package org.jbox2d.testbed.tests;



import org.jbox2d.collision.shapes.CircleShape;

import org.jbox2d.collision.shapes.PolygonShape;

import org.jbox2d.common.MathUtils;

import org.jbox2d.common.Vec2;

import org.jbox2d.dynamics.Body;

import org.jbox2d.dynamics.BodyDef;

import org.jbox2d.dynamics.BodyType;

import org.jbox2d.dynamics.FixtureDef;

import org.jbox2d.dynamics.World;

import org.jbox2d.dynamics.joints.PrismaticJoint;

import org.jbox2d.dynamics.joints.PrismaticJointDef;

import org.jbox2d.dynamics.joints.RevoluteJoint;

import org.jbox2d.dynamics.joints.RevoluteJointDef;

import org.jbox2d.testbed.framework.TestbedTest;



public class PistonTest extends TestbedTest {



  public RevoluteJoint m_joint1;

  public PrismaticJoint m_joint2;



  private boolean bullet = false;



  @Override

  public boolean isSaveLoadEnabled() {

    return true;

  }



  @Override

  public void initTest(boolean argDeserialized) {

    if (argDeserialized) {

      return;

    }

    World world = getWorld();

    Body ground = null;

    {

      BodyDef bd = new BodyDef();

      ground = getWorld().createBody(bd);



      PolygonShape shape = new PolygonShape();

      shape.setAsBox(5.0f, 100.0f);

      bd = new BodyDef();

      bd.type = BodyType.STATIC;

      FixtureDef sides = new FixtureDef();

      sides.shape = shape;

      sides.density = 0;

      sides.friction = 0;

      sides.restitution = .8f;

      sides.filter.categoryBits = 4;

      sides.filter.maskBits = 2;



      bd.position.set(-10.01f, 50.0f);

      Body bod = world.createBody(bd);

      bod.createFixture(sides);

      bd.position.set(10.01f, 50.0f);

      bod = world.createBody(bd);

      bod.createFixture(sides);

    }



    // turney

    {

      CircleShape cd;

      FixtureDef fd = new FixtureDef();

      BodyDef bd = new BodyDef();

      bd.type = BodyType.DYNAMIC;

      int numPieces = 5;

      float radius = 4f;

      bd.position = new Vec2(0.0f, 25.0f);

      Body body = getWorld().createBody(bd);

      for (int i = 0; i < numPieces; i++) {

        cd = new CircleShape();

        cd.m_radius = .5f;

        fd.shape = cd;

        fd.density = 25;

        fd.friction = .1f;

        fd.restitution = .9f;

        float xPos = radius * (float) Math.cos(2f * Math.PI * (i / (float) (numPieces)));

        float yPos = radius * (float) Math.sin(2f * Math.PI * (i / (float) (numPieces)));

        cd.m_p.set(xPos, yPos);



        body.createFixture(fd);

      }



      body.setBullet(false);



      RevoluteJointDef rjd = new RevoluteJointDef();

      rjd.initialize(body, getGroundBody(), body.getPosition());

      rjd.motorSpeed = MathUtils.PI;

      rjd.maxMotorTorque = 1000000.0f;

      rjd.enableMotor = true;

      RevoluteJoint joint = (RevoluteJoint) getWorld().createJoint(rjd);

    }





    {

      Body prevBody = ground;



      // Define crank.

      {

        PolygonShape shape = new PolygonShape();

        shape.setAsBox(0.5f, 2.0f);



        BodyDef bd = new BodyDef();

        bd.type = BodyType.DYNAMIC;

        bd.position.set(0.0f, 7.0f);

        Body body = getWorld().createBody(bd);

        body.createFixture(shape, 2.0f);



        RevoluteJointDef rjd = new RevoluteJointDef();

        rjd.initialize(prevBody, body, new Vec2(0.0f, 5.0f));

        rjd.motorSpeed = 1.0f * MathUtils.PI;

        rjd.maxMotorTorque = 20000;

        rjd.enableMotor = true;

        m_joint1 = (RevoluteJoint) getWorld().createJoint(rjd);



        prevBody = body;

      }



      // Define follower.

      {

        PolygonShape shape = new PolygonShape();

        shape.setAsBox(0.5f, 4.0f);



        BodyDef bd = new BodyDef();

        bd.type = BodyType.DYNAMIC;

        bd.position.set(0.0f, 13.0f);

        Body body = getWorld().createBody(bd);

        body.createFixture(shape, 2.0f);



        RevoluteJointDef rjd = new RevoluteJointDef();

        rjd.initialize(prevBody, body, new Vec2(0.0f, 9.0f));

        rjd.enableMotor = false;

        getWorld().createJoint(rjd);



        prevBody = body;

      }



      // Define piston

      {

        PolygonShape shape = new PolygonShape();

        shape.setAsBox(7f, 2f);



        BodyDef bd = new BodyDef();

        bd.type = BodyType.DYNAMIC;

        bd.position.set(0.0f, 17.0f);

        Body body = getWorld().createBody(bd);

        FixtureDef piston = new FixtureDef();

        piston.shape = shape;

        piston.density = 2;

        piston.filter.categoryBits = 1;

        piston.filter.maskBits = 2;

        body.createFixture(piston);



        RevoluteJointDef rjd = new RevoluteJointDef();

        rjd.initialize(prevBody, body, new Vec2(0.0f, 17.0f));

        getWorld().createJoint(rjd);



        PrismaticJointDef pjd = new PrismaticJointDef();

        pjd.initialize(ground, body, new Vec2(0.0f, 17.0f), new Vec2(0.0f, 1.0f));



        pjd.maxMotorForce = 1000.0f;

        pjd.enableMotor = true;



        m_joint2 = (PrismaticJoint) getWorld().createJoint(pjd);

      }



      // Create a payload

      {

        PolygonShape sd = new PolygonShape();

        BodyDef bd = new BodyDef();

        bd.type = BodyType.DYNAMIC;

        FixtureDef fixture = new FixtureDef();

        Body body;

        for (int i = 0; i < 100; ++i) {

          sd.setAsBox(0.4f, 0.3f);

          bd.position.set(-1.0f, 23.0f + i);



          bd.bullet = bullet;

          body = world.createBody(bd);

          fixture.shape = sd;

          fixture.density = .1f;

          fixture.filter.categoryBits = 2;

          fixture.filter.maskBits = 1 | 4 | 2;

          body.createFixture(fixture);

        }



        CircleShape cd = new CircleShape();

        cd.m_radius = 0.36f;

        for (int i = 0; i < 100; ++i) {

          bd.position.set(1.0f, 23.0f + i);

          bd.bullet = bullet;

          fixture.shape = cd;

          fixture.density = 2f;

          fixture.filter.categoryBits = 2;

          fixture.filter.maskBits = 1 | 4 | 2;

          body = world.createBody(bd);

          body.createFixture(fixture);

        }

      }

    }



  }



  @Override

  public String getTestName() {

    return "Piston Stress Test";

  }

}