add rope

examples/testbed/tests/multiple_pendulum.h

@@ -0,0 +1,149 @@
+/*
+* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
+*
+* 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 MULTIPLE_PENDULUM
+#define MULTIPLE_PENDULUM
+
+class MultiplePendulum : public Test
+{
+public:
+	MultiplePendulum()
+	{
+		g_camera.m_zoom = 10.0f;
+
+		b3Vec3 axis(0.0f, 0.0f, 1.0f);
+
+		b3Body* bs[6];
+		{
+			b3BodyDef bd;
+			bd.type = e_staticBody;
+			bs[0] = m_world.CreateBody(bd);
+		}
+		{
+			b3BodyDef bd;
+			bd.type = e_dynamicBody;
+			bd.position.Set(-0.5f, 0.0f, 0.0f);
+			bs[1] = m_world.CreateBody(bd);
+
+			b3CapsuleShape s;
+			s.m_centers[0].Set(0.5f, 0.0f, 0.0f);
+			s.m_centers[1].Set(-0.5f, 0.0f, 0.0f);
+			s.m_radius = 0.05f;
+
+			b3ShapeDef sd;
+			sd.shape = &s;
+			sd.density = 10.0f;
+			bs[1]->CreateShape(sd);
+
+			b3RevoluteJointDef jd;
+			jd.Initialize(bs[0], bs[1], axis, b3Vec3(0.0f, 0.0f, 0.0f), 0.0f, 1.0f);
+			m_world.CreateJoint(jd);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.type = e_dynamicBody;
+			bd.position.Set(-1.5f, 0.0f, 0.0f);
+			bs[2] = m_world.CreateBody(bd);
+
+			b3CapsuleShape s;
+			s.m_centers[0].Set(0.5f, 0.0f, 0.0f);
+			s.m_centers[1].Set(-0.5f, 0.0f, 0.0f);
+			s.m_radius = 0.05f;
+
+			b3ShapeDef sd;
+			sd.shape = &s;
+			sd.density = 10.0f;
+			bs[2]->CreateShape(sd);
+
+			b3RevoluteJointDef jd;
+			jd.Initialize(bs[1], bs[2], axis, b3Vec3(-1.0f, 0.0f, 0.0f), 0.0f, 1.0f);
+			m_world.CreateJoint(jd);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.type = e_dynamicBody;
+			bd.position.Set(-2.5f, 0.0f, 0.0f);
+			bs[3] = m_world.CreateBody(bd);
+
+			b3CapsuleShape s;
+			s.m_centers[0].Set(0.5f, 0.0f, 0.0f);
+			s.m_centers[1].Set(-0.5f, 0.0f, 0.0f);
+			s.m_radius = 0.05f;
+
+			b3ShapeDef sd;
+			sd.shape = &s;
+			sd.density = 100.0f;
+			bs[3]->CreateShape(sd);
+
+			b3RevoluteJointDef jd;
+			jd.Initialize(bs[2], bs[3], axis, b3Vec3(-2.0f, 0.0f, 0.0f), 0.0f, 1.0f);
+			m_world.CreateJoint(jd);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.type = e_dynamicBody;
+			bd.position.Set(-3.5f, 0.0f, 0.0f);
+			bs[4] = m_world.CreateBody(bd);
+
+			b3CapsuleShape s;
+			s.m_centers[0].Set(0.5f, 0.0f, 0.0f);
+			s.m_centers[1].Set(-0.5f, 0.0f, 0.0f);
+			s.m_radius = 0.05f;
+
+			b3ShapeDef sd;
+			sd.shape = &s;
+			sd.density = 1000.0f;
+			bs[4]->CreateShape(sd);
+
+			b3RevoluteJointDef jd;
+			jd.Initialize(bs[3], bs[4], axis, b3Vec3(-3.0f, 0.0f, 0.0f), 0.0f, 1.0f);
+			m_world.CreateJoint(jd);
+		}
+
+		{
+			b3BodyDef bd;
+			bd.type = e_dynamicBody;
+			bd.position.Set(-4.5f, 0.0f, 0.0f);
+			bs[5] = m_world.CreateBody(bd);
+
+			b3CapsuleShape s;
+			s.m_centers[0].Set(0.5f, 0.0f, 0.0f);
+			s.m_centers[1].Set(-0.5f, 0.0f, 0.0f);
+			s.m_radius = 0.05f;
+
+			b3ShapeDef sd;
+			sd.shape = &s;
+			sd.density = 50.0f;
+			bs[5]->CreateShape(sd);
+
+			b3RevoluteJointDef jd;
+			jd.Initialize(bs[4], bs[5], axis, b3Vec3(-4.0f, 0.0f, 0.0f), 0.0f, 1.0f);
+			m_world.CreateJoint(jd);
+		}
+	}
+
+	static Test* Create()
+	{
+		return new MultiplePendulum();
+	}
+};
+
+#endif