147 lines
3.5 KiB
C++
147 lines
3.5 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 MULTIPLE_PENDULUM
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#define MULTIPLE_PENDULUM
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class MultiplePendulum : public Test
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{
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public:
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MultiplePendulum()
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{
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b3Vec3 axis(0.0f, 0.0f, 1.0f);
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b3Body* bs[6];
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{
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b3BodyDef bd;
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bd.type = e_staticBody;
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bs[0] = m_world.CreateBody(bd);
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}
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{
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b3BodyDef bd;
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bd.type = e_dynamicBody;
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bd.position.Set(-0.5f, 0.0f, 0.0f);
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bs[1] = m_world.CreateBody(bd);
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b3CapsuleShape s;
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s.m_centers[0].Set(0.5f, 0.0f, 0.0f);
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s.m_centers[1].Set(-0.5f, 0.0f, 0.0f);
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s.m_radius = 0.05f;
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b3ShapeDef sd;
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sd.shape = &s;
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sd.density = 10.0f;
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bs[1]->CreateShape(sd);
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b3RevoluteJointDef jd;
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jd.Initialize(bs[0], bs[1], axis, b3Vec3(0.0f, 0.0f, 0.0f), 0.0f, 1.0f);
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m_world.CreateJoint(jd);
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}
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{
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b3BodyDef bd;
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bd.type = e_dynamicBody;
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bd.position.Set(-1.5f, 0.0f, 0.0f);
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bs[2] = m_world.CreateBody(bd);
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b3CapsuleShape s;
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s.m_centers[0].Set(0.5f, 0.0f, 0.0f);
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s.m_centers[1].Set(-0.5f, 0.0f, 0.0f);
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s.m_radius = 0.05f;
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b3ShapeDef sd;
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sd.shape = &s;
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sd.density = 10.0f;
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bs[2]->CreateShape(sd);
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b3RevoluteJointDef jd;
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jd.Initialize(bs[1], bs[2], axis, b3Vec3(-1.0f, 0.0f, 0.0f), 0.0f, 1.0f);
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m_world.CreateJoint(jd);
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}
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{
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b3BodyDef bd;
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bd.type = e_dynamicBody;
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bd.position.Set(-2.5f, 0.0f, 0.0f);
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bs[3] = m_world.CreateBody(bd);
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b3CapsuleShape s;
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s.m_centers[0].Set(0.5f, 0.0f, 0.0f);
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s.m_centers[1].Set(-0.5f, 0.0f, 0.0f);
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s.m_radius = 0.05f;
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b3ShapeDef sd;
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sd.shape = &s;
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sd.density = 100.0f;
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bs[3]->CreateShape(sd);
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b3RevoluteJointDef jd;
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jd.Initialize(bs[2], bs[3], axis, b3Vec3(-2.0f, 0.0f, 0.0f), 0.0f, 1.0f);
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m_world.CreateJoint(jd);
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}
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{
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b3BodyDef bd;
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bd.type = e_dynamicBody;
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bd.position.Set(-3.5f, 0.0f, 0.0f);
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bs[4] = m_world.CreateBody(bd);
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b3CapsuleShape s;
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s.m_centers[0].Set(0.5f, 0.0f, 0.0f);
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s.m_centers[1].Set(-0.5f, 0.0f, 0.0f);
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s.m_radius = 0.05f;
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b3ShapeDef sd;
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sd.shape = &s;
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sd.density = 1000.0f;
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bs[4]->CreateShape(sd);
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b3RevoluteJointDef jd;
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jd.Initialize(bs[3], bs[4], axis, b3Vec3(-3.0f, 0.0f, 0.0f), 0.0f, 1.0f);
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m_world.CreateJoint(jd);
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}
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{
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b3BodyDef bd;
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bd.type = e_dynamicBody;
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bd.position.Set(-4.5f, 0.0f, 0.0f);
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bs[5] = m_world.CreateBody(bd);
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b3CapsuleShape s;
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s.m_centers[0].Set(0.5f, 0.0f, 0.0f);
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s.m_centers[1].Set(-0.5f, 0.0f, 0.0f);
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s.m_radius = 0.05f;
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b3ShapeDef sd;
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sd.shape = &s;
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sd.density = 50.0f;
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bs[5]->CreateShape(sd);
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b3RevoluteJointDef jd;
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jd.Initialize(bs[4], bs[5], axis, b3Vec3(-4.0f, 0.0f, 0.0f), 0.0f, 1.0f);
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m_world.CreateJoint(jd);
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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 MultiplePendulum();
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}
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};
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#endif |