m_offset);
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b2LinearStiffness(jd.stiffness, jd.damping, frequencyHz, dampingRatio, jd.bodyA, jd.bodyB);
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m_world->CreateJoint(&jd);
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jd.Initialize(body1, body2, p3 + m_offset, p4 + m_offset);
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b2LinearStiffness(jd.stiffness, jd.damping, frequencyHz, dampingRatio, jd.bodyA, jd.bodyB);
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m_world->CreateJoint(&jd);
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jd.Initialize(body1, m_wheel, p3 + m_offset, wheelAnchor + m_offset);
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b2LinearStiffness(jd.stiffness, jd.damping, frequencyHz, dampingRatio, jd.bodyA, jd.bodyB);
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m_world->CreateJoint(&jd);
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jd.Initialize(body2, m_wheel, p6 + m_offset, wheelAnchor + m_offset);
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b2LinearStiffness(jd.stiffness, jd.damping, frequencyHz, dampingRatio, jd.bodyA, jd.bodyB);
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m_world->CreateJoint(&jd);
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}
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{
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b2RevoluteJointDef jd;
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jd.Initialize(body2, m_chassis, p4 + m_offset);
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m_world->CreateJoint(&jd);
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}
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}
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TheoJansen()
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{
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m_offset.Set(0.0f, 8.0f);
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m_motorSpeed = 2.0f;
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m_motorOn = true;
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b2Vec2 pivot(0.0f, 0.8f);
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// Ground
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{
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b2BodyDef bd;
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b2Body* 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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shape.SetTwoSided(b2Vec2(-50.0f, 0.0f), b2Vec2(-50.0f, 10.0f));
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ground->CreateFixture(&shape, 0.0f);
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shape.SetTwoSided(b2Vec2(50.0f, 0.0f), b2Vec2(50.0f, 10.0f));
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ground->CreateFixture(&shape, 0.0f);
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}
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// Balls
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for (int32 i = 0; i < 40; ++i)
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{
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b2CircleShape shape;
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shape.m_radius = 0.25f;
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b2BodyDef bd;
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bd.type = b2_dynamicBody;
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bd.position.Set(-40.0f + 2.0f * i, 0.5f);
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b2Body* body = m_world->CreateBody(&bd);
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body->CreateFixture(&shape, 1.0f);
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}
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// Chassis
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{
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b2PolygonShape shape;
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shape.SetAsBox(2.5f, 1.0f);
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b2FixtureDef sd;
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sd.density = 1.0f;
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sd.shape = &shape;
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sd.filter.groupIndex = -1;
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b2BodyDef bd;
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bd.type = b2_dynamicBody;
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bd.position = pivot + m_offset;
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m_chassis = m_world->CreateBody(&bd);
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m_chassis->CreateFixture(&sd);
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}
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{
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b2CircleShape shape;
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shape.m_radius = 1.6f;
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b2FixtureDef sd;
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sd.density = 1.0f;
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sd.shape = &shape;
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sd.filter.groupIndex = -1;
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b2BodyDef bd;
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bd.type = b2_dynamicBody;
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bd.position = pivot + m_offset;
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m_wheel = m_world->CreateBody(&bd);
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m_wheel->CreateFixture(&sd);
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}
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{
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b2RevoluteJointDef jd;
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jd.Initialize(m_wheel, m_chassis, pivot + m_offset);
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jd.collideConnected = false;
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jd.motorSpeed = m_motorSpeed;
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jd.maxMotorTorque = 400.0f;
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jd.enableMotor = m_motorOn;
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m_motorJoint = (b2RevoluteJoint*)m_world->CreateJoint(&jd);
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}
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b2Vec2 wheelAnchor;
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wheelAnchor = pivot + b2Vec2(0.0f, -0.8f);
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CreateLeg(-1.0f, wheelAnchor);
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CreateLeg(1.0f, wheelAnchor);
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m_wheel->SetTransform(m_wheel->GetPosition(), 120.0f * b2_pi / 180.0f);
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CreateLeg(-1.0f, wheelAnchor);
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CreateLeg(1.0f, wheelAnchor);
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m_wheel->SetTransform(m_wheel->GetPosition(), -120.0f * b2_pi / 180.0f);
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CreateLeg(-1.0f, wheelAnchor);
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CreateLeg(1.0f, wheelAnchor);
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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, toggle motor = m");
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m_textLine += m_textIncrement;
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Test::Step(settings);
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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_motorJoint->SetMotorSpeed(-m_motorSpeed);
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break;
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case GLFW_KEY_S:
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m_motorJoint->SetMotorSpeed(0.0f);
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break;
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case GLFW_KEY_D:
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m_motorJoint->SetMotorSpeed(m_motorSpeed);
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break;
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case GLFW_KEY_M:
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m_motorJoint->EnableMotor(!m_motorJoint->IsMotorEnabled());
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break;
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}
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}
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static Test* Create()
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{
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return new TheoJansen;
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}
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b2Vec2 m_offset;
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b2Body* m_chassis;
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b2Body* m_wheel;
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b2RevoluteJoint* m_motorJoint;
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bool m_motorOn;
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float m_motorSpeed;
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};
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static int testIndex = RegisterTest("Examples", "Theo Jansen", TheoJansen::Create);
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