139 lines
2.9 KiB
C++
139 lines
2.9 KiB
C++
/*
|
|
* 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 HINGE_MOTOR_H
|
|
#define HINGE_MOTOR_H
|
|
|
|
class HingeMotor : public Test
|
|
{
|
|
public:
|
|
HingeMotor()
|
|
{
|
|
{
|
|
b3BodyDef bd;
|
|
b3Body* ground = m_world.CreateBody(bd);
|
|
|
|
b3HullShape shape;
|
|
shape.m_hull = &m_groundHull;
|
|
|
|
b3ShapeDef sd;
|
|
sd.shape = &shape;
|
|
|
|
ground->CreateShape(sd);
|
|
}
|
|
|
|
b3Body* hinge, *door;
|
|
|
|
{
|
|
b3BodyDef bd;
|
|
bd.type = b3BodyType::e_staticBody;
|
|
bd.position.Set(0.0f, 7.0f, 0.0f);
|
|
hinge = m_world.CreateBody(bd);
|
|
|
|
b3CapsuleShape shape;
|
|
shape.m_centers[0].Set(0.0f, 0.0f, -4.0f);
|
|
shape.m_centers[1].Set(0.0f, 0.0f, 4.0f);
|
|
shape.m_radius = 0.5f;
|
|
|
|
b3ShapeDef sd;
|
|
sd.shape = &shape;
|
|
sd.density = 1.0f;
|
|
|
|
hinge->CreateShape(sd);
|
|
|
|
m_body = hinge;
|
|
}
|
|
|
|
{
|
|
b3BodyDef bd;
|
|
bd.type = b3BodyType::e_dynamicBody;
|
|
bd.position.Set(2.0f, 7.0f, 0.0f);
|
|
|
|
door = m_world.CreateBody(bd);
|
|
|
|
m_doorBox.Set(1.0f, 0.5f, 4.0f);
|
|
|
|
b3HullShape hull;
|
|
hull.m_hull = &m_doorBox;
|
|
|
|
b3ShapeDef sdef;
|
|
sdef.shape = &hull;
|
|
sdef.density = 1.0f;
|
|
|
|
door->CreateShape(sdef);
|
|
}
|
|
|
|
{
|
|
b3Vec3 axis(0.0f, 0.0f, 1.0f);
|
|
b3Vec3 anchor(0.0f, 7.0f, 0.0f);
|
|
|
|
b3RevoluteJointDef jd;
|
|
jd.Initialize(hinge, door, axis, anchor, 0.0f, B3_PI);
|
|
jd.motorSpeed = B3_PI;
|
|
jd.maxMotorTorque = door->GetMass() * 10000.0f;
|
|
jd.enableMotor = true;
|
|
|
|
m_rj = (b3RevoluteJoint*)m_world.CreateJoint(jd);
|
|
}
|
|
|
|
// Invalidate the orientation
|
|
b3Vec3 axis(1.0f, 0.0f, 0.0f);
|
|
float32 angle = B3_PI;
|
|
door->SetTransform(door->GetPosition(), axis, angle);
|
|
}
|
|
|
|
void KeyDown(int button)
|
|
{
|
|
if (button == GLFW_KEY_M)
|
|
{
|
|
m_rj->SetEnableMotor(!m_rj->IsMotorEnabled());
|
|
}
|
|
|
|
if (button == GLFW_KEY_L)
|
|
{
|
|
m_rj->SetEnableLimit(!m_rj->IsLimitEnabled());
|
|
}
|
|
|
|
if (button == GLFW_KEY_D)
|
|
{
|
|
m_body->SetType(e_dynamicBody);
|
|
}
|
|
|
|
if (button == GLFW_KEY_S)
|
|
{
|
|
m_body->SetType(e_staticBody);
|
|
}
|
|
|
|
if (button == GLFW_KEY_K)
|
|
{
|
|
m_body->SetType(e_kinematicBody);
|
|
}
|
|
}
|
|
|
|
static Test* Create()
|
|
{
|
|
return new HingeMotor();
|
|
}
|
|
|
|
b3BoxHull m_doorBox;
|
|
b3Body* m_body;
|
|
b3RevoluteJoint* m_rj;
|
|
};
|
|
|
|
#endif
|