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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 7:59:38 PM Jan 12, 2011
*/
package org.jbox2d.testbed.tests;
import org.jbox2d.collision.shapes.CircleShape;
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.FixtureDef;
import org.jbox2d.dynamics.joints.Joint;
import org.jbox2d.dynamics.joints.RevoluteJoint;
import org.jbox2d.dynamics.joints.RevoluteJointDef;
import org.jbox2d.testbed.framework.TestbedSettings;
import org.jbox2d.testbed.framework.TestbedTest;
/**
* @author Daniel Murphy
*/
public class RevoluteTest extends TestbedTest {
private static final long JOINT_TAG = 1;
private RevoluteJoint m_joint;
private boolean isLeft = false;
@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 = (RevoluteJoint) joint;
isLeft = m_joint.getMotorSpeed() > 0;
} 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);
}
{
CircleShape shape = new CircleShape();
shape.m_radius = 0.5f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
RevoluteJointDef rjd = new RevoluteJointDef();
bd.position.set(-10f, 20.0f);
Body body = getWorld().createBody(bd);
body.createFixture(shape, 5.0f);
float w = 100.0f;
body.setAngularVelocity(w);
body.setLinearVelocity(new Vec2(-8.0f * w, 0.0f));
rjd.initialize(ground, body, new Vec2(-10.0f, 12.0f));
rjd.motorSpeed = -1.0f * MathUtils.PI;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = false;
rjd.lowerAngle = -0.25f * MathUtils.PI;
rjd.upperAngle = 0.5f * MathUtils.PI;
rjd.enableLimit = true;
rjd.collideConnected = true;
m_joint = (RevoluteJoint) getWorld().createJoint(rjd);
}
{
CircleShape circle_shape = new CircleShape();
circle_shape.m_radius = 3.0f;
BodyDef circle_bd = new BodyDef();
circle_bd.type = BodyType.DYNAMIC;
circle_bd.position.set(5.0f, 30.0f);
FixtureDef fd = new FixtureDef();
fd.density = 5.0f;
fd.filter.maskBits = 1;
fd.shape = circle_shape;
Body ball = m_world.createBody(circle_bd);
ball.createFixture(fd);
PolygonShape polygon_shape = new PolygonShape();
polygon_shape.setAsBox(10.0f, 0.2f, new Vec2(-10.0f, 0.0f), 0.0f);
BodyDef polygon_bd = new BodyDef();
polygon_bd.position.set(20.0f, 10.0f);
polygon_bd.type = BodyType.DYNAMIC;
polygon_bd.bullet = true;
Body polygon_body = m_world.createBody(polygon_bd);
polygon_body.createFixture(polygon_shape, 2.0f);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.initialize(ground, polygon_body, new Vec2(20.0f, 10.0f));
rjd.lowerAngle = -0.25f * MathUtils.PI;
rjd.upperAngle = 0.0f * MathUtils.PI;
rjd.enableLimit = true;
m_world.createJoint(rjd);
}
// Tests mass computation of a small object far from the origin
{
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bodyDef);
PolygonShape polyShape = new PolygonShape();
Vec2 verts[] = new Vec2[3];
verts[0] = new Vec2(17.63f, 36.31f);
verts[1] = new Vec2(17.52f, 36.69f);
verts[2] = new Vec2(17.19f, 36.36f);
polyShape.set(verts, 3);
FixtureDef polyFixtureDef = new FixtureDef();
polyFixtureDef.shape = polyShape;
polyFixtureDef.density = 1;
body.createFixture(polyFixtureDef); // assertion hits inside here
}
}
@Override
public void step(TestbedSettings settings) {
super.step(settings);
addTextLine("Limits " + (m_joint.isLimitEnabled() ? "on" : "off") + ", Motor "
+ (m_joint.isMotorEnabled() ? "on " : "off ") + (isLeft ? "left" : "right"));
addTextLine("Keys: (l) limits, (m) motor, (a) left, (d) right");
}
@Override
public void keyPressed(char argKeyChar, int argKeyCode) {
switch (argKeyChar) {
case 'l':
m_joint.enableLimit(!m_joint.isLimitEnabled());
break;
case 'm':
m_joint.enableMotor(!m_joint.isMotorEnabled());
break;
case 'a':
m_joint.setMotorSpeed(1.0f * MathUtils.PI);
isLeft = true;
break;
case 'd':
m_joint.setMotorSpeed(-1.0f * MathUtils.PI);
isLeft = false;
break;
}
}
@Override
public String getTestName() {
return "Revolute";
}
}