Added Box2D
This commit is contained in:
Julian Nießner
465
external/Box2D-2.3.1/Contributions/Tests/ElasticBody.h
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465
external/Box2D-2.3.1/Contributions/Tests/ElasticBody.h
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/*
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* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.com
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef ELASTIC_BODY_H
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#define ELASTIC_BODY_H
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class ElasticBody : public Test
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{
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public:
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b2Body* bodies[64];
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b2Body* m_ground;
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b2Body* m_elev;
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b2PrismaticJoint* m_joint_elev;
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/// Main...
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ElasticBody()
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{
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/// Bottom static body
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{
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b2PolygonDef sd;
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sd.SetAsBox(50.0f, 2.0f);
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sd.friction = 0.1f;
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sd.restitution = 0.1f;
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b2BodyDef bd;
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bd.position.Set(-1.0f, -7.5f);
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m_ground = m_world->CreateBody(&bd);
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m_ground->CreateFixture(&sd);
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}
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/// Upper static body
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{
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b2PolygonDef sd;
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sd.SetAsBox(20.0f, 0.50f,b2Vec2(0.f,0.f),0.047f*b2_pi);
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sd.friction = 0.01f;
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sd.restitution = 0.001f;
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b2BodyDef bd;
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bd.position.Set(-20.f, 93.0f);
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b2Body* g = m_world->CreateBody(&bd);
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g->CreateFixture(&sd);
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sd.SetAsBox(15.f, 0.50f,b2Vec2(-15.0f,12.5f),0.0f);
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g->CreateFixture(&sd);
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sd.SetAsBox(20.f,0.5f,b2Vec2(0.0f,-25.0f),-0.5f);
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g->CreateFixture(&sd);
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}
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/// Left channel left wall
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{
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b2PolygonDef sd;
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sd.SetAsBox(0.7f, 55.0f);
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sd.friction = 0.1f;
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sd.restitution = 0.1f;
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b2BodyDef bd;
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bd.position.Set(-49.3f, 50.0f);
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b2Body* g = m_world->CreateBody(&bd);
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g->CreateFixture(&sd);
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}
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/// Right wall
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{
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b2PolygonDef sd;
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sd.SetAsBox(0.7f, 55.0f);
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sd.friction = 0.1f;
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sd.restitution = 0.1f;
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b2BodyDef bd;
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bd.position.Set(45.f, 50.0f);
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b2Body* g = m_world->CreateBody(&bd);
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g->CreateFixture(&sd);
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}
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/// Left channel right upper wall
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{
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b2PolygonDef sd;
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sd.SetAsBox(0.5f, 20.0f);
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sd.friction = 0.05f;
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sd.restitution = 0.01f;
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b2BodyDef bd;
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bd.position.Set(-42.0f, 70.0f);
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bd.angle = -0.03f*b2_pi;
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b2Body* g = m_world->CreateBody(&bd);
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g->CreateFixture(&sd);
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}
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/// Left channel right lower wall
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{
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b2PolygonDef sd;
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sd.SetAsBox(0.50f, 23.0f);
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sd.friction = 0.05f;
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sd.restitution = 0.01f;
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b2BodyDef bd;
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bd.position.Set(-44.0f, 27.0f);
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b2Body* g = m_world->CreateBody(&bd);
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g->CreateFixture(&sd);
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/// Bottom motors
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b2CircleDef cd;
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cd.radius = 3.0f;
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cd.density = 15.0f;
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cd.friction = 1.f;
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cd.restitution = 0.2f;
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/// 1.
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bd.position.Set(-40.0f,2.5f);
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b2Body* body = m_world->CreateBody(&bd);
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body->CreateFixture(&cd);
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body->SetMassFromShapes();
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b2RevoluteJointDef jr;
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jr.Initialize (g,body,body->GetWorldCenter()+b2Vec2(0.f,1.f));
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jr.maxMotorTorque = 30000.f;
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jr.enableMotor = true;
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jr.motorSpeed = 20.f;
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m_world->CreateJoint(&jr);
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/// 1. left down
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bd.position.Set(-46.0f,-2.5f);
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cd. radius = 1.5f; jr.motorSpeed = -20.f;
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body = m_world->CreateBody(&bd);
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body->CreateFixture(&cd);
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sd.SetAsBox(2.0f, 0.50f);
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body->CreateFixture(&sd);
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body->SetMassFromShapes();
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jr.Initialize (g,body,body->GetWorldCenter());
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m_world->CreateJoint(&jr);
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/// 2.
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cd.radius = 3.0f; jr.motorSpeed = 20.f;
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bd.position.Set(-32.0f,2.5f);
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body = m_world->CreateBody(&bd);
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body->CreateFixture(&cd);
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body->SetMassFromShapes();
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jr.Initialize (g,body,body->GetWorldCenter()+b2Vec2(0.f,1.f));
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m_world->CreateJoint(&jr);
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/// 3.
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jr.motorSpeed = 20.f;
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bd.position.Set(-24.0f,1.5f);
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body = m_world->CreateBody(&bd);
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body->CreateFixture(&cd);
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body->SetMassFromShapes();
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jr.Initialize (g,body,body->GetWorldCenter()+b2Vec2(0.f,1.f));
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m_world->CreateJoint(&jr);
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/// 4.
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bd.position.Set(-16.0f,0.8f);
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body = m_world->CreateBody(&bd);
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body->CreateFixture(&cd);
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body->SetMassFromShapes();
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jr.Initialize (g,body,body->GetWorldCenter()+b2Vec2(0.f,1.f));
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m_world->CreateJoint(&jr);
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/// 5.
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bd.position.Set(-8.0f,0.5f);
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body = m_world->CreateBody(&bd);
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body->CreateFixture(&cd);
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body->SetMassFromShapes();
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jr.Initialize (g,body,body->GetWorldCenter()+b2Vec2(0.f,1.f));
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m_world->CreateJoint(&jr);
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/// 6.
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bd.position.Set(0.0f,0.1f);
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body = m_world->CreateBody(&bd);
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body->CreateFixture(&cd);
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body->SetMassFromShapes();
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jr.Initialize (g,body,body->GetWorldCenter()+b2Vec2(0.f,1.f));
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m_world->CreateJoint(&jr);
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/// 7.
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bd.position.Set(8.0f,-0.5f);
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body = m_world->CreateBody(&bd);
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body->CreateFixture(&cd);
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sd.SetAsBox(3.7f, 0.5f);
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body->CreateFixture(&sd);
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body->SetMassFromShapes();
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jr.Initialize (g,body,body->GetWorldCenter()+b2Vec2(0.f,1.f));
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m_world->CreateJoint(&jr);
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/// 8. right rotator
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sd.SetAsBox(5.f, 0.5f);
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sd.density = 2.0f;
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bd.position.Set(18.0f,1.f);
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b2Body* rightmotor = m_world->CreateBody(&bd);
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rightmotor->CreateFixture(&sd);
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sd.SetAsBox(4.5f, 0.5f, b2Vec2(0.f,0.f),b2_pi/3.f);
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rightmotor->CreateFixture(&sd);
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sd.SetAsBox(4.5f, 0.5f, b2Vec2(0.f,0.f),b2_pi*2.f/3.f);
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rightmotor->CreateFixture(&sd);
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cd.radius = 4.2f;
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rightmotor->CreateFixture(&cd);
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rightmotor->SetMassFromShapes();
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jr.Initialize (g,rightmotor,rightmotor->GetWorldCenter());
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jr.maxMotorTorque = 70000.f;
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jr.motorSpeed = -4.f;
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m_world->CreateJoint(&jr);
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/// 9. left rotator
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sd.SetAsBox(8.5f, 0.5f);
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sd.density = 2.0f;
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bd.position.Set(-34.0f,17.f);
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body = m_world->CreateBody(&bd);
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body->CreateFixture(&sd);
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sd.SetAsBox(8.5f, 0.5f, b2Vec2(0.f,0.f),b2_pi*.5f);
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body->CreateFixture(&sd);
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cd.radius = 7.f;
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cd.friction = 0.9f;
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body->CreateFixture(&cd);
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body->SetMassFromShapes();
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jr.Initialize (g,body,body->GetWorldCenter());
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jr.maxMotorTorque = 100000.f;
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jr.motorSpeed = -5.f;
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m_world->CreateJoint(&jr);
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/// big compressor
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sd.SetAsBox(3.0f,4.f);
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sd.density = 10.0f;
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bd.position.Set(-16.0f,17.f);
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b2Body *hammerleft = m_world->CreateBody(&bd);
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hammerleft->CreateFixture(&sd);
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hammerleft->SetMassFromShapes();
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b2DistanceJointDef jd;
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jd.Initialize(body, hammerleft, body->GetWorldCenter()+b2Vec2(0.f,6.f), hammerleft->GetWorldCenter() );
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m_world->CreateJoint(&jd);
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bd.position.Set(4.0f,17.f);
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b2Body *hammerright = m_world->CreateBody(&bd);
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hammerright->CreateFixture(&sd);
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hammerright->SetMassFromShapes();
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jd.Initialize(body, hammerright, body->GetWorldCenter()-b2Vec2(0.f,6.f), hammerright->GetWorldCenter() );
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m_world->CreateJoint(&jd);
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/// pusher
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sd.SetAsBox(6.f,0.75f);
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bd.position.Set(-21.0f,9.f);
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b2Body* pusher = m_world->CreateBody(&bd);
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pusher->CreateFixture(&sd);
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sd.SetAsBox(2.f,1.5f,b2Vec2(-5.f,0.f),0.f);
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pusher->SetMassFromShapes();
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pusher->CreateFixture(&sd);
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jd.Initialize(rightmotor,pusher,rightmotor->GetWorldCenter()+b2Vec2(-8.0f,0.f),
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pusher->GetWorldCenter()+b2Vec2(5.0f,0.f) );
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m_world->CreateJoint(&jd);
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}
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/// Static bodies above motors
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{
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b2PolygonDef sd;
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b2CircleDef cd;
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sd.SetAsBox(9.0f, 0.5f);
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sd.friction = 0.05f;
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sd.restitution = 0.01f;
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b2BodyDef bd;
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bd.position.Set(-15.5f, 12.f);
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bd.angle = 0.0;
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b2Body* g = m_world->CreateBody(&bd);
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g->CreateFixture(&sd);
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sd.SetAsBox(8.f, 0.5f, b2Vec2(23.f,0.f),0.f);
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g->CreateFixture(&sd);
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/// compressor statics
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sd.SetAsBox(7.0f, 0.5f, b2Vec2(-2.f,9.f),0.f);
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g->CreateFixture(&sd);
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sd.SetAsBox(9.0f, 0.5f, b2Vec2(22.f,9.f),0.f);
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g->CreateFixture(&sd);
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sd.SetAsBox(19.0f, 0.5f, b2Vec2(-9.f,15.f),-0.05f);
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g->CreateFixture(&sd);
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sd.SetAsBox(4.7f, 0.5f, b2Vec2(15.f,11.5f),-0.5f);
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g->CreateFixture(&sd);
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/// below compressor
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sd.SetAsBox(26.0f, 0.3f, b2Vec2(17.f,-4.4f),-0.02f);
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g->CreateFixture(&sd);
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cd.radius = 1.0f; cd.friction = 1.0;
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cd.localPosition = b2Vec2(29.f,-6.f);
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g->CreateFixture(&cd);
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cd.radius = 0.7f;
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cd.localPosition = b2Vec2(-2.f,-4.5f);
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g->CreateFixture(&cd);
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}
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/// Elevator
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{
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b2BodyDef bd;
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b2CircleDef cd;
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b2PolygonDef sd;
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bd.position.Set(40.0f,4.0f);
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m_elev = m_world->CreateBody(&bd);
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sd.SetAsBox(0.5f, 2.5f,b2Vec2(3.0f,-3.0f), 0.f);
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sd.density = 1.f;
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sd.friction = 0.01f;
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m_elev->CreateFixture(&sd);
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sd.SetAsBox(7.0f, 0.5f, b2Vec2(-3.5f,-5.5f), 0.f);
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m_elev->CreateFixture(&sd);
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sd.SetAsBox(0.5f, 2.5f, b2Vec2(-11.f,-3.5f), 0.f);
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m_elev->CreateFixture(&sd);
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m_elev->SetMassFromShapes();
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b2PrismaticJointDef jp;
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jp.Initialize(m_ground,m_elev, bd.position, b2Vec2(0.0f, 1.0f));
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jp.lowerTranslation = 0.0f;
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jp.upperTranslation = 100.0f;
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jp.enableLimit = true;
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jp.enableMotor = true;
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jp.maxMotorForce = 10000.f;
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jp.motorSpeed = 0.f;
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m_joint_elev = (b2PrismaticJoint*)m_world->CreateJoint(&jp);
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/// Korb
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sd.SetAsBox(2.3f, 0.5f,b2Vec2(1.f,0.0f), 0.0f);
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sd.density = 0.5f;
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bd.position.Set(29.0f,6.5f);
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b2Body* body = m_world->CreateBody(&bd);
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body->CreateFixture(&sd);
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sd.SetAsBox(2.5f, 0.5f,b2Vec2(3.0f,-2.f), b2_pi/2.f);
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body->CreateFixture(&sd);
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sd.SetAsBox(4.6f, 0.5f,b2Vec2(7.8f,-4.0f), 0.f);
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body->CreateFixture(&sd);
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sd.SetAsBox(0.5f, 4.5f,b2Vec2(12.f,0.0f), 0.f);
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body->CreateFixture(&sd);
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sd.SetAsBox(0.5f, 0.5f,b2Vec2(13.f,4.0f), 0.f);
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body->CreateFixture(&sd);
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cd.radius = 0.7f; cd.density = 1.f; cd.friction = 0.01f;
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cd.localPosition = b2Vec2(0.f,0.f);
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body->CreateFixture(&cd);
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body->SetMassFromShapes();
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b2RevoluteJointDef jr;
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jr.Initialize(m_elev,body, bd.position);
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jr.enableLimit = true;
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jr.lowerAngle = -0.2f;
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jr.upperAngle = b2_pi*1.1f;
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jr.collideConnected = true;
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m_world->CreateJoint(&jr);
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/// upper body exit
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sd.SetAsBox(14.0f, 0.5f,b2Vec2(-3.5f,-10.0f), 0.0f);
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bd.position.Set(17.5f,96.0f);
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body = m_world->CreateBody(&bd);
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body->CreateFixture(&sd);
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}
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/// "Elastic body" 64 bodies - something like a lin. elastic compound
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/// connected via dynamic forces (springs)
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{
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b2PolygonDef sd;
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sd.SetAsBox(0.55f, 0.55f);
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sd.density = 1.5f;
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sd.friction = 0.01f;
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sd.filter.groupIndex = -1;
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b2Vec2 startpoint(30.f,20.f);
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b2BodyDef bd;
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bd.isBullet = false;
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bd.allowSleep = false;
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for (int i = 0; i < 8; ++i)
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{
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for (int j = 0; j < 8; ++j)
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{
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bd.position.Set(j*1.02f, 2.51f + 1.02f * i);
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bd.position += startpoint;
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b2Body* body = m_world->CreateBody(&bd);
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bodies[8*i+j] = body;
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body->CreateFixture(&sd);
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body->SetMassFromShapes();
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}
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}
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}
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}
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/// Apply dynamic forces (springs) and check elevator state
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void Step(Settings* settings)
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{
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Test::Step(settings);
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for (int i=0; i<8; ++i){
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for (int j=0; j<8; ++j){
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b2Vec2 zero(0.0f,0.0f);
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b2Vec2 down(0.0f, -0.5f);
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b2Vec2 up(0.0f, 0.5f);
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b2Vec2 right(0.5f, 0.0f);
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b2Vec2 left(-0.5f, 0.0f);
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int ind = i*8+j;
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int indr = ind+1;
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int indd = ind+8;
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float32 spring = 500.0f;
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float32 damp = 5.0f;
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if (j<7) {
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AddSpringForce(*(bodies[ind]),zero,*(bodies[indr]),zero,spring, damp, 1.0f);
|
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AddSpringForce(*(bodies[ind]),right,*(bodies[indr]),left,0.5f*spring, damp, 0.0f);
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}
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if (i<7) {
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AddSpringForce(*(bodies[ind]),zero,*(bodies[indd]),zero,spring, damp, 1.0f);
|
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AddSpringForce(*(bodies[ind]),up,*(bodies[indd]),down,0.5f*spring,damp,0.0f);
|
||||
}
|
||||
int inddr = indd + 1;
|
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int inddl = indd - 1;
|
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float32 drdist = sqrtf(2.0f);
|
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if (i < 7 && j < 7){
|
||||
AddSpringForce(*(bodies[ind]),zero,*(bodies[inddr]),zero,spring, damp, drdist);
|
||||
}
|
||||
if (i < 7 && j > 0){
|
||||
AddSpringForce(*(bodies[ind]),zero,*(bodies[inddl]),zero,spring, damp, drdist);
|
||||
}
|
||||
|
||||
indr = ind+2;
|
||||
indd = ind+8*2;
|
||||
if (j<6) {
|
||||
AddSpringForce(*(bodies[ind]),zero,*(bodies[indr]),zero,spring, damp, 2.0f);
|
||||
}
|
||||
if (i<6) {
|
||||
AddSpringForce(*(bodies[ind]),zero,*(bodies[indd]),zero,spring,damp,2.0f);
|
||||
}
|
||||
|
||||
inddr = indd + 2;
|
||||
inddl = indd - 2;
|
||||
drdist = sqrtf(2.0f)*2.0f;
|
||||
if (i < 6 && j < 6){
|
||||
AddSpringForce(*(bodies[ind]),zero,*(bodies[inddr]),zero,spring, damp, drdist);
|
||||
}
|
||||
if (i < 6 && j > 1){
|
||||
AddSpringForce(*(bodies[ind]),zero,*(bodies[inddl]),zero,spring, damp, drdist);
|
||||
}
|
||||
}
|
||||
}
|
||||
/// Check if bodies are near elevator
|
||||
/// Look if the body to lift is near the elevator
|
||||
b2Vec2 p1 = bodies[0]->GetWorldCenter();
|
||||
b2Vec2 p2 = bodies[63]->GetWorldCenter();
|
||||
/// m_elev: elevator prism. joint
|
||||
b2Vec2 e = m_elev->GetWorldCenter() + b2Vec2(0.f,7.f);
|
||||
// maybe not the best way to do it...
|
||||
// Bodies reached the elevator side
|
||||
if ( p1.x>e.x || p2.x>e.x ) {
|
||||
// go up
|
||||
if ( ( p1.y<e.y || p2.y<e.y ) &&
|
||||
( m_joint_elev->GetJointTranslation()<=m_joint_elev->GetLowerLimit()+1.f ) )
|
||||
{
|
||||
m_joint_elev->SetMotorSpeed(20.f);
|
||||
//printf("lift goes up trans: %G\n",m_joint_elev->GetJointTranslation());
|
||||
}
|
||||
}
|
||||
// go down
|
||||
if ( (m_joint_elev->GetJointTranslation()>=m_joint_elev->GetUpperLimit()-2.f) )
|
||||
{
|
||||
m_joint_elev->SetMotorSpeed(-15.f);
|
||||
//printf("lift goes down: %G\n",m_joint_elev->GetJointTranslation());
|
||||
}
|
||||
}
|
||||
/// Add a spring force
|
||||
void AddSpringForce(b2Body& bA, b2Vec2& localA, b2Body& bB, b2Vec2& localB, float32 k, float32 friction, float32 desiredDist)
|
||||
{
|
||||
b2Vec2 pA = bA.GetWorldPoint(localA);
|
||||
b2Vec2 pB = bB.GetWorldPoint(localB);
|
||||
b2Vec2 diff = pB - pA;
|
||||
//Find velocities of attach points
|
||||
b2Vec2 vA = bA.GetLinearVelocity() - b2Cross(bA.GetWorldVector(localA), bA.GetAngularVelocity());
|
||||
b2Vec2 vB = bB.GetLinearVelocity() - b2Cross(bB.GetWorldVector(localB), bB.GetAngularVelocity());
|
||||
b2Vec2 vdiff = vB-vA;
|
||||
float32 dx = diff.Normalize(); //normalizes diff and puts length into dx
|
||||
float32 vrel = vdiff.x*diff.x + vdiff.y*diff.y;
|
||||
float32 forceMag = -k*(dx-desiredDist) - friction*vrel;
|
||||
diff *= forceMag; // diff *= forceMag
|
||||
bB.ApplyForce(diff, bA.GetWorldPoint(localA));
|
||||
diff *= -1.0f;
|
||||
bA.ApplyForce(diff, bB.GetWorldPoint(localB));
|
||||
}
|
||||
/// Default constructor
|
||||
static Test* Create()
|
||||
{
|
||||
return new ElasticBody;
|
||||
}
|
||||
};
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user