Added Box2D

external/Box2D-2.3.1/Contributions/Tests/Biped.cpp

@@ -0,0 +1,187 @@
+#include "Biped.h"
+#include "BipedDef.h"
+
+Biped::Biped(b2World* w, const b2Vec2& position)				
+{
+	m_world = w;
+
+	BipedDef def;
+	b2BodyDef bd;
+
+	// create body parts
+	bd = def.LFootDef;
+	bd.position += position;
+	LFoot = w->CreateBody(&bd);
+	LFoot->CreateFixture(&def.LFootPoly);
+	LFoot->SetMassFromShapes();
+
+	bd = def.RFootDef;
+	bd.position += position;
+	RFoot = w->CreateBody(&bd);
+	RFoot->CreateFixture(&def.RFootPoly);
+	RFoot->SetMassFromShapes();
+
+	bd = def.LCalfDef;
+	bd.position += position;
+	LCalf = w->CreateBody(&bd);
+	LCalf->CreateFixture(&def.LCalfPoly);
+	LCalf->SetMassFromShapes();
+
+	bd = def.RCalfDef;
+	bd.position += position;
+	RCalf = w->CreateBody(&bd);
+	RCalf->CreateFixture(&def.RCalfPoly);
+	RCalf->SetMassFromShapes();
+
+	bd = def.LThighDef;
+	bd.position += position;
+	LThigh = w->CreateBody(&bd);
+	LThigh->CreateFixture(&def.LThighPoly);
+	LThigh->SetMassFromShapes();
+
+	bd = def.RThighDef;
+	bd.position += position;
+	RThigh = w->CreateBody(&bd);
+	RThigh->CreateFixture(&def.RThighPoly);
+	RThigh->SetMassFromShapes();
+
+	bd = def.PelvisDef;
+	bd.position += position;
+	Pelvis = w->CreateBody(&bd);
+	Pelvis->CreateFixture(&def.PelvisPoly);
+	Pelvis->SetMassFromShapes();
+
+	bd = def.StomachDef;
+	bd.position += position;
+	Stomach = w->CreateBody(&bd);
+	Stomach->CreateFixture(&def.StomachPoly);
+	Stomach->SetMassFromShapes();
+
+	bd = def.ChestDef;
+	bd.position += position;
+	Chest = w->CreateBody(&bd);
+	Chest->CreateFixture(&def.ChestPoly);
+	Chest->SetMassFromShapes();
+
+	bd = def.NeckDef;
+	bd.position += position;
+	Neck = w->CreateBody(&bd);
+	Neck->CreateFixture(&def.NeckPoly);
+	Neck->SetMassFromShapes();
+
+	bd = def.HeadDef;
+	bd.position += position;
+	Head = w->CreateBody(&bd);
+	Head->CreateFixture(&def.HeadCirc);
+	Head->SetMassFromShapes();
+
+	bd = def.LUpperArmDef;
+	bd.position += position;
+	LUpperArm = w->CreateBody(&bd);
+	LUpperArm->CreateFixture(&def.LUpperArmPoly);
+	LUpperArm->SetMassFromShapes();
+
+	bd = def.RUpperArmDef;
+	bd.position += position;
+	RUpperArm = w->CreateBody(&bd);
+	RUpperArm->CreateFixture(&def.RUpperArmPoly);
+	RUpperArm->SetMassFromShapes();
+
+	bd = def.LForearmDef;
+	bd.position += position;
+	LForearm = w->CreateBody(&bd);
+	LForearm->CreateFixture(&def.LForearmPoly);
+	LForearm->SetMassFromShapes();
+
+	bd = def.RForearmDef;
+	bd.position += position;
+	RForearm = w->CreateBody(&bd);
+	RForearm->CreateFixture(&def.RForearmPoly);
+	RForearm->SetMassFromShapes();
+
+	bd = def.LHandDef;
+	bd.position += position;
+	LHand = w->CreateBody(&bd);
+	LHand->CreateFixture(&def.LHandPoly);
+	LHand->SetMassFromShapes();
+
+	bd = def.RHandDef;
+	bd.position += position;
+	RHand = w->CreateBody(&bd);
+	RHand->CreateFixture(&def.RHandPoly);
+	RHand->SetMassFromShapes();
+	
+	// link body parts
+	def.LAnkleDef.body1		= LFoot;
+	def.LAnkleDef.body2		= LCalf;
+	def.RAnkleDef.body1		= RFoot;
+	def.RAnkleDef.body2		= RCalf;
+	def.LKneeDef.body1		= LCalf;
+	def.LKneeDef.body2		= LThigh;
+	def.RKneeDef.body1		= RCalf;
+	def.RKneeDef.body2		= RThigh;
+	def.LHipDef.body1		= LThigh;
+	def.LHipDef.body2		= Pelvis;
+	def.RHipDef.body1		= RThigh;
+	def.RHipDef.body2		= Pelvis;
+	def.LowerAbsDef.body1	= Pelvis;
+	def.LowerAbsDef.body2	= Stomach;
+	def.UpperAbsDef.body1	= Stomach;
+	def.UpperAbsDef.body2	= Chest;
+	def.LowerNeckDef.body1	= Chest;
+	def.LowerNeckDef.body2	= Neck;
+	def.UpperNeckDef.body1	= Chest;
+	def.UpperNeckDef.body2	= Head;
+	def.LShoulderDef.body1	= Chest;
+	def.LShoulderDef.body2	= LUpperArm;
+	def.RShoulderDef.body1	= Chest;
+	def.RShoulderDef.body2	= RUpperArm;
+	def.LElbowDef.body1		= LForearm;
+	def.LElbowDef.body2		= LUpperArm;
+	def.RElbowDef.body1		= RForearm;
+	def.RElbowDef.body2		= RUpperArm;
+	def.LWristDef.body1		= LHand;
+	def.LWristDef.body2		= LForearm;
+	def.RWristDef.body1		= RHand;
+	def.RWristDef.body2		= RForearm;
+	
+	// create joints
+	LAnkle		= (b2RevoluteJoint*)w->CreateJoint(&def.LAnkleDef);
+	RAnkle		= (b2RevoluteJoint*)w->CreateJoint(&def.RAnkleDef);
+	LKnee		= (b2RevoluteJoint*)w->CreateJoint(&def.LKneeDef);
+	RKnee		= (b2RevoluteJoint*)w->CreateJoint(&def.RKneeDef);
+	LHip		= (b2RevoluteJoint*)w->CreateJoint(&def.LHipDef);
+	RHip		= (b2RevoluteJoint*)w->CreateJoint(&def.RHipDef);
+	LowerAbs	= (b2RevoluteJoint*)w->CreateJoint(&def.LowerAbsDef);
+	UpperAbs	= (b2RevoluteJoint*)w->CreateJoint(&def.UpperAbsDef);
+	LowerNeck	= (b2RevoluteJoint*)w->CreateJoint(&def.LowerNeckDef);
+	UpperNeck	= (b2RevoluteJoint*)w->CreateJoint(&def.UpperNeckDef);
+	LShoulder	= (b2RevoluteJoint*)w->CreateJoint(&def.LShoulderDef);
+	RShoulder	= (b2RevoluteJoint*)w->CreateJoint(&def.RShoulderDef);
+	LElbow		= (b2RevoluteJoint*)w->CreateJoint(&def.LElbowDef);
+	RElbow		= (b2RevoluteJoint*)w->CreateJoint(&def.RElbowDef);
+	LWrist		= (b2RevoluteJoint*)w->CreateJoint(&def.LWristDef);
+	RWrist		= (b2RevoluteJoint*)w->CreateJoint(&def.RWristDef);
+}
+
+
+Biped::~Biped(void)
+{
+	m_world->DestroyBody(LFoot);
+	m_world->DestroyBody(RFoot);
+	m_world->DestroyBody(LCalf);
+	m_world->DestroyBody(RCalf);
+	m_world->DestroyBody(LThigh);
+	m_world->DestroyBody(RThigh);
+	m_world->DestroyBody(Pelvis);
+	m_world->DestroyBody(Stomach);
+	m_world->DestroyBody(Chest);
+	m_world->DestroyBody(Neck);
+	m_world->DestroyBody(Head);
+	m_world->DestroyBody(LUpperArm);
+	m_world->DestroyBody(RUpperArm);
+	m_world->DestroyBody(LForearm);
+	m_world->DestroyBody(RForearm);
+	m_world->DestroyBody(LHand);
+	m_world->DestroyBody(RHand);
+}