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80 lines
2.4 KiB
80 lines
2.4 KiB
2 years ago
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#pragma once
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#include <array>
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#include <cmath>
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#include <iostream>
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#include <vector>
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class GroundPlane : public Test {
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protected:
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float displacement_scale;
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public:
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GroundPlane(float displacement_scale = 10.0)
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: displacement_scale(displacement_scale)
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{
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m_world->SetGravity(b2Vec2(0, -9.8));
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float friction_coeff = 0.0;
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float restitution_coeff = 1.0;
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float density = 1.0f;
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{
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// Define the ground
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b2BodyDef groundBodyDef;
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groundBodyDef.type = b2_staticBody;
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groundBodyDef.position.Set(-10, 30);
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// Create the ground
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b2Body* ground = m_world->CreateBody(&groundBodyDef);
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// Define the ground shape
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b2EdgeShape groundShape;
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// Add the shape fixtures to the line body
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groundShape.Set(b2Vec2(-20, 0), b2Vec2(20, 0));
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b2Fixture* fixture = ground->CreateFixture(&groundShape, density);
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fixture->SetFriction(friction_coeff);
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fixture->SetRestitution(restitution_coeff);
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}
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{
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// Define the line
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b2BodyDef lineBodyDef;
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lineBodyDef.type = b2_dynamicBody;
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lineBodyDef.bullet = true;
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lineBodyDef.position.Set(-10.0f, 50.0f);
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lineBodyDef.angle = 3.14 / 4;
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lineBodyDef.linearVelocity = b2Vec2(0, -displacement_scale);
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b2Body* line = m_world->CreateBody(&lineBodyDef);
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// Define the line shape
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b2EdgeShape lineShape;
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// Add the shape fixtures to the line body
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lineShape.Set(b2Vec2(-10, 0.5), b2Vec2(10, 1.0));
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b2Fixture* fixture = line->CreateFixture(&lineShape, density);
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fixture->SetFriction(friction_coeff);
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fixture->SetRestitution(restitution_coeff);
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}
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}
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static Test* Create() { return new GroundPlane(); }
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virtual void Step(Settings* settings) override
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{
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static bool firstCall = true;
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if (firstCall) {
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settings->enableSleep = false;
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settings->hz = 120; // 1 / 1e-3;
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settings->velocityIterations = 300;
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settings->positionIterations = 300;
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settings->drawContactPoints = true;
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settings->drawContactImpulse = true;
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firstCall = false;
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}
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Test::Step(settings);
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}
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};
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