text: // MIT License
  
  // Copyright (c) 2019 Erin Catto
  
  // Permission is hereby granted, free of charge, to any person obtaining a copy
  // of this software and associated documentation files (the "Software"), to deal
  // in the Software without restriction, including without limitation the rights
  // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  // copies of the Software, and to permit persons to whom the Software is
  // furnished to do so, subject to the following conditions:
  
  // The above copyright notice and this permission notice shall be included in all
  // copies or substantial portions of the Software.
  
  // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  // SOFTWARE.
  
  #include "test.h"
  
  class Tumbler : public Test
  {
  public:
  
    enum
    {
      e_count = 800
    };
  
    Tumbler()
    {
      b2Body* ground = NULL;
      {
        b2BodyDef bd;
        ground = m_world->CreateBody(&bd);
      }
  
      {
        b2BodyDef bd;
        bd.type = b2_dynamicBody;
        bd.allowSleep = false;
        bd.position.Set(0.0f, 10.0f);
        b2Body* body = m_world->CreateBody(&bd);
  
        b2PolygonShape shape;
        shape.SetAsBox(0.5f, 10.0f, b2Vec2( 10.0f, 0.0f), 0.0);
        body->CreateFixture(&shape, 5.0f);
        shape.SetAsBox(0.5f, 10.0f, b2Vec2(-10.0f, 0.0f), 0.0);
        body->CreateFixture(&shape, 5.0f);
        shape.SetAsBox(10.0f, 0.5f, b2Vec2(0.0f, 10.0f), 0.0);
        body->CreateFixture(&shape, 5.0f);
        shape.SetAsBox(10.0f, 0.5f, b2Vec2(0.0f, -10.0f), 0.0);
        body->CreateFixture(&shape, 5.0f);
  
        b2RevoluteJointDef jd;
        jd.bodyA = ground;
        jd.bodyB = body;
        jd.localAnchorA.Set(0.0f, 10.0f);
        jd.localAnchorB.Set(0.0f, 0.0f);
        jd.referenceAngle = 0.0f;
        jd.motorSpeed = 0.05f * b2_pi;
        jd.maxMotorTorque = 1e8f;
        jd.enableMotor = true;
        m_joint = (b2RevoluteJoint*)m_world->CreateJoint(&jd);
      }
  
      m_count = 0;
    }
  
    void Step(Settings& settings) override
    {
      Test::Step(settings);
  
      if (m_count < e_count)
      {
        b2BodyDef bd;
        bd.type = b2_dynamicBody;
        bd.position.Set(0.0f, 10.0f);
        b2Body* body = m_world->CreateBody(&bd);
  
        b2PolygonShape shape;
        shape.SetAsBox(0.125f, 0.125f);
        body->CreateFixture(&shape, 1.0f);
  
        ++m_count;
      }
    }
  
    static Test* Create()
    {
      return new Tumbler;
    }
  
    b2RevoluteJoint* m_joint;
    int32 m_count;
  };
  
  static int testIndex = RegisterTest("Benchmark", "Tumbler", Tumbler::Create);
  