106 lines
2.4 KiB
C++
106 lines
2.4 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 WELD_TEST_H
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#define WELD_TEST_H
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class WeldTest : public Test
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{
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public:
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WeldTest()
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{
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{
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b3BodyDef bd;
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b3Body* ground = m_world.CreateBody(bd);
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b3HullShape shape;
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shape.m_hull = &m_groundHull;
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b3ShapeDef sd;
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sd.shape = &shape;
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ground->CreateShape(sd);
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}
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b3Body* bA, *bB;
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{
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b3BodyDef bd;
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bd.type = b3BodyType::e_dynamicBody;
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bd.position.Set(-2.0f, 5.05f, 0.0f);
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bA = m_world.CreateBody(bd);
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b3CapsuleShape shape;
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shape.m_centers[0].Set(0.0f, -3.5f, 0.0f);
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shape.m_centers[1].Set(0.0f, 3.5f, 0.0f);
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shape.m_radius = 0.5f;
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b3ShapeDef sd;
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sd.shape = &shape;
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sd.density = 1.0f;
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bA->CreateShape(sd);
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}
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{
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b3BodyDef bd;
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bd.type = b3BodyType::e_dynamicBody;
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bd.position.Set(1.0f, 5.05f, 0.0f);
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bB = m_world.CreateBody(bd);
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static b3BoxHull doorHull;
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{
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b3Transform xf;
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xf.position.SetZero();
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xf.rotation = b3Diagonal(2.0f, 4.0f, 0.5f);
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doorHull.SetTransform(xf);
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}
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b3HullShape hull;
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hull.m_hull = &doorHull;
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b3ShapeDef sdef;
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sdef.shape = &hull;
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sdef.density = 1.0f;
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bB->CreateShape(sdef);
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{
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b3Vec3 anchor(-2.0f, 5.0f, 0.0f);
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b3WeldJointDef jd;
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jd.Initialize(bA, bB, anchor);
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b3WeldJoint* wj = (b3WeldJoint*)m_world.CreateJoint(jd);
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}
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// Invalidate the orientation
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b3Vec3 axis(1.0f, 0.0f, 0.0f);
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float32 angle = B3_PI;
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bB->SetTransform(bB->GetPosition(), 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 WeldTest();
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}
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};
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#endif |