BodyTypes.h
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上传日期:2022-01-07
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- /*
- * Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com
- *
- * This software is provided 'as-is', without any express or implied
- * warranty. In no event will the authors be held liable for any damages
- * arising from the use of this software.
- * Permission is granted to anyone to use this software for any purpose,
- * including commercial applications, and to alter it and redistribute it
- * freely, subject to the following restrictions:
- * 1. The origin of this software must not be misrepresented; you must not
- * claim that you wrote the original software. If you use this software
- * in a product, an acknowledgment in the product documentation would be
- * appreciated but is not required.
- * 2. Altered source versions must be plainly marked as such, and must not be
- * misrepresented as being the original software.
- * 3. This notice may not be removed or altered from any source distribution.
- */
- #ifndef BODY_TYPES_H
- #define BODY_TYPES_H
- class BodyTypes : public Test
- {
- public:
- BodyTypes()
- {
- b2Body* ground = NULL;
- {
- b2BodyDef bd;
- ground = m_world->CreateBody(&bd);
- b2PolygonShape shape;
- shape.SetAsEdge(b2Vec2(-20.0f, 0.0f), b2Vec2(20.0f, 0.0f));
- b2FixtureDef fd;
- fd.shape = &shape;
- ground->CreateFixture(&fd);
- }
- // Define attachment
- {
- b2BodyDef bd;
- bd.type = b2_dynamicBody;
- bd.position.Set(0.0f, 3.0f);
- m_attachment = m_world->CreateBody(&bd);
- b2PolygonShape shape;
- shape.SetAsBox(0.5f, 2.0f);
- m_attachment->CreateFixture(&shape, 2.0f);
- }
- // Define platform
- {
- b2BodyDef bd;
- bd.type = b2_dynamicBody;
- bd.position.Set(-4.0f, 5.0f);
- m_platform = m_world->CreateBody(&bd);
- b2PolygonShape shape;
- shape.SetAsBox(0.5f, 4.0f, b2Vec2(4.0f, 0.0f), 0.5f * b2_pi);
- b2FixtureDef fd;
- fd.shape = &shape;
- fd.friction = 0.6f;
- fd.density = 2.0f;
- m_platform->CreateFixture(&fd);
- b2RevoluteJointDef rjd;
- rjd.Initialize(m_attachment, m_platform, b2Vec2(0.0f, 5.0f));
- rjd.maxMotorTorque = 50.0f;
- rjd.enableMotor = true;
- m_world->CreateJoint(&rjd);
- b2PrismaticJointDef pjd;
- pjd.Initialize(ground, m_platform, b2Vec2(0.0f, 5.0f), b2Vec2(1.0f, 0.0f));
- pjd.maxMotorForce = 1000.0f;
- pjd.enableMotor = true;
- pjd.lowerTranslation = -10.0f;
- pjd.upperTranslation = 10.0f;
- pjd.enableLimit = true;
- (b2PrismaticJoint*)m_world->CreateJoint(&pjd);
- m_speed = 3.0f;
- }
- // Create a payload
- {
- b2BodyDef bd;
- bd.type = b2_dynamicBody;
- bd.position.Set(0.0f, 8.0f);
- b2Body* body = m_world->CreateBody(&bd);
- b2PolygonShape shape;
- shape.SetAsBox(0.75f, 0.75f);
- b2FixtureDef fd;
- fd.shape = &shape;
- fd.friction = 0.6f;
- fd.density = 2.0f;
- body->CreateFixture(&fd);
- }
- }
- void Keyboard(unsigned char key)
- {
- switch (key)
- {
- case 'd':
- m_platform->SetType(b2_dynamicBody);
- break;
- case 's':
- m_platform->SetType(b2_staticBody);
- break;
- case 'k':
- m_platform->SetType(b2_kinematicBody);
- m_platform->SetLinearVelocity(b2Vec2(-m_speed, 0.0f));
- m_platform->SetAngularVelocity(0.0f);
- break;
- }
- }
- void Step(Settings* settings)
- {
- // Drive the kinematic body.
- if (m_platform->GetType() == b2_kinematicBody)
- {
- b2Vec2 p = m_platform->GetTransform().position;
- b2Vec2 v = m_platform->GetLinearVelocity();
- if ((p.x < -10.0f && v.x < 0.0f) ||
- (p.x > 10.0f && v.x > 0.0f))
- {
- v.x = -v.x;
- m_platform->SetLinearVelocity(v);
- }
- }
- Test::Step(settings);
- m_debugDraw.DrawString(5, m_textLine, "Keys: (d) dynamic, (s) static, (k) kinematic");
- m_textLine += 15;
- }
- static Test* Create()
- {
- return new BodyTypes;
- }
- b2Body* m_attachment;
- b2Body* m_platform;
- float32 m_speed;
- };
- #endif