Upgrade bounce

examples/testbed/tests/wheel_test.h

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+/*
+* 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 WHEEL_TEST_H
+#define WHEEL_TEST_H
+
+class WheelTest : public Test
+{
+public:
+	WheelTest()
+	{
+		{
+			b3BodyDef bd;
+			b3Body* ground = m_world.CreateBody(bd);
+
+			b3HullShape hs;
+			hs.m_hull = &m_groundHull;
+
+			b3ShapeDef sd;
+			sd.shape = &hs;
+
+			ground->CreateShape(sd);
+		}
+
+		m_chassisHull.SetExtents(2.0f, 0.5f, 5.0f);
+
+		b3HullShape chassisShape;
+		chassisShape.m_hull = &m_chassisHull;
+
+		m_wheelHull.SetExtents(1.0f, 0.5f);
+
+		b3HullShape wheelShape;
+		wheelShape.m_hull = &m_wheelHull;
+
+		// Chassis
+		b3Body* chassis;
+		{
+			b3BodyDef bdef;
+			bdef.type = e_dynamicBody;
+			bdef.position.Set(0.0f, 10.0f, 0.0f);
+
+			chassis = m_world.CreateBody(bdef);
+
+			b3ShapeDef sdef;
+			sdef.density = 0.1f;
+			sdef.friction = 0.3f;
+			sdef.shape = &chassisShape;
+
+			chassis->CreateShape(sdef);
+		}
+
+		b3Quat orientation = b3QuatRotationZ(0.5f * B3_PI);
+
+		b3Body* wheelLF;
+		{
+			b3BodyDef bdef;
+			bdef.type = e_dynamicBody;
+			bdef.position.Set(-1.0f, 7.0f, 4.5f);
+			bdef.orientation = orientation;
+
+			wheelLF = m_world.CreateBody(bdef);
+
+			b3ShapeDef sdef;
+			sdef.shape = &wheelShape;
+			sdef.density = 0.1f;
+			sdef.friction = 1.0f;
+
+			wheelLF->CreateShape(sdef);
+		}
+
+		{
+			b3WheelJointDef def;
+			def.Initialize(chassis, wheelLF, wheelLF->GetPosition(), b3Vec3_y, b3Vec3_x);
+			def.motorSpeed = 0.25f * B3_PI;
+			def.maxMotorTorque = 1000.0f;
+
+			m_joint1 = (b3WheelJoint*)m_world.CreateJoint(def);
+		}
+
+		b3Body* wheelRF;
+		{
+			b3BodyDef bdef;
+			bdef.type = e_dynamicBody;
+			bdef.position.Set(1.0f, 7.0, 4.5f);
+			bdef.orientation = orientation;
+
+			wheelRF = m_world.CreateBody(bdef);
+
+			b3ShapeDef sdef;
+			sdef.density = 0.1f;
+			sdef.friction = 1.0f;
+			sdef.shape = &wheelShape;
+
+			wheelRF->CreateShape(sdef);
+		}
+
+		{
+			b3WheelJointDef def;
+			def.Initialize(chassis, wheelRF, wheelRF->GetPosition(), b3Vec3_y, b3Vec3_x);
+			def.motorSpeed = 0.25f * B3_PI;
+			def.maxMotorTorque = 1000.0f;
+
+			m_joint2 = (b3WheelJoint*)m_world.CreateJoint(def);
+		}
+
+		b3Body* wheelLB;
+		{
+			b3BodyDef bdef;
+			bdef.type = e_dynamicBody;
+			bdef.position.Set(-1.0f, 7.0f, -4.5f);
+			bdef.orientation = orientation;
+
+			wheelLB = m_world.CreateBody(bdef);
+
+			b3ShapeDef sdef;
+			sdef.shape = &wheelShape;
+			sdef.density = 0.1f;
+			sdef.friction = 1.0f;
+
+			wheelLB->CreateShape(sdef);
+		}
+
+		{
+			b3WheelJointDef def;
+			def.Initialize(chassis, wheelLB, wheelLB->GetPosition(), b3Vec3_y, b3Vec3_x);
+
+			m_world.CreateJoint(def);
+		}
+
+		b3Body* wheelRB;
+		{
+			b3BodyDef bdef;
+			bdef.type = e_dynamicBody;
+			bdef.position.Set(1.0f, 7.0f, -4.5f);
+			bdef.orientation = orientation;
+
+			wheelRB = m_world.CreateBody(bdef);
+
+			b3ShapeDef sdef;
+			sdef.density = 0.1f;
+			sdef.friction = 1.0f;
+			sdef.shape = &wheelShape;
+
+			wheelRB->CreateShape(sdef);
+		}
+
+		{
+			b3WheelJointDef def;
+			def.Initialize(chassis, wheelRB, wheelRB->GetPosition(), b3Vec3_y, b3Vec3_x);
+
+			m_world.CreateJoint(def);
+		}
+	}
+
+	void Step()
+	{
+		Test::Step();
+
+		g_draw->DrawString(b3Color_white, "M - Enable Motor");
+		g_draw->DrawString(b3Color_white, "S - Flip Motor Speed");
+	}
+
+	void KeyDown(int button)
+	{
+		if (button == GLFW_KEY_M)
+		{
+			m_joint1->EnableMotor(!m_joint1->IsMotorEnabled());
+			m_joint2->EnableMotor(!m_joint2->IsMotorEnabled());
+		}
+
+		if (button == GLFW_KEY_S)
+		{
+			m_joint1->SetMotorSpeed(-m_joint1->GetMotorSpeed());
+			m_joint2->SetMotorSpeed(-m_joint2->GetMotorSpeed());
+		}
+	}
+
+	static Test* Create()
+	{
+		return new WheelTest();
+	}
+
+	b3BoxHull m_chassisHull;
+	b3CylinderHull m_wheelHull;
+	b3WheelJoint* m_joint1;
+	b3WheelJoint* m_joint2;
+};
+
+#endif