/*******************************************************************************
* 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 7:47:37 PM Jan 12, 2011
*/
package org.jbox2d.testbed.tests;
import java.util.Formatter;
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.PrismaticJoint;
import org.jbox2d.dynamics.joints.PrismaticJointDef;
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 SliderCrankTest extends TestbedTest {
private RevoluteJoint m_joint1;
private PrismaticJoint m_joint2;
@Override
public void initTest(boolean argDeserialized) {
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);
}
{
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 = 10000.0f;
rjd.enableMotor = true;
m_joint1 = (RevoluteJoint) 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(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.fixedRotation = true;
bd.position.set(0.0f, 17.0f);
Body body = getWorld().createBody(bd);
body.createFixture(shape, 2.0f);
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 = false;
m_joint2 = (PrismaticJoint) getWorld().createJoint(pjd);
}
// Create a payload
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 23.0f);
Body body = getWorld().createBody(bd);
body.createFixture(shape, 2.0f);
}
}
}
@Override
public void step(TestbedSettings settings) {
super.step(settings);
addTextLine("Keys: (f) toggle friction, (m) toggle motor");
float torque = m_joint1.getMotorTorque(1);
Formatter f = new Formatter();
addTextLine(f.format("Friction: %b, Motor Force = %5.0f, ", m_joint2.isMotorEnabled(), torque)
.toString());
f.close();
}
@Override
public void keyPressed(char argKeyChar, int argKeyCode) {
switch (argKeyChar) {
case 'f':
m_joint2.enableMotor(!m_joint2.isMotorEnabled());
getModel().getKeys()['f'] = false;
break;
case 'm':
m_joint1.enableMotor(!m_joint1.isMotorEnabled());
getModel().getKeys()['m'] = false;
break;
}
}
@Override
public String getTestName() {
return "Slider Crank";
}
}