Revolute.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 REVOLUTE_H
- #define REVOLUTE_H
- class Revolute : public Test
- {
- public:
- Revolute()
- {
- b2Body* ground = NULL;
- {
- b2BodyDef bd;
- ground = m_world->CreateBody(&bd);
- b2PolygonShape shape;
- shape.SetAsEdge(b2Vec2(-40.0f, 0.0f), b2Vec2(40.0f, 0.0f));
- ground->CreateFixture(&shape, 0.0f);
- }
- {
- b2CircleShape shape;
- shape.m_radius = 0.5f;
- b2BodyDef bd;
- bd.type = b2_dynamicBody;
- b2RevoluteJointDef rjd;
- bd.position.Set(0.0f, 20.0f);
- b2Body* body = m_world->CreateBody(&bd);
- body->CreateFixture(&shape, 5.0f);
- float32 w = 100.0f;
- body->SetAngularVelocity(w);
- body->SetLinearVelocity(b2Vec2(-8.0f * w, 0.0f));
- rjd.Initialize(ground, body, b2Vec2(0.0f, 12.0f));
- rjd.motorSpeed = 1.0f * b2_pi;
- rjd.maxMotorTorque = 10000.0f;
- rjd.enableMotor = false;
- rjd.lowerAngle = -0.25f * b2_pi;
- rjd.upperAngle = 0.5f * b2_pi;
- rjd.enableLimit = true;
- rjd.collideConnected = true;
- m_joint = (b2RevoluteJoint*)m_world->CreateJoint(&rjd);
- }
- }
- void Keyboard(unsigned char key)
- {
- switch (key)
- {
- case 'l':
- m_joint->EnableLimit(m_joint->IsLimitEnabled());
- break;
- case 's':
- m_joint->EnableMotor(false);
- break;
- }
- }
- void Step(Settings* settings)
- {
- Test::Step(settings);
- m_debugDraw.DrawString(5, m_textLine, "Keys: (l) limits, (a) left, (s) off, (d) right");
- m_textLine += 15;
- //float32 torque1 = m_joint1->GetMotorTorque();
- //m_debugDraw.DrawString(5, m_textLine, "Motor Torque = %4.0f, %4.0f : Motor Force = %4.0f", (float) torque1, (float) torque2, (float) force3);
- //m_textLine += 15;
- }
- static Test* Create()
- {
- return new Revolute;
- }
- b2RevoluteJoint* m_joint;
- };
- #endif