135 lines
2.9 KiB
C++
135 lines
2.9 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 PRISMATIC_TEST_H
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#define PRISMATIC_TEST_H
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class PrismaticTest : public Test
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{
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public:
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PrismaticTest()
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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 = e_dynamicBody;
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bd.position.Set(-5.0f, 5.0f, 0.0f);
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bA = m_world.CreateBody(bd);
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m_hullA.SetExtents(2.0f, 2.0f, 0.5f);
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b3HullShape hull;
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hull.m_hull = &m_hullA;
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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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bA->CreateShape(sdef);
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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(5.0f, 5.0f, 0.0f);
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bB = m_world.CreateBody(bd);
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m_hullB.SetExtents(2.0f, 2.0f, 0.5f);
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b3HullShape hull;
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hull.m_hull = &m_hullB;
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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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// Create prismatic joint
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{
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b3Vec3 anchor(0.0f, 5.0f, 0.0f);
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b3Vec3 axis(1.0f, 0.0f, 0.0f);
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b3PrismaticJointDef jd;
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jd.Initialize(bA, bB, anchor, axis);
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jd.motorSpeed = 10.0f;
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jd.maxMotorForce = 10000.0f;
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jd.enableMotor = true;
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jd.lowerTranslation = 0.0f;
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jd.upperTranslation = 10.0f;
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jd.enableLimit = true;
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m_joint = (b3PrismaticJoint*)m_world.CreateJoint(jd);
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}
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}
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void Step()
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{
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Test::Step();
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g_draw->DrawString(b3Color_white, "L - Enable Limit");
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g_draw->DrawString(b3Color_white, "M - Enable Motor");
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g_draw->DrawString(b3Color_white, "S - Flip Motor Speed");
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}
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void KeyDown(int button)
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{
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if (button == GLFW_KEY_L)
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{
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m_joint->EnableLimit(!m_joint->IsLimitEnabled());
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}
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if (button == GLFW_KEY_M)
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{
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m_joint->EnableMotor(!m_joint->IsMotorEnabled());
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}
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if (button == GLFW_KEY_S)
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{
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m_joint->SetMotorSpeed(-m_joint->GetMotorSpeed());
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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 PrismaticTest();
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}
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b3BoxHull m_hullA;
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b3BoxHull m_hullB;
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b3PrismaticJoint* m_joint;
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};
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#endif |