/*******************************************************************************
* 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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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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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.RevoluteJointDef;
import org.jbox2d.dynamics.joints.WheelJoint;
import org.jbox2d.dynamics.joints.WheelJointDef;
import org.jbox2d.testbed.framework.TestbedSettings;
import org.jbox2d.testbed.framework.TestbedTest;
public class Car extends TestbedTest {
private static final long CAR_TAG = 100l;
private static final long WHEEL1_TAG = 101l;
private static final long WHEEL2_TAG = 102l;
private static final long SPRING1_TAG = 103l;
private static final long SPRING2_TAG = 104l;
private Body m_car;
private Body m_wheel1;
private Body m_wheel2;
private float m_hz;
private float m_zeta;
private float m_speed;
private WheelJoint m_spring1;
private WheelJoint m_spring2;
@Override
public Long getTag(Body body) {
if (body == m_car) {
return CAR_TAG;
}
if (body == m_wheel1) {
return WHEEL1_TAG;
}
if (body == m_wheel2) {
return WHEEL2_TAG;
}
return super.getTag(body);
}
@Override
public Long getTag(Joint joint) {
if (joint == m_spring1) {
return SPRING1_TAG;
}
if (joint == m_spring2) {
return SPRING2_TAG;
}
return super.getTag(joint);
}
@Override
public void processBody(Body body, Long tag) {
if (tag == CAR_TAG) {
m_car = body;
} else if (tag == WHEEL1_TAG) {
m_wheel1 = body;
} else if (tag == WHEEL2_TAG) {
m_wheel2 = body;
} else {
super.processBody(body, tag);
}
}
@Override
public void processJoint(Joint joint, Long tag) {
if (tag == SPRING1_TAG) {
m_spring1 = (WheelJoint) joint;
} else if (tag == SPRING2_TAG) {
m_spring2 = (WheelJoint) joint;
} else {
super.processJoint(joint, tag);
}
}
@Override
public boolean isSaveLoadEnabled() {
return true;
}
@Override
public String getTestName() {
return "Car";
}
@Override
public void initTest(boolean deserialized) {
if (deserialized) {
return;
}
m_hz = 4.0f;
m_zeta = 0.7f;
m_speed = 50.0f;
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.createBody(bd);
EdgeShape shape = new EdgeShape();
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 0.0f;
fd.friction = 0.6f;
shape.set(new Vec2(-20.0f, 0.0f), new Vec2(20.0f, 0.0f));
ground.createFixture(fd);
float hs[] = {0.25f, 1.0f, 4.0f, 0.0f, 0.0f, -1.0f, -2.0f, -2.0f, -1.25f, 0.0f};
float x = 20.0f, y1 = 0.0f, dx = 5.0f;
for (int i = 0; i < 10; ++i) {
float y2 = hs[i];
shape.set(new Vec2(x, y1), new Vec2(x + dx, y2));
ground.createFixture(fd);
y1 = y2;
x += dx;
}
for (int i = 0; i < 10; ++i) {
float y2 = hs[i];
shape.set(new Vec2(x, y1), new Vec2(x + dx, y2));
ground.createFixture(fd);
y1 = y2;
x += dx;
}
shape.set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f));
ground.createFixture(fd);
x += 80.0f;
shape.set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f));
ground.createFixture(fd);
x += 40.0f;
shape.set(new Vec2(x, 0.0f), new Vec2(x + 10.0f, 5.0f));
ground.createFixture(fd);
x += 20.0f;
shape.set(new Vec2(x, 0.0f), new Vec2(x + 40.0f, 0.0f));
ground.createFixture(fd);
x += 40.0f;
shape.set(new Vec2(x, 0.0f), new Vec2(x, 20.0f));
ground.createFixture(fd);
}
// Teeter
{
BodyDef bd = new BodyDef();
bd.position.set(140.0f, 1.0f);
bd.type = BodyType.DYNAMIC;
Body body = m_world.createBody(bd);
PolygonShape box = new PolygonShape();
box.setAsBox(10.0f, 0.25f);
body.createFixture(box, 1.0f);
RevoluteJointDef jd = new RevoluteJointDef();
jd.initialize(ground, body, body.getPosition());
jd.lowerAngle = -8.0f * MathUtils.PI / 180.0f;
jd.upperAngle = 8.0f * MathUtils.PI / 180.0f;
jd.enableLimit = true;
m_world.createJoint(jd);
body.applyAngularImpulse(100.0f);
}
// Bridge
{
int N = 20;
PolygonShape shape = new PolygonShape();
shape.setAsBox(1.0f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
fd.friction = 0.6f;
RevoluteJointDef jd = new RevoluteJointDef();
Body prevBody = ground;
for (int i = 0; i < N; ++i) {
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(161.0f + 2.0f * i, -0.125f);
Body body = m_world.createBody(bd);
body.createFixture(fd);
Vec2 anchor = new Vec2(160.0f + 2.0f * i, -0.125f);
jd.initialize(prevBody, body, anchor);
m_world.createJoint(jd);
prevBody = body;
}
Vec2 anchor = new Vec2(160.0f + 2.0f * N, -0.125f);
jd.initialize(prevBody, ground, anchor);
m_world.createJoint(jd);
}
// Boxes
{
PolygonShape box = new PolygonShape();
box.setAsBox(0.5f, 0.5f);
Body body = null;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(230.0f, 0.5f);
body = m_world.createBody(bd);
body.createFixture(box, 0.5f);
bd.position.set(230.0f, 1.5f);
body = m_world.createBody(bd);
body.createFixture(box, 0.5f);
bd.position.set(230.0f, 2.5f);
body = m_world.createBody(bd);
body.createFixture(box, 0.5f);
bd.position.set(230.0f, 3.5f);
body = m_world.createBody(bd);
body.createFixture(box, 0.5f);
bd.position.set(230.0f, 4.5f);
body = m_world.createBody(bd);
body.createFixture(box, 0.5f);
}
// Car
{
PolygonShape chassis = new PolygonShape();
Vec2 vertices[] = new Vec2[8];
vertices[0] = new Vec2(-1.5f, -0.5f);
vertices[1] = new Vec2(1.5f, -0.5f);
vertices[2] = new Vec2(1.5f, 0.0f);
vertices[3] = new Vec2(0.0f, 0.9f);
vertices[4] = new Vec2(-1.15f, 0.9f);
vertices[5] = new Vec2(-1.5f, 0.2f);
chassis.set(vertices, 6);
CircleShape circle = new CircleShape();
circle.m_radius = 0.4f;
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(0.0f, 1.0f);
m_car = m_world.createBody(bd);
m_car.createFixture(chassis, 1.0f);
FixtureDef fd = new FixtureDef();
fd.shape = circle;
fd.density = 1.0f;
fd.friction = 0.9f;
bd.position.set(-1.0f, 0.35f);
m_wheel1 = m_world.createBody(bd);
m_wheel1.createFixture(fd);
bd.position.set(1.0f, 0.4f);
m_wheel2 = m_world.createBody(bd);
m_wheel2.createFixture(fd);
WheelJointDef jd = new WheelJointDef();
Vec2 axis = new Vec2(0.0f, 1.0f);
jd.initialize(m_car, m_wheel1, m_wheel1.getPosition(), axis);
jd.motorSpeed = 0.0f;
jd.maxMotorTorque = 20.0f;
jd.enableMotor = true;
jd.frequencyHz = m_hz;
jd.dampingRatio = m_zeta;
m_spring1 = (WheelJoint) m_world.createJoint(jd);
jd.initialize(m_car, m_wheel2, m_wheel2.getPosition(), axis);
jd.motorSpeed = 0.0f;
jd.maxMotorTorque = 10.0f;
jd.enableMotor = false;
jd.frequencyHz = m_hz;
jd.dampingRatio = m_zeta;
m_spring2 = (WheelJoint) m_world.createJoint(jd);
}
}
@Override
public void keyPressed(char argKeyChar, int argKeyCode) {
switch (argKeyChar) {
case 'a':
m_spring1.enableMotor(true);
m_spring1.setMotorSpeed(m_speed);
break;
case 's':
m_spring1.enableMotor(true);
m_spring1.setMotorSpeed(0.0f);
break;
case 'd':
m_spring1.enableMotor(true);
m_spring1.setMotorSpeed(-m_speed);
break;
case 'q':
m_hz = MathUtils.max(0.0f, m_hz - 1.0f);
m_spring1.setSpringFrequencyHz(m_hz);
m_spring2.setSpringFrequencyHz(m_hz);
break;
case 'e':
m_hz += 1.0f;
m_spring1.setSpringFrequencyHz(m_hz);
m_spring2.setSpringFrequencyHz(m_hz);
break;
}
}
@Override
public void keyReleased(char argKeyChar, int argKeyCode) {
super.keyReleased(argKeyChar, argKeyCode);
switch (argKeyChar) {
case 'a':
case 's':
case 'd':
m_spring1.enableMotor(false);
break;
}
}
@Override
public float getDefaultCameraScale() {
return 15;
}
@Override
public synchronized void step(TestbedSettings settings) {
super.step(settings);
addTextLine("Keys: left = a, brake = s, right = d, hz down = q, hz up = e");
addTextLine("frequency = " + m_hz + " hz, damping ratio = " + m_zeta);
getCamera().setCamera(m_car.getPosition());
}
}