Box2d FixedRotation Bug ?

SuperStrict

Framework BaH.Box2d
Import BRL.GLMax2D

Import "test.bmx"


Graphics 800,600, 0
SetBlend alphablend


Run(New ApplyForce.Create(), New TSettings)


Type ApplyForce Extends Test

	Field m_body:b2Body


	Method Create:ApplyForce()
	
		Init()
						
		m_world.SetGravity(New b2Vec2.Create(0.0, 0.0))

		Local bodyDef:b2BodyDef = New b2BodyDef
		Local specialWall:b2PolygonDef = New b2PolygonDef
		Local v:b2Vec2[] = New b2Vec2[4]
		
		' fail with negative (counter-clockwise)
		v[0] = Vec2(10.0, - 2.0)
		v[1] = Vec2(2.0, - 9.0)
		v[2] = Vec2(2.0, - 10.0)
		v[3] = Vec2(10.0, - 3.0)
		
		specialWall.SetVertices(v)
		bodyDef.SetPosition(New b2Vec2.Create(- 5.0, 0.0))
		m_world.CreateBody(bodyDef).CreateShape(specialWall)
		
		' fait with positive (counter-clockwise)
		v[3] = Vec2(10.0, 9.0)
		v[2] = Vec2(2.0, 2.0)
		v[1] = Vec2(2.0, 3.0)
		v[0] = Vec2(10.0, 10.0)

		specialWall.SetVertices(v)
		bodyDef.SetPosition(New b2Vec2.Create(- 5.0, 0.0))
		m_world.CreateBody(bodyDef).CreateShape(specialWall)
		
			
		Local bd:b2BodyDef = New b2BodyDef
		Local sd1:b2PolygonDef = New b2PolygonDef

		sd1.SetAsBox(1, 1)

'		event this won't do it
'		Local vertices:b2Vec2[] = New b2Vec2[4]
'		vertices[0] = Vec2(0.0, 0.0)
'		vertices[1] = Vec2(1.0, 0.0)
'		vertices[2] = Vec2(1.0, 2.0)
'		vertices[3] = Vec2(0.0, 2.0)
'		sd1.SetVertices(vertices)

		sd1.SetDensity(4.0)
		sd1.SetRestitution(0.25)
		sd1.SetFriction(0.01)

		bd = New b2BodyDef
		bd.SetFixedRotation(True)

		bd.SetPosition(New b2Vec2.Create(0.0, 0.0))
		m_body = m_world.CreateBody(bd)
		m_body.CreateShape(sd1)
		m_body.SetMassFromShapes()
		
		Return Self
	End Method
	
	Method Keyboard()
		Super.Keyboard()
		
		Local p:b2Vec2 = m_body.GetWorldPoint(New b2Vec2.Create(0.0, 0.0))
		If KeyDown(KEY_UP) Then
			m_body.ApplyForce(New b2Vec2.Create(0, 200), p)
		End If

		If KeyDown(KEY_LEFT)
			m_body.ApplyForce(New b2Vec2.Create(- 200, 0), p)
		End If

		If KeyDown(KEY_RIGHT)
			m_body.ApplyForce(New b2Vec2.Create(200, 0), p)
		End If

		If KeyDown(KEY_DOWN)
			m_body.ApplyForce(New b2Vec2.Create(0, - 200), p)
		End If

	End Method

End Type

/*
* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com
*
* This software is provided 'as-is', without any express or implied
* warranty.  In no event will the authors be held liable for any damages
* arising from the use of this software.
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/

#ifndef APPLY_FORCE_H
#define APPLY_FORCE_H

class ApplyForce : public Test
{
public:
	ApplyForce()
	{
		m_world->SetGravity(b2Vec2(0.0f, 0.0f));

		{
			b2BodyDef bd;
			bd.position.Set(0.0f, 10.0f);
			b2Body* ground = m_world->CreateBody(&bd);

			b2PolygonDef sd;
			sd.vertexCount = 4;
			sd.vertices[0] = b2Vec2(10.0f, -2.0f);
			sd.vertices[1] = b2Vec2(2.0f, -9.0f);
			sd.vertices[2] = b2Vec2(2.0f, -10.0f);
			sd.vertices[3] = b2Vec2(10.0f, -3.0f);

			ground->CreateShape(&sd);

			sd.vertices[0] = b2Vec2(10.0f, 10.0f);
			sd.vertices[1] = b2Vec2(2.0f, 3.0f);
			sd.vertices[2] = b2Vec2(2.0f, 2.0f);
			sd.vertices[3] = b2Vec2(10.0f, 9.0f);
			bd.position.Set(0.0f, 10.0f);
			ground->CreateShape(&sd);

		}

		{
			b2PolygonDef sd1;
			sd1.SetAsBox(1.0f,1.0f);
//			sd1.vertexCount = 4;
//			sd1.vertices[0] = b2Vec2(0.0f, 0.0f);
//			sd1.vertices[1] = b2Vec2(1.0f, 0.0f);
//			sd1.vertices[2] = b2Vec2(1.0f, 2.0f);
//			sd1.vertices[3] = b2Vec2(0.0f, 2.0f);

			sd1.density = 2.0f;
			
			b2BodyDef bd;
			bd.angularDamping = 2.0f;
			bd.linearDamping = 0.1f;

			bd.fixedRotation = true;

			bd.position.Set(0.0f, 5.0f);
			bd.angle = b2_pi;
			m_body = m_world->CreateBody(&bd);
			m_body->CreateShape(&sd1);
			m_body->SetMassFromShapes();
		}
	}

	void Keyboard(unsigned char key)
	{
		switch (key)
		{
		case 'i':
			{
				b2Vec2 f = m_body->GetWorldVector(b2Vec2(0.0f, -400.0f));
				b2Vec2 p = m_body->GetWorldPoint(b2Vec2(0.0f, 0.0f));
				m_body->ApplyForce(f, p);
			}
			break;

		case 'k':
			{
				b2Vec2 f = m_body->GetWorldVector(b2Vec2(0.0f, 400.0f));
				b2Vec2 p = m_body->GetWorldPoint(b2Vec2(0.0f, 0.0f));
				m_body->ApplyForce(f, p);
			}
			break;

		case 'j':
			{
				b2Vec2 f = m_body->GetWorldVector(b2Vec2(400.0f, 0.0f));
				b2Vec2 p = m_body->GetWorldPoint(b2Vec2(0.0f, 0.0f));
				m_body->ApplyForce(f, p);
			}
			break;

		case 'l':
			{
				b2Vec2 f = m_body->GetWorldVector(b2Vec2(-400.0f, 0.0f));
				b2Vec2 p = m_body->GetWorldPoint(b2Vec2(0.0f, 0.0f));
				m_body->ApplyForce(f, p);
			}
			break;
		}
	}

	static Test* Create()
	{
		return new ApplyForce;
	}

	b2Body* m_body;
};

#endif