/*******************************************************************************
* 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 list of conditions and the following disclaimer in the documentation
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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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* NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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* POSSIBILITY OF SUCH DAMAGE.
******************************************************************************/
/**
* Created at 6:00:03 AM Jan 12, 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.joints.Joint;
import org.jbox2d.dynamics.joints.PrismaticJoint;
import org.jbox2d.dynamics.joints.PrismaticJointDef;
import org.jbox2d.testbed.framework.TestbedSettings;
import org.jbox2d.testbed.framework.TestbedTest;
/**
* @author Daniel Murphy
*/
public class PrismaticTest extends TestbedTest {
private static final long JOINT_TAG = 1;
PrismaticJoint m_joint;
@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 = (PrismaticJoint) joint;
} 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);
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(2.0f, 0.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-10.0f, 10.0f);
bd.angle = 0.5f * MathUtils.PI;
bd.allowSleep = false;
Body body = getWorld().createBody(bd);
body.createFixture(shape, 5.0f);
PrismaticJointDef pjd = new PrismaticJointDef();
// Bouncy limit
Vec2 axis = new Vec2(2.0f, 1.0f);
axis.normalize();
pjd.initialize(ground, body, new Vec2(0.0f, 0.0f), axis);
// Non-bouncy limit
// pjd.Initialize(ground, body, Vec2(-10.0f, 10.0f), Vec2(1.0f, 0.0f));
pjd.motorSpeed = 10.0f;
pjd.maxMotorForce = 10000.0f;
pjd.enableMotor = true;
pjd.lowerTranslation = 0.0f;
pjd.upperTranslation = 20.0f;
pjd.enableLimit = true;
m_joint = (PrismaticJoint) getWorld().createJoint(pjd);
}
}
@Override
public void step(TestbedSettings settings) {
super.step(settings);
addTextLine("Keys: (l) limits, (m) motors, (s) speed");
float force = m_joint.getMotorForce(1);
addTextLine("Motor Force = " + force);
}
@Override
public void keyPressed(char argKeyChar, int argKeyCode) {
switch (argKeyChar) {
case 'l':
m_joint.enableLimit(!m_joint.isLimitEnabled());
getModel().getKeys()['l'] = false;
break;
case 'm':
m_joint.enableMotor(!m_joint.isMotorEnabled());
getModel().getKeys()['m'] = false;
break;
case 's':
m_joint.setMotorSpeed(-m_joint.getMotorSpeed());
getModel().getKeys()['s'] = false;
break;
}
}
@Override
public String getTestName() {
return "Prismatic";
}
}