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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:
* * Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
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******************************************************************************/
/**
* .created at 1:14:57 AM Jan 14, 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.FixtureDef;
import org.jbox2d.dynamics.joints.PrismaticJointDef;
import org.jbox2d.dynamics.joints.RevoluteJointDef;
import org.jbox2d.testbed.framework.TestbedSettings;
import org.jbox2d.testbed.framework.TestbedTest;
/**
* @author Daniel Murphy
*/
public class BodyTypes extends TestbedTest {
private final static long ATTACHMENT_TAG = 19;
private final static long PLATFORM_TAG = 20;
Body m_attachment;
Body m_platform;
float m_speed;
@Override
public Long getTag(Body body) {
if (body == m_attachment)
return ATTACHMENT_TAG;
if (body == m_platform)
return PLATFORM_TAG;
return super.getTag(body);
}
@Override
public void processBody(Body body, Long tag) {
if (tag == ATTACHMENT_TAG) {
m_attachment = body;
} else if (tag == PLATFORM_TAG) {
m_platform = body;
} else {
super.processBody(body, tag);
}
}
@Override
public boolean isSaveLoadEnabled() {
return true;
}
@Override
public void initTest(boolean deserialized) {
m_speed = 3.0f;
if (deserialized) {
return;
}
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
FixtureDef fd = new FixtureDef();
fd.shape = shape;
ground.createFixture(fd);
}
// Define attachment
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 3.0f);
m_attachment = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 2.0f);
m_attachment.createFixture(shape, 2.0f);
}
// Define platform
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-4.0f, 5.0f);
m_platform = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.5f, 4.0f, new Vec2(4.0f, 0.0f), 0.5f * MathUtils.PI);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.density = 2.0f;
m_platform.createFixture(fd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.initialize(m_attachment, m_platform, new Vec2(0.0f, 5.0f));
rjd.maxMotorTorque = 50.0f;
rjd.enableMotor = true;
getWorld().createJoint(rjd);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.initialize(ground, m_platform, new Vec2(0.0f, 5.0f), new Vec2(1.0f, 0.0f));
pjd.maxMotorForce = 1000.0f;
pjd.enableMotor = true;
pjd.lowerTranslation = -10.0f;
pjd.upperTranslation = 10.0f;
pjd.enableLimit = true;
getWorld().createJoint(pjd);
}
// .create a payload
{
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 8.0f);
Body body = getWorld().createBody(bd);
PolygonShape shape = new PolygonShape();
shape.setAsBox(0.75f, 0.75f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.density = 2.0f;
body.createFixture(fd);
}
}
@Override
public void step(TestbedSettings settings) {
super.step(settings);
addTextLine("Keys: (d) dynamic, (s) static, (k) kinematic");
// Drive the kinematic body.
if (m_platform.getType() == BodyType.KINEMATIC) {
Vec2 p = m_platform.getTransform().p;
Vec2 v = m_platform.getLinearVelocity();
if ((p.x < -10.0f && v.x < 0.0f) || (p.x > 10.0f && v.x > 0.0f)) {
v.x = -v.x;
m_platform.setLinearVelocity(v);
}
}
}
@Override
public void keyPressed(char argKeyChar, int argKeyCode) {
switch (argKeyChar) {
case 'd':
m_platform.setType(BodyType.DYNAMIC);
break;
case 's':
m_platform.setType(BodyType.STATIC);
break;
case 'k':
m_platform.setType(BodyType.KINEMATIC);
m_platform.setLinearVelocity(new Vec2(-m_speed, 0.0f));
m_platform.setAngularVelocity(0.0f);
break;
}
}
@Override
public String getTestName() {
return "Body Types";
}
}