TheoJansen.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.
- */
- // Inspired by a contribution by roman_m
- // Dimensions scooped from APE (http://www.cove.org/ape/index.htm)
- #ifndef THEO_JANSEN_H
- #define THEO_JANSEN_H
- class TheoJansen : public Test
- {
- public:
- void CreateLeg(float32 s, const b2Vec2& wheelAnchor)
- {
- b2Vec2 p1(5.4f * s, -6.1f);
- b2Vec2 p2(7.2f * s, -1.2f);
- b2Vec2 p3(4.3f * s, -1.9f);
- b2Vec2 p4(3.1f * s, 0.8f);
- b2Vec2 p5(6.0f * s, 1.5f);
- b2Vec2 p6(2.5f * s, 3.7f);
- b2FixtureDef fd1, fd2;
- fd1.filter.groupIndex = -1;
- fd2.filter.groupIndex = -1;
- fd1.density = 1.0f;
- fd2.density = 1.0f;
- b2PolygonShape poly1, poly2;
- if (s > 0.0f)
- {
- b2Vec2 vertices[3];
- vertices[0] = p1;
- vertices[1] = p2;
- vertices[2] = p3;
- poly1.Set(vertices, 3);
- vertices[0] = b2Vec2_zero;
- vertices[1] = p5 - p4;
- vertices[2] = p6 - p4;
- poly2.Set(vertices, 3);
- }
- else
- {
- b2Vec2 vertices[3];
- vertices[0] = p1;
- vertices[1] = p3;
- vertices[2] = p2;
- poly1.Set(vertices, 3);
- vertices[0] = b2Vec2_zero;
- vertices[1] = p6 - p4;
- vertices[2] = p5 - p4;
- poly2.Set(vertices, 3);
- }
- fd1.shape = &poly1;
- fd2.shape = &poly2;
- b2BodyDef bd1, bd2;
- bd1.type = b2_dynamicBody;
- bd2.type = b2_dynamicBody;
- bd1.position = m_offset;
- bd2.position = p4 + m_offset;
- bd1.angularDamping = 10.0f;
- bd2.angularDamping = 10.0f;
- b2Body* body1 = m_world->CreateBody(&bd1);
- b2Body* body2 = m_world->CreateBody(&bd2);
- body1->CreateFixture(&fd1);
- body2->CreateFixture(&fd2);
- b2DistanceJointDef djd;
- // Using a soft distance constraint can reduce some jitter.
- // It also makes the structure seem a bit more fluid by
- // acting like a suspension system.
- djd.dampingRatio = 0.5f;
- djd.frequencyHz = 10.0f;
- djd.Initialize(body1, body2, p2 + m_offset, p5 + m_offset);
- m_world->CreateJoint(&djd);
- djd.Initialize(body1, body2, p3 + m_offset, p4 + m_offset);
- m_world->CreateJoint(&djd);
- djd.Initialize(body1, m_wheel, p3 + m_offset, wheelAnchor + m_offset);
- m_world->CreateJoint(&djd);
- djd.Initialize(body2, m_wheel, p6 + m_offset, wheelAnchor + m_offset);
- m_world->CreateJoint(&djd);
- b2RevoluteJointDef rjd;
- rjd.Initialize(body2, m_chassis, p4 + m_offset);
- m_world->CreateJoint(&rjd);
- }
- TheoJansen()
- {
- m_offset.Set(0.0f, 8.0f);
- m_motorSpeed = 2.0f;
- m_motorOn = true;
- b2Vec2 pivot(0.0f, 0.8f);
- // Ground
- {
- b2BodyDef bd;
- b2Body* ground = m_world->CreateBody(&bd);
- b2PolygonShape shape;
- shape.SetAsEdge(b2Vec2(-50.0f, 0.0f), b2Vec2(50.0f, 0.0f));
- ground->CreateFixture(&shape, 0.0f);
- shape.SetAsEdge(b2Vec2(-50.0f, 0.0f), b2Vec2(-50.0f, 10.0f));
- ground->CreateFixture(&shape, 0.0f);
- shape.SetAsEdge(b2Vec2(50.0f, 0.0f), b2Vec2(50.0f, 10.0f));
- ground->CreateFixture(&shape, 0.0f);
- }
- // Balls
- for (int32 i = 0; i < 40; ++i)
- {
- b2CircleShape shape;
- shape.m_radius = 0.25f;
- b2BodyDef bd;
- bd.type = b2_dynamicBody;
- bd.position.Set(-40.0f + 2.0f * i, 0.5f);
- b2Body* body = m_world->CreateBody(&bd);
- body->CreateFixture(&shape, 1.0f);
- }
- // Chassis
- {
- b2PolygonShape shape;
- shape.SetAsBox(2.5f, 1.0f);
- b2FixtureDef sd;
- sd.density = 1.0f;
- sd.shape = &shape;
- sd.filter.groupIndex = -1;
- b2BodyDef bd;
- bd.type = b2_dynamicBody;
- bd.position = pivot + m_offset;
- m_chassis = m_world->CreateBody(&bd);
- m_chassis->CreateFixture(&sd);
- }
- {
- b2CircleShape shape;
- shape.m_radius = 1.6f;
- b2FixtureDef sd;
- sd.density = 1.0f;
- sd.shape = &shape;
- sd.filter.groupIndex = -1;
- b2BodyDef bd;
- bd.type = b2_dynamicBody;
- bd.position = pivot + m_offset;
- m_wheel = m_world->CreateBody(&bd);
- m_wheel->CreateFixture(&sd);
- }
- {
- b2RevoluteJointDef jd;
- jd.Initialize(m_wheel, m_chassis, pivot + m_offset);
- jd.collideConnected = false;
- jd.motorSpeed = m_motorSpeed;
- jd.maxMotorTorque = 400.0f;
- jd.enableMotor = m_motorOn;
- m_motorJoint = (b2RevoluteJoint*)m_world->CreateJoint(&jd);
- }
- b2Vec2 wheelAnchor;
-
- wheelAnchor = pivot + b2Vec2(0.0f, -0.8f);
- CreateLeg(-1.0f, wheelAnchor);
- CreateLeg(1.0f, wheelAnchor);
- m_wheel->SetTransform(m_wheel->GetPosition(), 120.0f * b2_pi / 180.0f);
- CreateLeg(-1.0f, wheelAnchor);
- CreateLeg(1.0f, wheelAnchor);
- m_wheel->SetTransform(m_wheel->GetPosition(), -120.0f * b2_pi / 180.0f);
- CreateLeg(-1.0f, wheelAnchor);
- CreateLeg(1.0f, wheelAnchor);
- }
- void Step(Settings* settings)
- {
- m_debugDraw.DrawString(5, m_textLine, "Keys: left = a, brake = s, right = d, toggle motor = m");
- m_textLine += 15;
- Test::Step(settings);
- }
- void Keyboard(unsigned char key)
- {
- switch (key)
- {
- case 'a':
- m_motorJoint->SetMotorSpeed(-m_motorSpeed);
- break;
- case 's':
- m_motorJoint->SetMotorSpeed(0.0f);
- break;
- case 'd':
- m_motorJoint->SetMotorSpeed(m_motorSpeed);
- break;
- case 'm':
- m_motorJoint->EnableMotor(!m_motorJoint->IsMotorEnabled());
- break;
- }
- }
- static Test* Create()
- {
- return new TheoJansen;
- }
- b2Vec2 m_offset;
- b2Body* m_chassis;
- b2Body* m_wheel;
- b2RevoluteJoint* m_motorJoint;
- bool m_motorOn;
- float32 m_motorSpeed;
- };
- #endif // THEO_JANSEN_H