diff --git a/include/simul/element.h b/include/simul/element.h
index 200d84086c379be9cdc4b10d256698b3adfe0462..c6f63feec4776794ff1e74ea7235193bc989797e 100644
--- a/include/simul/element.h
+++ b/include/simul/element.h
@@ -3,7 +3,7 @@
#include "Position.h"
#include <QPainter>
-#include "Box2D/Box2D.h"
+#include "Box2D.h"
class Element
{
diff --git a/include/simul/robot.h b/include/simul/robot.h
index ebeaaf53f99696fd3d79ff499ba6721ad8351bec..ff9a99cddbd0681a1ec28c70585504a4cf47ef0b 100644
--- a/include/simul/robot.h
+++ b/include/simul/robot.h
@@ -5,7 +5,7 @@
#include <QKeyEvent>
#include <boost/circular_buffer.hpp>
#include "PositionPlusAngle.h"
-#include <Box2D/Box2D.h>
+#include <Box2D.h>
class Robot
{
diff --git a/include/simul/table.h b/include/simul/table.h
index 65b4a4a672e5f823e2c7197c3ee314cd21443a7c..47fc1ff6484feb7ce10f4e3a8d937be76519f01d 100644
--- a/include/simul/table.h
+++ b/include/simul/table.h
@@ -3,7 +3,7 @@
#include <QWidget>
#include "element.h"
-#include <Box2D/Box2D.h>
+#include <Box2D.h>
class Table : public QWidget
{
@@ -20,6 +20,7 @@ public:
static const int tableWidth = 3000;
static const int tableHeight = 2100;
+ static b2AABB getWorldAABB();
//static const int tableWidth = 2100;
//static const int tableHeight = 3000;
diff --git a/simulation/configure.ac b/simulation/configure.ac
index f352465ec447ed6cbfbff815b40aff7762380d33..91daaf0b4ee8e233f39a8e39443d79232d05e86d 100644
--- a/simulation/configure.ac
+++ b/simulation/configure.ac
@@ -23,7 +23,7 @@ AX_BOOST_BASE([1.40], [AC_MSG_RESULT(yes) ] , [AC_MSG_RESULT(no) ] )
CXXFLAGS=
-AX_DEP_CHECK(Box2D, [/usr/lib /usr/local/lib], libBox2D.so,[/usr/include /usr/local/include],Box2D/Box2D.h, -lBox2D)
+AX_DEP_CHECK(Box2D, [/usr/lib /usr/local/lib], libbox2d.so,[/usr/include /usr/local/include],Box2D.h, -lbox2d)
AC_ARG_ENABLE([debug], AS_HELP_STRING([--enable-debug],[Turn on debugging]), [enable_debug=$enableval],[enable_debug="no"])
AC_MSG_CHECKING(debug)
diff --git a/src/simul/element.cpp b/src/simul/element.cpp
index 951d0abf40e2c39d4b63e69bafb8a7bae3e7b4b4..26b6b13bf8116f4f210c201b4903a674c5a6f4da 100644
--- a/src/simul/element.cpp
+++ b/src/simul/element.cpp
@@ -7,20 +7,18 @@ Element::Element(b2World & world, Position p, Type t)
multiplier = 0;
b2BodyDef bodyDef;
- bodyDef.type = b2_dynamicBody;
+ //bodyDef.type = b2_dynamicBody;
bodyDef.position.Set(p.x/100., p.y/100.);
body = world.CreateBody(&bodyDef);
- b2CircleShape circle;
- circle.m_p.Set(0.,0.);
- circle.m_radius = 1.0f;
+ b2CircleDef circleDef;
+ circleDef.radius = 1.0f;
+ circleDef.localPosition.Set(0.,0.);
- b2FixtureDef fixtureDef;
- fixtureDef.shape = &circle;
- fixtureDef.density = 1.0f;
- fixtureDef.friction = 0.4f;
- body->CreateFixture(&fixtureDef);
+ circleDef.density = 1.0f;
+ circleDef.friction = 0.4f;
+ body->CreateShape(&circleDef);
}
void Element::updatePos()
diff --git a/src/simul/robot.cpp b/src/simul/robot.cpp
index b14c6e8f0f0637ae0f841a7806d9fa952f54cde5..8cf705f9cddd2c21d6f2f3946454613939efbb49 100644
--- a/src/simul/robot.cpp
+++ b/src/simul/robot.cpp
@@ -60,20 +60,17 @@ Robot::Robot(b2World & world) : olds(10000)
asservissement->strategie = strategie;
b2BodyDef bodyDef;
- bodyDef.type = b2_dynamicBody;
bodyDef.position.Set(pos.position.x/100., pos.position.y/100.);
bodyDef.angle = pos.angle.getValueInRadian();
body = world.CreateBody(&bodyDef);
- b2PolygonShape box;
+ b2PolygonDef box;
box.SetAsBox(1.,1., b2Vec2(1,1),0);
- b2FixtureDef fixtureDef;
- fixtureDef.shape = &box;
- fixtureDef.density = 10.0f;
- fixtureDef.friction = 1.0f;
- body->CreateFixture(&fixtureDef);
+ box.density = 10.0f;
+ box.friction = 1.0f;
+ body->CreateShape(&box);
}
void Robot::updateForces(int dt)
diff --git a/src/simul/table.cpp b/src/simul/table.cpp
index a9a8450e81cf6291d5ea055252cf856dfbd8ce05..4911400e50cdd74a73a66a5c91412587ac73b89c 100644
--- a/src/simul/table.cpp
+++ b/src/simul/table.cpp
@@ -13,7 +13,15 @@ Position getCaseCenter(unsigned int i, unsigned int j)
return Position(625 + i*350, 175 + j*350);
}
-Table::Table(QWidget* parent) : QWidget(parent), world(b2Vec2(0.f,0.f), false)
+b2AABB Table::getWorldAABB()
+{
+ b2AABB a;
+ a.lowerBound.Set(-100,-100);
+ a.upperBound.Set(tableWidth+100, tableHeight+100);
+ return a;
+}
+
+Table::Table(QWidget* parent) : QWidget(parent), world(getWorldAABB(),b2Vec2(0.f,0.f), false)
{
dt=0;
setAutoFillBackground(true);
@@ -31,45 +39,43 @@ Table::Table(QWidget* parent) : QWidget(parent), world(b2Vec2(0.f,0.f), false)
tableBody = world.CreateBody(&bodyDef);
- b2PolygonShape box;
- b2FixtureDef fixtureDef;
- fixtureDef.shape = &box;
- fixtureDef.friction = 0.5;
- fixtureDef.density = 0;
+ b2PolygonDef box;
+ box.friction = 0.5;
+ box.density = 0;
box.SetAsBox(30,1, b2Vec2(0,-1),0);
- tableBody->CreateFixture(&fixtureDef);
+ tableBody->CreateShape(&box);
box.SetAsBox(1,21, b2Vec2(-1,0),0);
- tableBody->CreateFixture(&fixtureDef);
+ tableBody->CreateShape(&box);
box.SetAsBox(1,21, b2Vec2(31,0),0);
- tableBody->CreateFixture(&fixtureDef);
+ tableBody->CreateShape(&box);
box.SetAsBox(30.,1., b2Vec2(0,22),0);
- tableBody->CreateFixture(&fixtureDef);
+ tableBody->CreateShape(&box);
//Starting zones borders
box.SetAsBox(4.00,.11, b2Vec2(0.,4.), 0.);
- tableBody->CreateFixture(&fixtureDef);
+ tableBody->CreateShape(&box);
box.SetAsBox(4.00,.11, b2Vec2(30.,4.), 0.);
- tableBody->CreateFixture(&fixtureDef);
+ tableBody->CreateShape(&box);
//Blocked zones
box.SetAsBox(3.50,1.20, b2Vec2(8,21), 0.);
- tableBody->CreateFixture(&fixtureDef);
+ tableBody->CreateShape(&box);
box.SetAsBox(3.50,1.20, b2Vec2(22,21), 0.);
- tableBody->CreateFixture(&fixtureDef);
+ tableBody->CreateShape(&box);
box.SetAsBox(.11,0.65, b2Vec2(4.61,19.15), 0.);
- tableBody->CreateFixture(&fixtureDef);
+ tableBody->CreateShape(&box);
box.SetAsBox(.11,0.65, b2Vec2(18.61,19.15), 0.);
- tableBody->CreateFixture(&fixtureDef);
+ tableBody->CreateShape(&box);
box.SetAsBox(.11,0.65, b2Vec2(11.39,19.15), 0.);
- tableBody->CreateFixture(&fixtureDef);
+ tableBody->CreateShape(&box);
box.SetAsBox(.11,0.64, b2Vec2(25.39,19.15), 0.);
- tableBody->CreateFixture(&fixtureDef);
+ tableBody->CreateShape(&box);
//Init position of elements
int l1 = rand() % 20;
@@ -96,8 +102,8 @@ void Table::update(int dt)
for(unsigned int i=0; i < robots.size(); i++)
robots[i]->updateForces(dt);
- world.Step((float)dt/1000., 10, 10);
- world.ClearForces();
+ world.Step((float)dt/1000., 10);
+ //world.ClearForces();
for(unsigned int i=0; i < elements.size(); i++)
elements[i]->updatePos();
repaint();