PrismaticTest.java

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 * Copyright (c) 2013, Daniel Murphy
 * All rights reserved.
 * 
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 * are permitted provided that the following conditions are met:
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/**
 * Created at 6:00:03 AM Jan 12, 2011
 */
package org.jbox2d.testbed.tests;

import org.jbox2d.collision.shapes.EdgeShape;
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.joints.Joint;
import org.jbox2d.dynamics.joints.PrismaticJoint;
import org.jbox2d.dynamics.joints.PrismaticJointDef;
import org.jbox2d.testbed.framework.TestbedSettings;
import org.jbox2d.testbed.framework.TestbedTest;

/**
 * @author Daniel Murphy
 */
public class PrismaticTest extends TestbedTest {
  private static final long JOINT_TAG = 1;
  PrismaticJoint m_joint;

  @Override
  public Long getTag(Joint joint) {
    if (joint == m_joint)
      return JOINT_TAG;
    return super.getTag(joint);
  }

  @Override
  public void processJoint(Joint joint, Long tag) {
    if (tag == JOINT_TAG) {
      m_joint = (PrismaticJoint) joint;
    } else {
      super.processJoint(joint, tag);
    }
  }

  @Override
  public boolean isSaveLoadEnabled() {
    return true;
  }

  @Override
  public void initTest(boolean deserialized) {
    if (deserialized) {
      return;
    }
    Body ground = null;
    {
      BodyDef bd = new BodyDef();
      ground = getWorld().createBody(bd);

      EdgeShape shape = new EdgeShape();
      shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
      ground.createFixture(shape, 0.0f);
    }

    {
      PolygonShape shape = new PolygonShape();
      shape.setAsBox(2.0f, 0.5f);

      BodyDef bd = new BodyDef();
      bd.type = BodyType.DYNAMIC;
      bd.position.set(-10.0f, 10.0f);
      bd.angle = 0.5f * MathUtils.PI;
      bd.allowSleep = false;
      Body body = getWorld().createBody(bd);
      body.createFixture(shape, 5.0f);

      PrismaticJointDef pjd = new PrismaticJointDef();

      // Bouncy limit
      Vec2 axis = new Vec2(2.0f, 1.0f);
      axis.normalize();
      pjd.initialize(ground, body, new Vec2(0.0f, 0.0f), axis);

      // Non-bouncy limit
      // pjd.Initialize(ground, body, Vec2(-10.0f, 10.0f), Vec2(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 = (PrismaticJoint) getWorld().createJoint(pjd);
    }
  }

  @Override
  public void step(TestbedSettings settings) {
    super.step(settings);
    addTextLine("Keys: (l) limits, (m) motors, (s) speed");
    float force = m_joint.getMotorForce(1);
    addTextLine("Motor Force = " + force);
  }

  @Override
  public void keyPressed(char argKeyChar, int argKeyCode) {

    switch (argKeyChar) {
      case 'l':
        m_joint.enableLimit(!m_joint.isLimitEnabled());
        getModel().getKeys()['l'] = false;
        break;
      case 'm':
        m_joint.enableMotor(!m_joint.isMotorEnabled());
        getModel().getKeys()['m'] = false;
        break;
      case 's':
        m_joint.setMotorSpeed(-m_joint.getMotorSpeed());
        getModel().getKeys()['s'] = false;
        break;
    }
  }

  @Override
  public String getTestName() {
    return "Prismatic";
  }
}