150 lines
3.1 KiB
C++
150 lines
3.1 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 REVOLUTE_TEST_H
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#define REVOLUTE_TEST_H
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class RevoluteTest : public Test
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{
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public:
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RevoluteTest()
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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* hinge, *door;
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{
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b3BodyDef bd;
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bd.type = b3BodyType::e_staticBody;
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bd.position.Set(0.0f, 7.0f, 0.0f);
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hinge = m_world.CreateBody(bd);
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b3CapsuleShape shape;
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shape.m_vertex1.Set(0.0f, 0.0f, -4.0f);
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shape.m_vertex2.Set(0.0f, 0.0f, 4.0f);
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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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hinge->CreateShape(sd);
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m_body = hinge;
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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(2.0f, 7.0f, 0.0f);
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door = m_world.CreateBody(bd);
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m_doorBox.SetExtents(1.0f, 0.5f, 4.0f);
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b3HullShape hull;
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hull.m_hull = &m_doorBox;
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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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door->CreateShape(sdef);
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}
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{
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b3Vec3 axis(0.0f, 0.0f, 1.0f);
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b3Vec3 anchor(0.0f, 7.0f, 0.0f);
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b3RevoluteJointDef jd;
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jd.Initialize(hinge, door, axis, anchor, -0.25f * B3_PI, 0.5f * B3_PI);
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jd.maxMotorTorque = 1000.0f;
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jd.enableMotor = false;
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jd.enableLimit = true;
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jd.motorSpeed = B3_PI;
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m_rj = (b3RevoluteJoint*)m_world.CreateJoint(jd);
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}
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// Invalidate the orientation
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b3Quat q = b3QuatRotationX(B3_PI);
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door->SetTransform(door->GetPosition(), q);
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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, "M - Motor");
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g_draw->DrawString(b3Color_white, "L - Limits");
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g_draw->DrawString(b3Color_white, "S/K/D - Static/kinematic/dynamic body");
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}
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void KeyDown(int button)
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{
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if (button == GLFW_KEY_M)
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{
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m_rj->SetEnableMotor(!m_rj->IsMotorEnabled());
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}
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if (button == GLFW_KEY_L)
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{
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m_rj->SetEnableLimit(!m_rj->IsLimitEnabled());
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}
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if (button == GLFW_KEY_D)
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{
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m_body->SetType(e_dynamicBody);
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}
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if (button == GLFW_KEY_S)
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{
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m_body->SetType(e_staticBody);
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}
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if (button == GLFW_KEY_K)
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{
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m_body->SetType(e_kinematicBody);
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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 RevoluteTest();
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}
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b3BoxHull m_doorBox;
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b3Body* m_body;
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b3RevoluteJoint* m_rj;
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};
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#endif
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