123 lines
2.6 KiB
C++
123 lines
2.6 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 MOTOR_TEST_H
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#define MOTOR_TEST_H
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class MotorTest : public Test
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{
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public:
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MotorTest()
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{
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b3Body* ground = nullptr;
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{
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// Ground
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b3BodyDef bd;
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ground = m_world.CreateBody(bd);
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b3HullShape hs;
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hs.m_hull = &m_groundHull;
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b3ShapeDef sd;
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sd.shape = &hs;
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ground->CreateShape(sd);
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}
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{
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// Motorized body
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b3BodyDef bd;
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bd.type = e_dynamicBody;
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bd.position.Set(0.0f, 8.0f, 0.0f);
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b3Body* body = m_world.CreateBody(bd);
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m_boxHull.SetExtents(2.0f, 0.5f, 0.5f);
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b3HullShape shape;
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shape.m_hull = &m_boxHull;
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b3ShapeDef sd;
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sd.shape = &shape;
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sd.friction = 0.3f;
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sd.density = 2.0f;
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body->CreateShape(sd);
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b3MotorJointDef mjd;
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mjd.Initialize(ground, body);
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mjd.maxForce = 1000.0f;
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mjd.maxTorque = 1000.0f;
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m_joint = (b3MotorJoint*)m_world.CreateJoint(mjd);
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}
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m_play = false;
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m_x = 0.0f;
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}
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void KeyDown(int key)
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{
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if (key == GLFW_KEY_S)
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{
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m_play = !m_play;
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}
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}
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void Step()
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{
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if (m_play)
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{
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m_x += g_testSettings->inv_hertz;
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if (m_x >= 2.0f * B3_PI)
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{
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m_x = 0.0f;
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}
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}
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b3Vec3 linearOffset;
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linearOffset.x = 8.0f * sinf(2.0f * m_x);
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linearOffset.y = 8.0f + sinf(m_x);
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linearOffset.z = 0.0f;
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m_joint->SetLinearOffset(linearOffset);
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b3Quat angularOffset;
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angularOffset.SetAxisAngle(b3Vec3_z, m_x);
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angularOffset.Normalize();
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m_joint->SetAngularOffset(angularOffset);
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Test::Step();
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g_draw->DrawPoint(linearOffset, 4.0f, b3Color(0.9f, 0.9f, 0.9f));
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g_draw->DrawString(b3Color_white, "S - Play/Pause");
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}
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static Test* Create()
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{
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return new MotorTest();
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}
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b3BoxHull m_boxHull;
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b3MotorJoint* m_joint;
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bool m_play;
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scalar m_x;
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};
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#endif |