/*******************************************************************************
* Copyright (c) 2011, Daniel Murphy
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the <organization> nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL DANIEL MURPHY BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
******************************************************************************/
/**
* created at 12:22:58 AM Jan 13, 2011
*/
package org.jbox2d.gwt.showcase.client.example;
import java.util.List;
import org.jbox2d.collision.shapes.CircleShape;
import org.jbox2d.collision.shapes.PolygonShape;
import org.jbox2d.common.MathUtils;
import org.jbox2d.common.Vec2;
import org.jbox2d.dynamics.Body;
import org.jbox2d.dynamics.BodyDef;
import org.jbox2d.dynamics.BodyType;
import org.jbox2d.dynamics.FixtureDef;
import org.jbox2d.dynamics.joints.DistanceJointDef;
import org.jbox2d.dynamics.joints.RevoluteJoint;
import org.jbox2d.dynamics.joints.RevoluteJointDef;
import org.jbox2d.gwt.showcase.client.framework.BaseExample;
import org.jbox2d.gwt.showcase.client.framework.ShowcaseSettings;
/**
* @author Daniel Murphy
*/
public class TheoJansen extends BaseExample {
Vec2 m_offset = new Vec2();
Body m_chassis;
Body m_wheel;
RevoluteJoint m_motorJoint;
boolean m_motorOn;
float m_motorSpeed;
/**
* @see org.jbox2d.testbed.framework.TestbedTest#initTest()
*/
@Override
public void initTest() {
m_offset.set(0.0f, 8.0f);
m_motorSpeed = 2.0f;
m_motorOn = true;
Vec2 pivot = new Vec2(0.0f, 0.8f);
// Ground
{
BodyDef bd = new BodyDef();
Body ground = m_world.createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsEdge(new Vec2(-50.0f, 0.0f), new Vec2(50.0f, 0.0f));
ground.createFixture(shape, 0.0f);
shape.setAsEdge(new Vec2(-50.0f, 0.0f), new Vec2(-50.0f, 10.0f));
ground.createFixture(shape, 0.0f);
shape.setAsEdge(new Vec2(50.0f, 0.0f), new Vec2(50.0f, 10.0f));
ground.createFixture(shape, 0.0f);
}
// Balls
for (int i = 0; i < 40; ++i)
{
CircleShape shape = new CircleShape();
shape.m_radius = 0.25f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-40.0f + 2.0f * i, 0.5f);
Body body = m_world.createBody(bd);
body.createFixture(shape, 1.0f);
}
// Chassis
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(2.5f, 1.0f);
FixtureDef sd = new FixtureDef();
sd.density = 1.0f;
sd.shape = shape;
sd.filter.groupIndex = -1;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(pivot).addLocal(m_offset);
m_chassis = m_world.createBody(bd);
m_chassis.createFixture(sd);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 1.6f;
FixtureDef sd = new FixtureDef();
sd.density = 1.0f;
sd.shape = shape;
sd.filter.groupIndex = -1;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(pivot).addLocal(m_offset);
m_wheel = m_world.createBody(bd);
m_wheel.createFixture(sd);
}
{
RevoluteJointDef jd = new RevoluteJointDef();
jd.initialize(m_wheel, m_chassis, pivot.add(m_offset));
jd.collideConnected = false;
jd.motorSpeed = m_motorSpeed;
jd.maxMotorTorque = 400.0f;
jd.enableMotor = m_motorOn;
m_motorJoint = (RevoluteJoint)m_world.createJoint(jd);
}
Vec2 wheelAnchor;
wheelAnchor = pivot.add(new Vec2(0.0f, -0.8f));
createLeg(-1.0f, wheelAnchor);
createLeg(1.0f, wheelAnchor);
m_wheel.setTransform(m_wheel.getPosition(), 120.0f * MathUtils.PI / 180.0f);
createLeg(-1.0f, wheelAnchor);
createLeg(1.0f, wheelAnchor);
m_wheel.setTransform(m_wheel.getPosition(), -120.0f * MathUtils.PI / 180.0f);
createLeg(-1.0f, wheelAnchor);
createLeg(1.0f, wheelAnchor);
}
void createLeg(float s, Vec2 wheelAnchor){
Vec2 p1 = new Vec2(5.4f * s, -6.1f);
Vec2 p2 = new Vec2(7.2f * s, -1.2f);
Vec2 p3 = new Vec2(4.3f * s, -1.9f);
Vec2 p4 = new Vec2(3.1f * s, 0.8f);
Vec2 p5 = new Vec2(6.0f * s, 1.5f);
Vec2 p6 = new Vec2(2.5f * s, 3.7f);
FixtureDef fd1 = new FixtureDef();
FixtureDef fd2 = new FixtureDef();
fd1.filter.groupIndex = -1;
fd2.filter.groupIndex = -1;
fd1.density = 1.0f;
fd2.density = 1.0f;
PolygonShape poly1 = new PolygonShape();
PolygonShape poly2 = new PolygonShape();
if (s > 0.0f)
{
Vec2[] vertices = new Vec2[3];
vertices[0] = p1;
vertices[1] = p2;
vertices[2] = p3;
poly1.set(vertices, 3);
vertices[0] = new Vec2();
vertices[1] = p5.sub(p4);
vertices[2] = p6.sub(p4);
poly2.set(vertices, 3);
}
else
{
Vec2[] vertices = new Vec2[3];
vertices[0] = p1;
vertices[1] = p3;
vertices[2] = p2;
poly1.set(vertices, 3);
vertices[0] = new Vec2();
vertices[1] = p6.sub(p4);
vertices[2] = p5.sub(p4);
poly2.set(vertices, 3);
}
fd1.shape = poly1;
fd2.shape = poly2;
BodyDef bd1 = new BodyDef(), bd2 = new BodyDef();
bd1.type = BodyType.DYNAMIC;
bd2.type = BodyType.DYNAMIC;
bd1.position = m_offset;
bd2.position = p4.add(m_offset);
bd1.angularDamping = 10.0f;
bd2.angularDamping = 10.0f;
Body body1 = m_world.createBody(bd1);
Body body2 = m_world.createBody(bd2);
body1.createFixture(fd1);
body2.createFixture(fd2);
DistanceJointDef djd = new DistanceJointDef();
// 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.add(m_offset), p5.add(m_offset));
m_world.createJoint(djd);
djd.initialize(body1, body2, p3.add(m_offset), p4.add(m_offset));
m_world.createJoint(djd);
djd.initialize(body1, m_wheel, p3.add(m_offset), wheelAnchor.add(m_offset));
m_world.createJoint(djd);
djd.initialize(body2, m_wheel, p6.add(m_offset), wheelAnchor.add(m_offset));
m_world.createJoint(djd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.initialize(body2, m_chassis, p4.add(m_offset));
m_world.createJoint(rjd);
}
/**
* @see org.jbox2d.testbed.framework.TestbedTest#keyPressed(char, int)
*/
@Override
public void keyPressed(char key, int argKeyCode, ShowcaseSettings settings) {
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;
}
}
@Override
public List<String> getInstructions() {
List<String> instructions = super.getInstructions();
instructions.add("Keys: left = a, brake = s, right = d, toggle motor = m");
return instructions;
}
/**
* @see org.jbox2d.testbed.framework.TestbedTest#getTestName()
*/
@Override
public String getTestName() {
return "TheoJansen Walker";
}
}