79 lines
2.0 KiB
C++
79 lines
2.0 KiB
C++
/*
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* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef LINEAR_MOTION_H
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#define LINEAR_MOTION_H
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class LinearMotion : public Test
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{
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public:
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LinearMotion()
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{
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b3BodyDef bdef;
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bdef.type = e_dynamicBody;
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bdef.position.Set(0.0f, 0.0f, 0.0f);
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bdef.fixedRotationX = true;
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bdef.fixedRotationY = true;
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bdef.fixedRotationZ = true;
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m_body = m_world.CreateBody(bdef);
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b3CapsuleShape shape;
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shape.m_centers[0].Set(0.0f, 1.0f, 0.0f);
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shape.m_centers[1].Set(0.0f, -1.0f, 0.0f);
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shape.m_radius = 1.0f;
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b3ShapeDef sdef;
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sdef.shape = &shape;
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sdef.density = 1.0f;
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m_body->CreateShape(sdef);
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b3Vec3 g(0.0f, 0.0f, 0.0f);
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m_world.SetGravity(g);
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b3Vec3 f(0.0f, 0.0f, -10000.0f);
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m_body->ApplyForceToCenter(f, true);
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}
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void Step()
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{
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Test::Step();
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b3Vec3 q(0.0f, 0.0f, 0.0f);
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b3Vec3 p = m_body->GetTransform().position;
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if (b3Distance(p, q) > 50.0f)
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{
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b3Quat quat = m_body->GetSweep().orientation;
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b3Vec3 axis;
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float32 angle;
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quat.GetAxisAngle(&axis, &angle);
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m_body->SetTransform(q, axis, angle);
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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 LinearMotion();
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}
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b3Body* m_body;
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};
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#endif |