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The testbed for JBox2D, a 2d java physics engine, ported from the C++ Box2d engine.
There is a newer version: 2.2.1.1
/*******************************************************************************
 * Copyright (c) 2013, Daniel Murphy
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 * 	* Redistributions of source code must retain the above copyright notice,
 * 	  this list of conditions and the following disclaimer.
 * 	* Redistributions in binary form must reproduce the above copyright notice,
 * 	  this list of conditions and the following disclaimer in the documentation
 * 	  and/or other materials provided with the distribution.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
 * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
 * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
 * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
 * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 ******************************************************************************/
/**
 * Created at 12:32:26 AM Aug 15, 2010
 */
package org.jbox2d.testbed.tests;

import org.jbox2d.collision.Distance;
import org.jbox2d.collision.TimeOfImpact;
import org.jbox2d.collision.shapes.CircleShape;
import org.jbox2d.collision.shapes.PolygonShape;
import org.jbox2d.collision.shapes.Shape;
import org.jbox2d.common.Vec2;
import org.jbox2d.dynamics.Body;
import org.jbox2d.dynamics.BodyDef;
import org.jbox2d.dynamics.BodyType;
import org.jbox2d.dynamics.Fixture;
import org.jbox2d.testbed.framework.TestbedSettings;
import org.jbox2d.testbed.framework.TestbedTest;

/**
 * @author Daniel Murphy
 */
public class ContinuousTest extends TestbedTest {
		
	Body m_body;
	Fixture currFixture;
	PolygonShape m_poly;
	CircleShape m_circle;
	Shape nextShape = null;
	boolean polygon = false;
	float m_angularVelocity;
	
	/**
	 * @see org.jbox2d.testbed.framework.TestbedTest#getTestName()
	 */
	@Override
	public String getTestName() {
		return "Continuous";
	}
	
	public void switchObjects(){
		if(polygon){
			nextShape = m_circle;
		}else{
			nextShape = m_poly;
		}
		polygon = !polygon;
	}
	
	/**
	 * @see org.jbox2d.testbed.framework.TestbedTest#initTest(boolean)
	 */
	@Override
	public void initTest(boolean argDeserialized) {
		{
			BodyDef bd = new BodyDef();
			bd.position.set(0.0f, 0.0f);
			Body body = getWorld().createBody(bd);

			PolygonShape shape = new PolygonShape();

			shape.setAsEdge(new Vec2(-10.0f, 0.0f), new Vec2(10.0f, 0.0f));
			body.createFixture(shape, 0.0f);

			shape.setAsBox(0.2f, 1.0f, new Vec2(0.5f, 1.0f), 0.0f);
			body.createFixture(shape, 0.0f);
		}
		m_poly = new PolygonShape();
		m_poly.setAsBox(2.0f, 0.1f);
		m_circle = new CircleShape();
		m_circle.m_p.setZero();
		m_circle.m_radius = 0.5f;

		BodyDef bd = new BodyDef();
		bd.type = BodyType.DYNAMIC;
		bd.position.set(0.0f, 20.0f);
		
		m_body = getWorld().createBody(bd);
		currFixture = m_body.createFixture(m_poly, 1.0f);

		m_angularVelocity = (float)Math.random()*100 - 50;
		m_angularVelocity = 33.468121f;
		m_body.setLinearVelocity(new Vec2(0.0f, -100.0f));
		m_body.setAngularVelocity(m_angularVelocity);
		
		TimeOfImpact.toiCalls = 0;
		TimeOfImpact.toiIters = 0;
		TimeOfImpact.toiMaxIters = 0;
		TimeOfImpact.toiRootIters = 0;
		TimeOfImpact.toiMaxRootIters = 0;
	}
	
	public void launch(){
		m_body.setTransform(new Vec2(0.0f, 20.0f), 0.0f);
		m_angularVelocity = (float)Math.random()*100 - 50;
		m_body.setLinearVelocity(new Vec2(0.0f, -100.0f));
		m_body.setAngularVelocity(m_angularVelocity);
	}
	
	/**
	 * @see org.jbox2d.testbed.framework.TestbedTest#step(org.jbox2d.testbed.framework.TestbedSettings)
	 */
	@Override
	public void step(TestbedSettings settings) {
		if(nextShape != null){
			m_body.destroyFixture(currFixture);
			currFixture = m_body.createFixture(nextShape, 1f);
			nextShape = null;
		}
//		if (stepCount == 12){
//			stepCount += 0;
//		} what is this?

		super.step(settings);

		if (Distance.GJK_CALLS > 0)
		{
			addTextLine(String.format("gjk calls = %d, ave gjk iters = %3.1f, max gjk iters = %d",
					Distance.GJK_CALLS,
					Distance.GJK_ITERS*1./Distance.GJK_CALLS,
					Distance.GJK_MAX_ITERS));
		}

		if (TimeOfImpact.toiCalls > 0){
			int toiCalls = TimeOfImpact.toiCalls;
			int toiIters = TimeOfImpact.toiIters;
			int toiMaxIters = TimeOfImpact.toiMaxIters;
			int toiRootIters = TimeOfImpact.toiRootIters;
			int toiMaxRootIters = TimeOfImpact.toiMaxRootIters;
			addTextLine(String.format("toi calls = %d, ave toi iters = %3.1f, max toi iters = %d",
						toiCalls, toiIters*1./toiCalls, toiMaxIters));
			
			addTextLine(String.format("ave toi root iters = %3.1f, max toi root iters = %d",
					toiRootIters *1./toiCalls,
					toiMaxRootIters));

//			m_debugDraw.DrawString(5, m_textLine, "max toi opt iters = %d", b2_toiMaxOptIters);
//			m_textLine += 15;
		}
		
		addTextLine("Press 'c' to change launch shape");

		if (getStepCount() % 60 == 0){
			launch();
		}
	}
	
	/**
	 * @see org.jbox2d.testbed.framework.TestbedTest#keyPressed(char, int)
	 */
	@Override
	public void keyPressed(char argKeyChar, int argKeyCode) {
		switch(argKeyChar){
			case 'c':
				switchObjects();
				break;
		}
	}
}