83 lines
2.1 KiB
C++
83 lines
2.1 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 CONE_TEST_H
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#define CONE_TEST_H
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class ConeTest : public Test
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{
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public:
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ConeTest()
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{
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b3Body* ref;
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b3Body* head;
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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(0.0f, 0.0f, 0.0f);
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ref = 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(0.0f, 2.0f, 0.0f);
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bd.angularVelocity.Set(0.0f, 0.05f * B3_PI, 0.0f);
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head = m_world.CreateBody(bd);
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b3CapsuleShape cs;
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cs.m_vertex1.Set(0.0f, 0.15f, 0.0f);
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cs.m_vertex2.Set(0.0f, -0.15f, 0.0f);
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cs.m_radius = 0.5f;
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b3ShapeDef sd;
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sd.shape = &cs;
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sd.density = 10.0f;
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head->CreateShape(sd);
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}
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{
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b3Vec3 anchor(0.0f, 0.0f, 0.0f);
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b3Vec3 axis(0.0f, 1.0f, 0.0f);
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scalar coneAngle = 0.5f * B3_PI;
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b3ConeJointDef cd;
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cd.Initialize(ref, head, axis, anchor, coneAngle);
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cd.enableConeLimit = true;
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cd.enableTwistLimit = true;
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cd.lowerAngle = 0.0f;
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cd.upperAngle = B3_PI;
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b3ConeJoint* cj = (b3ConeJoint*)m_world.CreateJoint(cd);
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}
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// Invalidate the orientation
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b3Quat q = b3QuatRotationX(B3_PI);
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head->SetTransform(head->GetPosition(), q);
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}
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static Test* Create()
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{
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return new ConeTest();
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}
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};
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#endif
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