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/*
* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org
*
* 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 PRISMATIC_H
#define PRISMATIC_H
// The motor in this test gets smoother with higher velocity iterations.
class Prismatic : public Test
{
public:
Prismatic()
{
b2Body* ground = NULL;
{
b2BodyDef bd;
ground = m_world->CreateBody(&bd);
b2EdgeShape shape;
shape.Set(b2Vec2(-40.0f, 0.0f), b2Vec2(40.0f, 0.0f));
ground->CreateFixture(&shape, 0.0f);
}
{
b2PolygonShape shape;
shape.SetAsBox(2.0f, 0.5f);
b2BodyDef bd;
bd.type = b2_dynamicBody;
bd.position.Set(-10.0f, 10.0f);
bd.angle = 0.5f * b2_pi;
bd.allowSleep = false;
b2Body* body = m_world->CreateBody(&bd);
body->CreateFixture(&shape, 5.0f);
b2PrismaticJointDef pjd;
// Bouncy limit
b2Vec2 axis(2.0f, 1.0f);
axis.Normalize();
pjd.Initialize(ground, body, b2Vec2(0.0f, 0.0f), axis);
// Non-bouncy limit
//pjd.Initialize(ground, body, b2Vec2(-10.0f, 10.0f), b2Vec2(1.0f, 0.0f));
pjd.motorSpeed = 10.0f;
pjd.maxMotorForce = 10000.0f;
pjd.enableMotor = true;
pjd.lowerTranslation = 0.0f;
pjd.upperTranslation = 20.0f;
pjd.enableLimit = true;
m_joint = (b2PrismaticJoint*)m_world->CreateJoint(&pjd);
}
}
void Keyboard(unsigned char key)
{
switch (key)
{
case 'l':
m_joint->EnableLimit(!m_joint->IsLimitEnabled());
break;
case 'm':
m_joint->EnableMotor(!m_joint->IsMotorEnabled());
break;
case 's':
m_joint->SetMotorSpeed(-m_joint->GetMotorSpeed());
break;
}
}
void Step(Settings* settings)
{
Test::Step(settings);
m_debugDraw.DrawString(5, m_textLine, "Keys: (l) limits, (m) motors, (s) speed");
m_textLine += 15;
float32 force = m_joint->GetMotorForce(settings->hz);
m_debugDraw.DrawString(5, m_textLine, "Motor Force = %4.0f", (float) force);
m_textLine += 15;
}
static Test* Create()
{
return new Prismatic;
}
b2PrismaticJoint* m_joint;
};
#endif
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