/*******************************************************************************
* Copyright (c) 2013, 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.
*
* 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 THE COPYRIGHT HOLDER OR CONTRIBUTORS 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.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.DistanceJointDef;
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 TheoJansen extends TestbedTest {
private static final long CHASSIS_TAG = 1;
private static final long WHEEL_TAG = 2;
private static final long MOTOR_TAG = 8;
Vec2 m_offset = new Vec2();
Body m_chassis;
Body m_wheel;
RevoluteJoint m_motorJoint;
boolean m_motorOn;
float m_motorSpeed;
@Override
public Long getTag(Body argBody) {
if (argBody == m_chassis) {
return CHASSIS_TAG;
} else if (argBody == m_wheel) {
return WHEEL_TAG;
}
return null;
}
@Override
public Long getTag(Joint argJoint) {
if (argJoint == m_motorJoint) {
return MOTOR_TAG;
}
return null;
}
@Override
public void processBody(Body argBody, Long argTag) {
if (argTag == CHASSIS_TAG) {
m_chassis = argBody;
} else if (argTag == WHEEL_TAG) {
m_wheel = argBody;
}
}
@Override
public void processJoint(Joint argJoint, Long argTag) {
if (argTag == MOTOR_TAG) {
m_motorJoint = (RevoluteJoint) argJoint;
m_motorOn = m_motorJoint.isMotorEnabled();
}
}
@Override
public boolean isSaveLoadEnabled() {
return true;
}
@Override
public void initTest(boolean argDeserialized) {
if (argDeserialized) {
return;
}
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 = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-50.0f, 0.0f), new Vec2(50.0f, 0.0f));
ground.createFixture(shape, 0.0f);
shape.set(new Vec2(-50.0f, 0.0f), new Vec2(-50.0f, 10.0f));
ground.createFixture(shape, 0.0f);
shape.set(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 = getWorld().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 = getWorld().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 = getWorld().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) getWorld().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 = getWorld().createBody(bd1);
Body body2 = getWorld().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));
getWorld().createJoint(djd);
djd.initialize(body1, body2, p3.add(m_offset), p4.add(m_offset));
getWorld().createJoint(djd);
djd.initialize(body1, m_wheel, p3.add(m_offset), wheelAnchor.add(m_offset));
getWorld().createJoint(djd);
djd.initialize(body2, m_wheel, p6.add(m_offset), wheelAnchor.add(m_offset));
getWorld().createJoint(djd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.initialize(body2, m_chassis, p4.add(m_offset));
getWorld().createJoint(rjd);
}
@Override
public void keyPressed(char key, int argKeyCode) {
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 void step(TestbedSettings settings) {
super.step(settings);
addTextLine("Keys: left = a, brake = s, right = d, toggle motor = m");
}
@Override
public String getTestName() {
return "TheoJansen Walker";
}
}