Car.h
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上传日期:2022-01-07
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- /*
- * Copyright (c) 2008-2009 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 CAR_H
- #define CAR_H
- // Adapted from SpiritWalkers by darkzerox
- class Car : public Test
- {
- public:
- Car()
- {
- { // car body
- b2PolygonDef poly1, poly2;
- // bottom half
- poly1.vertexCount = 5;
- poly1.vertices[4].Set(-2.2f,-0.74f);
- poly1.vertices[3].Set(-2.2f,0);
- poly1.vertices[2].Set(1.0f,0);
- poly1.vertices[1].Set(2.2f,-0.2f);
- poly1.vertices[0].Set(2.2f,-0.74f);
- poly1.filter.groupIndex = -1;
- poly1.density = 20.0f;
- poly1.friction = 0.68f;
- poly1.filter.groupIndex = -1;
- // top half
- poly2.vertexCount = 4;
- poly2.vertices[3].Set(-1.7f,0);
- poly2.vertices[2].Set(-1.3f,0.7f);
- poly2.vertices[1].Set(0.5f,0.74f);
- poly2.vertices[0].Set(1.0f,0);
- poly2.filter.groupIndex = -1;
- poly2.density = 5.0f;
- poly2.friction = 0.68f;
- poly2.filter.groupIndex = -1;
- b2BodyDef bd;
- bd.position.Set(-35.0f, 2.8f);
- m_vehicle = m_world->CreateBody(&bd);
- m_vehicle->CreateFixture(&poly1);
- m_vehicle->CreateFixture(&poly2);
- m_vehicle->SetMassFromShapes();
- }
- { // vehicle wheels
- b2CircleDef circ;
- circ.density = 40.0f;
- circ.radius = 0.38608f;
- circ.friction = 0.8f;
- circ.filter.groupIndex = -1;
- b2BodyDef bd;
- bd.allowSleep = false;
- bd.position.Set(-33.8f, 2.0f);
- m_rightWheel = m_world->CreateBody(&bd);
- m_rightWheel->CreateFixture(&circ);
- m_rightWheel->SetMassFromShapes();
- bd.position.Set(-36.2f, 2.0f);
- m_leftWheel = m_world->CreateBody(&bd);
- m_leftWheel->CreateFixture(&circ);
- m_leftWheel->SetMassFromShapes();
- }
- { // join wheels to chassis
- b2Vec2 anchor;
- b2RevoluteJointDef jd;
- jd.Initialize(m_vehicle, m_leftWheel, m_leftWheel->GetWorldCenter());
- jd.collideConnected = false;
- jd.enableMotor = true;
- jd.maxMotorTorque = 10.0f;
- jd.motorSpeed = 0.0f;
- m_leftJoint = (b2RevoluteJoint*)m_world->CreateJoint(&jd);
- jd.Initialize(m_vehicle, m_rightWheel, m_rightWheel->GetWorldCenter());
- jd.collideConnected = false;
- m_rightJoint = (b2RevoluteJoint*)m_world->CreateJoint(&jd);
- }
- { // ground
- b2PolygonDef box;
- box.SetAsBox(19.5f, 0.5f);
- box.friction = 0.62f;
- b2BodyDef bd;
- bd.position.Set(-25.0f, 1.0f);
- b2Body* ground = m_world->CreateBody(&bd);
- ground->CreateFixture(&box);
- }
- { // more ground
- b2PolygonDef box;
- b2BodyDef bd;
- box.SetAsBox(9.5f, 0.5f, b2Vec2_zero, 0.1f * b2_pi);
- box.friction = 0.62f;
- bd.position.Set(27.0f - 30.0f, 3.1f);
- b2Body* ground = m_world->CreateBody(&bd);
- ground->CreateFixture(&box);
- }
- { // more ground
- b2PolygonDef box;
- b2BodyDef bd;
- box.SetAsBox(9.5f, 0.5f, b2Vec2_zero, -0.1f * b2_pi);
- box.friction = 0.62f;
- bd.position.Set(55.0f - 30.0f, 3.1f);
- b2Body* ground = m_world->CreateBody(&bd);
- ground->CreateFixture(&box);
- }
- { // more ground
- b2PolygonDef box;
- b2BodyDef bd;
- box.SetAsBox(9.5f, 0.5f, b2Vec2_zero, 0.03f * b2_pi);
- box.friction = 0.62f;
- bd.position.Set(41.0f, 2.0f);
- b2Body* ground = m_world->CreateBody(&bd);
- ground->CreateFixture(&box);
- }
- { // more ground
- b2PolygonDef box;
- b2BodyDef bd;
- box.SetAsBox(5.0f, 0.5f, b2Vec2_zero, 0.15f * b2_pi);
- box.friction = 0.62f;
- bd.position.Set(50.0f, 4.0f);
- b2Body* ground = m_world->CreateBody(&bd);
- ground->CreateFixture(&box);
- }
- { // more ground
- b2PolygonDef box;
- b2BodyDef bd;
- box.SetAsBox(20.0f, 0.5f);
- box.friction = 0.62f;
- bd.position.Set(85.0f, 2.0f);
- b2Body* ground = m_world->CreateBody(&bd);
- ground->CreateFixture(&box);
- }
- }
- void Step(Settings* settings)
- {
- m_debugDraw.DrawString(5, m_textLine, "Keys: left = a, brake = s, right = d");
- m_textLine += 15;
- Test::Step(settings);
- }
- void Keyboard(unsigned char key)
- {
- switch (key)
- {
- case 'a':
- m_leftJoint->SetMaxMotorTorque(800.0f);
- m_leftJoint->SetMotorSpeed(12.0f);
- break;
- case 's':
- m_leftJoint->SetMaxMotorTorque(100.0f);
- m_leftJoint->SetMotorSpeed(0.0f);
- break;
- case 'd':
- m_leftJoint->SetMaxMotorTorque(1200.0f);
- m_leftJoint->SetMotorSpeed(-36.0f);
- break;
- }
- }
- static Test* Create()
- {
- return new Car;
- }
- b2Body* m_leftWheel;
- b2Body* m_rightWheel;
- b2Body* m_vehicle;
- b2RevoluteJoint* m_leftJoint;
- b2RevoluteJoint* m_rightJoint;
- };
- #endif