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16
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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 samples.TheoJansen;
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5
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6 import chipmunkd.chipmunk;
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7
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8 import samples.ChipmunkDemo;
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9
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10 import gameApp;
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11
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12 import std.math;
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13
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14 enum M_PI = PI;
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15 enum M_PI_2 = PI*0.5f;
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16
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17 static cpSpace *space;
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18
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19 static cpConstraint *motor;
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20
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21 static void
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22 update(int ticks)
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23 {
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24 cpFloat coef = (2.0f + arrowDirection.y)/3.0f;
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25 cpFloat rate = arrowDirection.x*10.0f*coef;
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26 cpSimpleMotorSetRate(motor, rate);
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27 motor.maxForce = (rate) ? 100000.0f : 0.0f;
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28
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29 enum int steps = 3;
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30 enum cpFloat dt = 1.0f/60.0f/cast(cpFloat)steps;
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31
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32 for(int i=0; i<steps; i++){
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33 cpSpaceStep(space, dt);
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34 }
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35 }
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36
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37 static cpFloat seg_radius = 3.0f;
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38
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39 static void
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40 make_leg(cpFloat side, cpFloat offset, cpBody *chassis, cpBody *crank, cpVect anchor)
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41 {
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42 cpVect a, b;
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43 cpShape *shape;
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44
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45 cpFloat leg_mass = 1.0f;
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46
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47 // make leg
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48 a = cpvzero, b = cpv(0.0f, side);
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49 cpBody *upper_leg = cpBodyNew(leg_mass, cpMomentForSegment(leg_mass, a, b));
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50 upper_leg.p = cpv(offset, 0.0f);
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51 cpSpaceAddBody(space, upper_leg);
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52 cpSpaceAddShape(space, cpSegmentShapeNew(upper_leg, a, b, seg_radius));
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53 cpSpaceAddConstraint(space, cpPivotJointNew2(chassis, upper_leg, cpv(offset, 0.0f), cpvzero));
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54
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55 // lower leg
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56 a = cpvzero, b = cpv(0.0f, -1.0f*side);
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57 cpBody *lower_leg = cpBodyNew(leg_mass, cpMomentForSegment(leg_mass, a, b));
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58 lower_leg.p = cpv(offset, -side);
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59 cpSpaceAddBody(space, lower_leg);
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60 shape = cpSegmentShapeNew(lower_leg, a, b, seg_radius);
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61 shape.group = 1;
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62 cpSpaceAddShape(space, shape);
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63 shape = cpCircleShapeNew(lower_leg, seg_radius*2.0f, b);
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64 shape.group = 1;
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65 shape.e = 0.0f; shape.u = 1.0f;
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66 cpSpaceAddShape(space, shape);
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67 cpSpaceAddConstraint(space, cpPinJointNew(chassis, lower_leg, cpv(offset, 0.0f), cpvzero));
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68
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69 cpSpaceAddConstraint(space, cpGearJointNew(upper_leg, lower_leg, 0.0f, 1.0f));
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70
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71 cpConstraint *constraint;
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72 cpFloat diag = cpfsqrt(side*side + offset*offset);
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73
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74 constraint = cpPinJointNew(crank, upper_leg, anchor, cpv(0.0f, side));
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75 cpPinJointSetDist(constraint, diag);
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76 cpSpaceAddConstraint(space, constraint);
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77 constraint = cpPinJointNew(crank, lower_leg, anchor, cpvzero);
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78 cpPinJointSetDist(constraint, diag);
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79 cpSpaceAddConstraint(space, constraint);
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80 }
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81
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82 static cpSpace *
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83 init()
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84 {
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85 space = cpSpaceNew();
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86
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87 cpResetShapeIdCounter();
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88
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89 space = cpSpaceNew();
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90 space.iterations = 20;
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91 space.gravity = cpv(0,-500);
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92
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93 cpBody *staticBody = &space.staticBody;
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94 cpShape *shape;
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95 cpVect a, b;
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96
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97 // Create segments around the edge of the screen.
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98 shape = cpSegmentShapeNew(staticBody, cpv(-320,-240), cpv(-320,240), 0.0f);
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99 shape.e = 1.0f; shape.u = 1.0f;
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100 shape.layers = NOT_GRABABLE_MASK;
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101 cpSpaceAddShape(space, shape);
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102
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103 shape = cpSegmentShapeNew(staticBody, cpv(320,-240), cpv(320,240), 0.0f);
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104 shape.e = 1.0f; shape.u = 1.0f;
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105 shape.layers = NOT_GRABABLE_MASK;
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106 cpSpaceAddShape(space, shape);
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107
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108 shape = cpSegmentShapeNew(staticBody, cpv(-320,-240), cpv(320,-240), 0.0f);
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109 shape.e = 1.0f; shape.u = 1.0f;
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110 shape.layers = NOT_GRABABLE_MASK;
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111 cpSpaceAddShape(space, shape);
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112
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113 cpFloat offset = 30.0f;
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114
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115 // make chassis
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116 cpFloat chassis_mass = 2.0f;
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117 a = cpv(-offset, 0.0f), b = cpv(offset, 0.0f);
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118 cpBody *chassis = cpBodyNew(chassis_mass, cpMomentForSegment(chassis_mass, a, b));
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119 cpSpaceAddBody(space, chassis);
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120 shape = cpSegmentShapeNew(chassis, a, b, seg_radius);
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121 shape.group = 1;
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122 cpSpaceAddShape(space, shape);
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123
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124 // make crank
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125 cpFloat crank_mass = 1.0f;
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126 cpFloat crank_radius = 13.0f;
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127 cpBody *crank = cpBodyNew(crank_mass, cpMomentForCircle(crank_mass, crank_radius, 0.0f, cpvzero));
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128 cpSpaceAddBody(space, crank);
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129 shape = cpCircleShapeNew(crank, crank_radius, cpvzero);
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130 shape.group = 1;
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131 cpSpaceAddShape(space, shape);
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132 cpSpaceAddConstraint(space, cpPivotJointNew2(chassis, crank, cpvzero, cpvzero));
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133
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134 cpFloat side = 30.0f;
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135
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136 int num_legs = 2;
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137 for(int i=0; i<num_legs; i++){
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138 make_leg(side, offset, chassis, crank, cpvmult(cpvforangle(cast(cpFloat)(2*i+0)/cast(cpFloat)num_legs*M_PI), crank_radius));
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139 make_leg(side, -offset, chassis, crank, cpvmult(cpvforangle(cast(cpFloat)(2*i+1)/cast(cpFloat)num_legs*M_PI), crank_radius));
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140 }
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141
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142 motor = cpSimpleMotorNew(chassis, crank, 6.0f);
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143 cpSpaceAddConstraint(space, motor);
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144
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145 return space;
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146 }
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147
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148 static void
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149 destroy()
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150 {
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151 cpSpaceFreeChildren(space);
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152 cpSpaceFree(space);
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153 }
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154
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155 chipmunkDemo TheoJansen = {
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156 "Theo Jansen Machine",
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157 null,
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158 &init,
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159 &update,
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160 &destroy,
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161 };
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