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The testbed for JBox2D, a 2d java physics engine, ported from the C++ Box2d engine.
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/*******************************************************************************
 * 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 5:30:15 AM Jan 14, 2011
 */
package org.jbox2d.testbed.tests;

import org.jbox2d.collision.shapes.EdgeShape;
import org.jbox2d.collision.shapes.PolygonShape;
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.joints.RevoluteJointDef;
import org.jbox2d.testbed.framework.TestbedTest;

/**
 * @author Daniel Murphy
 */
public class Chain extends TestbedTest {

  @Override
  public boolean isSaveLoadEnabled() {
    return true;
  }

  @Override
  public void initTest(boolean deserialized) {
    if (deserialized) {
      return;
    }

    Body ground = null;
    {
      BodyDef bd = new BodyDef();
      ground = getWorld().createBody(bd);

      EdgeShape shape = new EdgeShape();
      shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
      ground.createFixture(shape, 0.0f);
    }

    {
      PolygonShape shape = new PolygonShape();
      shape.setAsBox(0.6f, 0.125f);

      FixtureDef fd = new FixtureDef();
      fd.shape = shape;
      fd.density = 20.0f;
      fd.friction = 0.2f;

      RevoluteJointDef jd = new RevoluteJointDef();
      jd.collideConnected = false;

      final float y = 25.0f;
      Body prevBody = ground;
      for (int i = 0; i < 30; ++i) {
        BodyDef bd = new BodyDef();
        bd.type = BodyType.DYNAMIC;
        bd.position.set(0.5f + i, y);
        Body body = getWorld().createBody(bd);
        body.createFixture(fd);

        Vec2 anchor = new Vec2(i, y);
        jd.initialize(prevBody, body, anchor);
        getWorld().createJoint(jd);

        prevBody = body;
      }
    }
  }

  @Override
  public String getTestName() {
    return "Chain";
  }
}