Box2Dを使ってみる

brew install box2d

/*
* Copyright (c) 2006-2007 Erin Catto http://www.box2d.org
*
* 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.
*/

#include <Box2D/Box2D.h>

#include <stdio.h>

// This is a simple example of building and running a simulation
// using Box2D. Here we create a large ground box and a small dynamic
// box.
// There are no graphics for this example. Box2D is meant to be used
// with your rendering engine in your game engine.
int main(int argc, char** argv)
{
  B2_NOT_USED(argc);
  B2_NOT_USED(argv);

  // Define the gravity vector.
  b2Vec2 gravity(0.0f, -10.0f);

  // Construct a world object, which will hold and simulate the rigid bodies.
  b2World world(gravity);

  // Define the ground body.
  b2BodyDef groundBodyDef;
  groundBodyDef.position.Set(0.0f, -10.0f);

  // Call the body factory which allocates memory for the ground body
  // from a pool and creates the ground box shape (also from a pool).
  // The body is also added to the world.
  b2Body* groundBody = world.CreateBody(&groundBodyDef);

  // Define the ground box shape.
  b2PolygonShape groundBox;

  // The extents are the half-widths of the box.
  groundBox.SetAsBox(50.0f, 10.0f);

  // Add the ground fixture to the ground body.
  groundBody->CreateFixture(&groundBox, 0.0f);

  // Define the dynamic body. We set its position and call the body factory.
  b2BodyDef bodyDef;
  bodyDef.type = b2_dynamicBody;
  bodyDef.position.Set(0.0f, 4.0f);
  b2Body* body = world.CreateBody(&bodyDef);

  // Define another box shape for our dynamic body.
  b2PolygonShape dynamicBox;
  dynamicBox.SetAsBox(1.0f, 1.0f);

  // Define the dynamic body fixture.
  b2FixtureDef fixtureDef;
  fixtureDef.shape = &dynamicBox;

  // Set the box density to be non-zero, so it will be dynamic.
  fixtureDef.density = 1.0f;

  // Override the default friction.
  fixtureDef.friction = 0.3f;

  // Add the shape to the body.
  body->CreateFixture(&fixtureDef);

  // Prepare for simulation. Typically we use a time step of 1/60 of a
  // second (60Hz) and 10 iterations. This provides a high quality simulation
  // in most game scenarios.
  float32 timeStep = 1.0f / 60.0f;
  int32 velocityIterations = 6;
  int32 positionIterations = 2;

  // This is our little game loop.
  for (int32 i = 0; i < 60; ++i)
  {
    // Instruct the world to perform a single step of simulation.
    // It is generally best to keep the time step and iterations fixed.
    world.Step(timeStep, velocityIterations, positionIterations);

    // Now print the position and angle of the body.
    b2Vec2 position = body->GetPosition();
    float32 angle = body->GetAngle();

    printf("%4.2f %4.2f %4.2f\n", position.x, position.y, angle);
  }

  // When the world destructor is called, all bodies and joints are freed. This can
  // create orphaned pointers, so be careful about your world management.

  return 0;
}

g++ -lBox2D HelloWorld.cc

$ ./a.out
0.00 4.00 0.00
0.00 3.99 0.00
0.00 3.98 0.00
0.00 3.97 0.00
0.00 3.96 0.00
0.00 3.94 0.00
0.00 3.92 0.00
0.00 3.90 0.00
0.00 3.87 0.00
0.00 3.85 0.00
0.00 3.82 0.00
...

cd Box2D_v2.1.2/Box2D/Build
cmake ..
make

cd Testbed
./Testbed