Apply changes from latest known public version of bounce dated 2019-11-13

2020-01-25 12:31:05 +00:00
parent f87e2a6378
commit a61262407c
431 changed files with 108959 additions and 26372 deletions
--- a/examples/testbed/tests/motor_test.h
+++ b/examples/testbed/tests/motor_test.h
@@ -0,0 +1,123 @@
+/*
+* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef MOTOR_TEST_H
+#define MOTOR_TEST_H
+
+class MotorTest : public Test
+{
+public:
+
+	MotorTest()
+	{
+		b3Body* ground = nullptr;
+		{
+			// Ground
+			b3BodyDef bd;
+			ground = m_world.CreateBody(bd);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+
+			b3ShapeDef sd;
+			sd.shape = &hs;
+
+			ground->CreateShape(sd);
+		}
+
+		{
+			// Motorized body
+			b3BodyDef bd;
+			bd.type = e_dynamicBody;
+			bd.position.Set(0.0f, 8.0f, 0.0f);
+			b3Body* body = m_world.CreateBody(bd);
+
+			m_boxHull.SetExtents(2.0f, 0.5f, 0.5f);
+
+			b3HullShape shape;
+			shape.m_hull = &m_boxHull;
+
+			b3ShapeDef sd;
+			sd.shape = &shape;
+			sd.friction = 0.3f;
+			sd.density = 2.0f;
+			body->CreateShape(sd);
+
+			b3MotorJointDef mjd;
+			mjd.Initialize(ground, body);
+			mjd.maxForce = 1000.0f;
+			mjd.maxTorque = 1000.0f;
+			m_joint = (b3MotorJoint*)m_world.CreateJoint(mjd);
+		}
+
+		m_play = false;
+		m_x = 0.0f;
+	}
+	
+	void KeyDown(int key)
+	{
+		if (key == GLFW_KEY_S)
+		{
+			m_play = !m_play;
+		}
+	}
+
+	void Step()
+	{
+		if (m_play)
+		{
+			m_x += g_testSettings->inv_hertz;
+
+			if (m_x >= 2.0f * B3_PI)
+			{
+				m_x = 0.0f;
+			}
+		}
+		
+		b3Vec3 linearOffset;
+		linearOffset.x = 8.0f * sinf(2.0f * m_x);
+		linearOffset.y = 8.0f + sinf(m_x);
+		linearOffset.z = 0.0f;
+
+		m_joint->SetLinearOffset(linearOffset);
+
+		b3Quat angularOffset;
+		angularOffset.SetAxisAngle(b3Vec3_z, m_x);
+		angularOffset.Normalize();
+
+		m_joint->SetAngularOffset(angularOffset);
+
+		Test::Step();
+
+		g_draw->DrawPoint(linearOffset, 4.0f, b3Color(0.9f, 0.9f, 0.9f));
+
+		g_draw->DrawString(b3Color_white, "S - Play/Pause");
+	}
+
+	static Test* Create()
+	{
+		return new MotorTest();
+	}
+	
+	b3BoxHull m_boxHull;
+	b3MotorJoint* m_joint;
+	bool m_play;
+	scalar m_x;
+};
+
+#endif