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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.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.World;
import org.jbox2d.dynamics.joints.PrismaticJointDef;
import org.jbox2d.dynamics.joints.RevoluteJointDef;
import org.jbox2d.testbed.framework.TestbedTest;
public class PistonTest extends TestbedTest {
private boolean bullet = false;
@Override
public boolean isSaveLoadEnabled() {
return true;
}
@Override
public void initTest(boolean deserialized) {
if (deserialized) {
return;
}
World world = getWorld();
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(5.0f, 100.0f);
bd = new BodyDef();
bd.type = BodyType.STATIC;
FixtureDef sides = new FixtureDef();
sides.shape = shape;
sides.density = 0;
sides.friction = 0;
sides.restitution = .8f;
sides.filter.categoryBits = 4;
sides.filter.maskBits = 2;
bd.position.set(-10.01f, 50.0f);
Body bod = world.createBody(bd);
bod.createFixture(sides);
bd.position.set(10.01f, 50.0f);
bod = world.createBody(bd);
bod.createFixture(sides);
}
// turney
{
CircleShape cd;
FixtureDef fd = new FixtureDef();
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
int numPieces = 5;
float radius = 4f;
bd.position = new Vec2(0.0f, 25.0f);
Body body = getWorld().createBody(bd);
for (int i = 0; i < numPieces; i++) {
cd = new CircleShape();
cd.m_radius = .5f;
fd.shape = cd;
fd.density = 25;
fd.friction = .1f;
fd.restitution = .9f;
float xPos = radius * (float) Math.cos(2f * Math.PI * (i / (float) (numPieces)));
float yPos = radius * (float) Math.sin(2f * Math.PI * (i / (float) (numPieces)));
cd.m_p.set(xPos, yPos);
body.createFixture(fd);
}
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.initialize(body, getGroundBody(), body.getPosition());
rjd.motorSpeed = MathUtils.PI;
rjd.maxMotorTorque = 1000000.0f;
rjd.enableMotor = true;
getWorld().createJoint(rjd);
}
{
Body prevBody = ground;
// Define crank.
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 2.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 7.0f);
Body body = getWorld().createBody(bd);
body.createFixture(shape, 2.0f);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.initialize(prevBody, body, new Vec2(0.0f, 5.0f));
rjd.motorSpeed = 1.0f * MathUtils.PI;
rjd.maxMotorTorque = 20000;
rjd.enableMotor = true;
getWorld().createJoint(rjd);
prevBody = body;
}
// Define follower.
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 4.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 13.0f);
Body body = getWorld().createBody(bd);
body.createFixture(shape, 2.0f);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.initialize(prevBody, body, new Vec2(0.0f, 9.0f));
rjd.enableMotor = false;
getWorld().createJoint(rjd);
prevBody = body;
}
// Define piston
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(7f, 2f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 17.0f);
Body body = getWorld().createBody(bd);
FixtureDef piston = new FixtureDef();
piston.shape = shape;
piston.density = 2;
piston.filter.categoryBits = 1;
piston.filter.maskBits = 2;
body.createFixture(piston);
body.setBullet(false);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.initialize(prevBody, body, new Vec2(0.0f, 17.0f));
getWorld().createJoint(rjd);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.initialize(ground, body, new Vec2(0.0f, 17.0f), new Vec2(0.0f, 1.0f));
pjd.maxMotorForce = 1000.0f;
pjd.enableMotor = true;
getWorld().createJoint(pjd);
}
// Create a payload
{
PolygonShape sd = new PolygonShape();
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
FixtureDef fixture = new FixtureDef();
Body body;
for (int i = 0; i < 100; ++i) {
sd.setAsBox(0.4f, 0.3f);
bd.position.set(-1.0f, 23.0f + i);
bd.bullet = bullet;
body = world.createBody(bd);
fixture.shape = sd;
fixture.density = .1f;
fixture.filter.categoryBits = 2;
fixture.filter.maskBits = 1 | 4 | 2;
body.createFixture(fixture);
}
CircleShape cd = new CircleShape();
cd.m_radius = 0.36f;
for (int i = 0; i < 100; ++i) {
bd.position.set(1.0f, 23.0f + i);
bd.bullet = bullet;
fixture.shape = cd;
fixture.density = 2f;
fixture.filter.categoryBits = 2;
fixture.filter.maskBits = 1 | 4 | 2;
body = world.createBody(bd);
body.createFixture(fixture);
}
float angle = 0.0f;
float delta = MathUtils.PI / 3.0f;
Vec2 vertices[] = new Vec2[6];
for (int i = 0; i < 6; ++i) {
vertices[i] = new Vec2(0.3f * MathUtils.cos(angle), 0.3f * MathUtils.sin(angle));
angle += delta;
}
PolygonShape shape = new PolygonShape();
shape.set(vertices, 6);
for (int i = 0; i < 100; ++i) {
bd.position.set(0f, 23.0f + i);
bd.type = BodyType.DYNAMIC;
bd.fixedRotation = true;
bd.bullet = bullet;
fixture.shape = shape;
fixture.density = 1f;
fixture.filter.categoryBits = 2;
fixture.filter.maskBits = 1 | 4 | 2;
body = world.createBody(bd);
body.createFixture(fixture);
}
}
}
}
@Override
public String getTestName() {
return "Piston Stress Test";
}
}