FixedPendulumTest.java

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 * Copyright (c) 2013, Daniel Murphy
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package org.jbox2d.testbed.tests;

import org.jbox2d.collision.shapes.CircleShape;
import org.jbox2d.collision.shapes.Shape;
import org.jbox2d.common.Vec2;
import org.jbox2d.dynamics.Body;
import org.jbox2d.dynamics.BodyDef;
import org.jbox2d.dynamics.BodyType;
import org.jbox2d.dynamics.joints.RevoluteJointDef;
import org.jbox2d.testbed.framework.TestbedTest;

public class FixedPendulumTest extends TestbedTest {
  private final boolean switchBodiesInJoint;

  public FixedPendulumTest(boolean switchBodiesInJoint) {
    this.switchBodiesInJoint = switchBodiesInJoint;
  }
  
  @Override
  public boolean isSaveLoadEnabled() {
    return true;
  }

  @Override
  public void initTest(boolean deserialized) {
    if (deserialized) {
      return;
    }
    Body pendulum;
    Body ground;

    {
      CircleShape circleShape = new CircleShape();
      circleShape.m_radius = 1;
      Shape shape = circleShape;

      BodyDef bodyDef = new BodyDef();
      bodyDef.type = BodyType.DYNAMIC;
      bodyDef.position.set(-5, 0);
      bodyDef.allowSleep = false;
      pendulum = getWorld().createBody(bodyDef);
      pendulum.createFixture(shape, 1);
    }

    {
      BodyDef bodyDef = new BodyDef();
      bodyDef.type = BodyType.STATIC;
      ground = getWorld().createBody(bodyDef);
    }

    RevoluteJointDef jointDef = new RevoluteJointDef();

    if (switchBodiesInJoint)
      jointDef.initialize(pendulum, ground, new Vec2(0, 0));
    else
      jointDef.initialize(ground, pendulum, new Vec2(0, 0));

    pendulum.applyAngularImpulse(10000);

    getWorld().createJoint(jointDef);
  }

  @Override
  public String getTestName() {
    return "Fixed Pendulum " + (switchBodiesInJoint ? "1" : "0");
  }
}