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4
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1
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2 // written in the D programming language
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3
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4 module chipmunkd.constraints.cpConstraint;
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5
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6 import chipmunkd.chipmunk;
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7 import chipmunkd.chipmunk_types_h;
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8 import chipmunkd.cpVect,chipmunkd.cpVect_h;
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9 import chipmunkd.cpBody;
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10
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11 alias void function(cpConstraint *constraint, cpFloat dt, cpFloat dt_inv) cpConstraintPreStepFunction;
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12 alias void function(cpConstraint *constraint) cpConstraintApplyImpulseFunction;
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13 alias cpFloat function(cpConstraint *constraint) cpConstraintGetImpulseFunction;
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14
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15 struct cpConstraintClass {
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16 cpConstraintPreStepFunction preStep;
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17 cpConstraintApplyImpulseFunction applyImpulse;
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18 cpConstraintGetImpulseFunction getImpulse;
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19 }
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20
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21
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22
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23 struct cpConstraint {
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24 cpConstraintClass *klass;
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25
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26 cpBody *a;
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27 cpBody *b;
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28 cpFloat maxForce;
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29 cpFloat biasCoef;
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30 cpFloat maxBias;
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31
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32 cpDataPointer data;
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33 }
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34
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35 //#ifdef CP_USE_DEPRECATED_API_4
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36 //typedef cpConstraint cpJoint;
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37 //#endif
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38
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39 //void cpConstraintDestroy(cpConstraint *constraint);
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40 //void cpConstraintFree(cpConstraint *constraint);
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41
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42 static void
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43 cpConstraintActivateBodies(cpConstraint *constraint)
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44 {
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45 cpBody *a = constraint.a; if(a) cpBodyActivate(a);
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46 cpBody *b = constraint.b; if(b) cpBodyActivate(b);
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47 }
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48
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49 static cpFloat
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50 cpConstraintGetImpulse(cpConstraint *constraint)
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51 {
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52 return constraint.klass.getImpulse(constraint);
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53 }
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54
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55 template cpConstraintCheckCast(string constraint, string _struct)
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56 {
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57 enum cpConstraintCheckCast =
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58 "assert("~constraint~".klass == "~_struct~"GetClass(), \"Constraint is not a "~_struct~"\");";
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59 }
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60
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61 //#define cpConstraintCheckCast(constraint, struct) \
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62 // cpAssert(constraint->klass == struct##GetClass(), "Constraint is not a "#struct);
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63
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64 template CP_DefineConstraintGetter(string _struct,string type,string member,string name)
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65 {
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66 enum CP_DefineConstraintGetter =
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67 "static "~type~" "~_struct~"Get"~name~"(cpConstraint *constraint){"~
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68 cpConstraintCheckCast!("constraint",_struct)~
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69 "cpConstraintActivateBodies(constraint);"~
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70 "return (cast("~_struct~"*)constraint)."~member~";"~
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71 "}";
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72 }
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73
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74 //#define CP_DefineConstraintGetter(struct, type, member, name) \
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75 //static inline type \
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76 //struct##Get##name(const cpConstraint *constraint){ \
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77 // cpConstraintCheckCast(constraint, struct); \
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78 // return ((struct *)constraint)->member; \
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79 //} \
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80
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81 template CP_DefineConstraintSetter(string _struct,string type,string member,string name)
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82 {
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83 enum CP_DefineConstraintSetter =
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84 "static void "~_struct~"Set"~name~"(cpConstraint *constraint,"~type~" value){"~
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85 cpConstraintCheckCast!("constraint",_struct)~
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86 "cpConstraintActivateBodies(constraint);"~
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87 "(cast("~_struct~"*)constraint)."~member~" = value;"~
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88 "}";
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89 }
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90
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91 //#define CP_DefineConstraintSetter(struct, type, member, name) \
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92 //static inline void \
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93 //struct##Set##name(cpConstraint *constraint, type value){ \
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94 // cpConstraintCheckCast(constraint, struct); \
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95 // cpConstraintActivateBodies(constraint); \
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96 // ((struct *)constraint)->member = value; \
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97 //} \
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98
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99 template CP_DefineConstraintProperty(string _struct,string type,string member,string name)
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100 {
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101 enum CP_DefineConstraintProperty =
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102 CP_DefineConstraintGetter!(_struct,type,member,name)~CP_DefineConstraintSetter!(_struct,type,member,name);
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103
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104 }
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105
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106 //#define CP_DefineConstraintProperty(struct, type, member, name) \
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107 //CP_DefineConstraintGetter(struct, type, member, name) \
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108 //CP_DefineConstraintSetter(struct, type, member, name)
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109 //TODO:
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110 //// Built in Joint types
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111 public import chipmunkd.constraints.cpPinJoint;
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6
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112 public import chipmunkd.constraints.cpSlideJoint;
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4
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113 public import chipmunkd.constraints.cpPivotJoint;
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6
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114 public import chipmunkd.constraints.cpGrooveJoint;
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4
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115 public import chipmunkd.constraints.cpDampedSpring;
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6
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116 public import chipmunkd.constraints.cpDampedRotarySpring;
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117 public import chipmunkd.constraints.cpRotaryLimitJoint;
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118 public import chipmunkd.constraints.cpRatchetJoint;
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119 public import chipmunkd.constraints.cpGearJoint;
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120 public import chipmunkd.constraints.cpSimpleMotor;
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4
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121
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122
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123 cpFloat cp_constraint_bias_coef = 0.1f;
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124
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125 void cpConstraintDestroy(cpConstraint *constraint){}
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126
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127 void
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128 cpConstraintFree(cpConstraint *constraint)
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129 {
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130 if(constraint){
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131 cpConstraintDestroy(constraint);
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132 cpfree(constraint);
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133 }
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134 }
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135
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136 void
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137 cpConstraintInit(cpConstraint *constraint, /+const+/ cpConstraintClass *klass, cpBody *a, cpBody *b)
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138 {
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139 constraint.klass = klass;
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140 constraint.a = a;
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141 constraint.b = b;
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142
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143 constraint.maxForce = cast(cpFloat)INFINITY;
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144 constraint.biasCoef = cp_constraint_bias_coef;
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145 constraint.maxBias = cast(cpFloat)INFINITY;
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146 }
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