SliderCrank.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 SLIDER_CRANK_H
- #define SLIDER_CRANK_H
- // A motor driven slider crank with joint friction.
- class SliderCrank : public Test
- {
- public:
- SliderCrank()
- {
- 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);
- }
- {
- b2Body* prevBody = ground;
- // Define crank.
- {
- b2PolygonShape shape;
- shape.SetAsBox(0.5f, 2.0f);
- b2BodyDef bd;
- bd.type = b2_dynamicBody;
- bd.position.Set(0.0f, 7.0f);
- b2Body* body = m_world->CreateBody(&bd);
- body->CreateFixture(&shape, 2.0f);
- b2RevoluteJointDef rjd;
- rjd.Initialize(prevBody, body, b2Vec2(0.0f, 5.0f));
- rjd.motorSpeed = 1.0f * b2_pi;
- rjd.maxMotorTorque = 10000.0f;
- rjd.enableMotor = true;
- m_joint1 = (b2RevoluteJoint*)m_world->CreateJoint(&rjd);
- prevBody = body;
- }
- // Define follower.
- {
- b2PolygonShape shape;
- shape.SetAsBox(0.5f, 4.0f);
- b2BodyDef bd;
- bd.type = b2_dynamicBody;
- bd.position.Set(0.0f, 13.0f);
- b2Body* body = m_world->CreateBody(&bd);
- body->CreateFixture(&shape, 2.0f);
- b2RevoluteJointDef rjd;
- rjd.Initialize(prevBody, body, b2Vec2(0.0f, 9.0f));
- rjd.enableMotor = false;
- m_world->CreateJoint(&rjd);
- prevBody = body;
- }
- // Define piston
- {
- b2PolygonShape shape;
- shape.SetAsBox(1.5f, 1.5f);
- b2BodyDef bd;
- bd.type = b2_dynamicBody;
- bd.position.Set(0.0f, 17.0f);
- b2Body* body = m_world->CreateBody(&bd);
- body->CreateFixture(&shape, 2.0f);
- b2RevoluteJointDef rjd;
- rjd.Initialize(prevBody, body, b2Vec2(0.0f, 17.0f));
- m_world->CreateJoint(&rjd);
- b2PrismaticJointDef pjd;
- pjd.Initialize(ground, body, b2Vec2(0.0f, 17.0f), b2Vec2(0.0f, 1.0f));
- pjd.maxMotorForce = 1000.0f;
- pjd.enableMotor = true;
- m_joint2 = (b2PrismaticJoint*)m_world->CreateJoint(&pjd);
- }
- // Create a payload
- {
- b2PolygonShape shape;
- shape.SetAsBox(1.5f, 1.5f);
- b2BodyDef bd;
- bd.type = b2_dynamicBody;
- bd.position.Set(0.0f, 23.0f);
- b2Body* body = m_world->CreateBody(&bd);
- body->CreateFixture(&shape, 2.0f);
- }
- }
- }
- void Keyboard(unsigned char key)
- {
- switch (key)
- {
- case 'f':
- m_joint2->EnableMotor(!m_joint2->IsMotorEnabled());
- m_joint2->GetBodyB()->SetAwake(true);
- break;
- case 'm':
- m_joint1->EnableMotor(!m_joint1->IsMotorEnabled());
- m_joint1->GetBodyB()->SetAwake(true);
- break;
- }
- }
- void Step(Settings* settings)
- {
- Test::Step(settings);
- m_debugDraw.DrawString(5, m_textLine, "Keys: (f) toggle friction, (m) toggle motor");
- m_textLine += 15;
- float32 torque = m_joint1->GetMotorTorque();
- m_debugDraw.DrawString(5, m_textLine, "Motor Torque = %5.0f", (float) torque);
- m_textLine += 15;
- }
- static Test* Create()
- {
- return new SliderCrank;
- }
- b2RevoluteJoint* m_joint1;
- b2PrismaticJoint* m_joint2;
- };
- #endif