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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.chipmunk;
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13
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5
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6 import std.stdio;
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7 import std.string:format;
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8 import std.conv:to;
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9
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10 void
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11 cpMessage(string message, string condition, string file, int line, bool isError)
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12 {
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13 stderr.writeln(.format("%s:%s", isError ? "Aborting due to Chipmunk error" : "Chipmunk warning", message));
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14 stderr.writeln(.format("\tFailed condition: %s", condition));
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15 stderr.writeln(.format("\tSource: %s(%s)", file, line));
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16
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17 if(isError) {debug{assert(false);}else{asm{int 3;}}}
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18 }
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4
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19
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20 debug
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21 {
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22 template cpAssertWarn(string _condition, string message,string _f = __FILE__,int _l=__LINE__)
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23 {
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24 enum cpAssertWarn = "if(!("~_condition~"))"~
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25 "cpMessage(\""~message~"\",\""~_condition~"\",r\""~_f~"\","~to!string(_l)~",false);";
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26 }
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4
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27 }
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28 else
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29 {
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30 template cpAssertWarn(string _condition, string message,string _f = __FILE__,int _l=__LINE__)
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31 {
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32 enum cpAssertWarn = "";
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33 }
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4
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34 }
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35
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36 //TODO
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4
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37 //#ifdef NDEBUG
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38 // #define cpAssert(condition, message)
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39 //#else
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40 // #define cpAssert(condition, message) if(!(condition)) cpMessage(message, #condition, __FILE__, __LINE__, 1)
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41 //#endif
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42 //
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43
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4
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44 import chipmunkd.chipmunk_types_h;
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45 import core.stdc.stdlib;
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46
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47 enum INFINITY = cpFloat.infinity;
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48
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49 // Maximum allocated size for various Chipmunk buffer sizes
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50 enum CP_BUFFER_BYTES = (32*1024);
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51
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52 alias core.stdc.stdlib.malloc cpmalloc;
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53 alias core.stdc.stdlib.calloc cpcalloc;
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54 alias core.stdc.stdlib.realloc cprealloc;
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55 alias core.stdc.stdlib.free cpfree;
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56
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57 public import chipmunkd.cpVect_h,chipmunkd.cpVect;
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58 public import chipmunkd.cpBB;
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59 public import chipmunkd.cpArray;
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60 public import chipmunkd.cpHashSet;
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61 public import chipmunkd.cpSpaceHash;
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62 //
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63 public import chipmunkd.cpBody;
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64 public import chipmunkd.cpShape;
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65 public import chipmunkd.cpPolyShape;
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66 //
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67 public import chipmunkd.cpArbiter;
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68 public import chipmunkd.cpCollision;
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69 //
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70 public import chipmunkd.constraints.cpConstraint;
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71 //
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72 public import chipmunkd.cpSpace;
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73 public import chipmunkd.cpSpaceComponent;
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74 public import chipmunkd.cpSpaceQuery;
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75 public import chipmunkd.cpSpaceStep;
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76
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77 public import chipmunkd.chipmunk_types_h;
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78
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79 enum cpHashValue CP_HASH_COEF = cast(cpHashValue)(3344921057uL); // ulong to uint ??
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80 static cpHashValue CP_HASH_PAIR(T)(T A, T B) {return (cast(cpHashValue)(A)*CP_HASH_COEF ^ cast(cpHashValue)(B)*CP_HASH_COEF);}
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81
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82 extern const char *cpVersionString;
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83 void cpInitChipmunk()
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84 {
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85 cpInitCollisionFuncs();
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86 }
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87
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88 /**
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89 Calculate the moment of inertia for a circle.
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90 r1 and r2 are the inner and outer diameters. A solid circle has an inner diameter of 0.
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91 */
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92 cpFloat
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93 cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset)
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94 {
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95 return (1.0f/2.0f)*m*(r1*r1 + r2*r2) + m*cpvdot(offset, offset);
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96 }
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97 /**
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98 Calculate the moment of inertia for a line segment.
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99 Beveling radius is not supported.
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100 */
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101 cpFloat
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102 cpMomentForSegment(cpFloat m, cpVect a, cpVect b)
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103 {
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104 cpFloat length = cpvlength(cpvsub(b, a));
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105 cpVect offset = cpvmult(cpvadd(a, b), 1.0f/2.0f);
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106
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107 return m*length*length/12.0f + m*cpvdot(offset, offset);
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108 }
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109
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110 /**
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111 Calculate the moment of inertia for a solid polygon shape.
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112 */
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113 cpFloat
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114 cpMomentForPoly(cpFloat m, const int numVerts, cpVect *verts, cpVect offset)
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115 {
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116 cpVect *tVerts = cast(cpVect *)cpcalloc(numVerts, cpVect.sizeof);
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117 for(int i=0; i<numVerts; i++)
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118 tVerts[i] = cpvadd(verts[i], offset);
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119
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120 cpFloat sum1 = 0.0f;
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121 cpFloat sum2 = 0.0f;
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122 for(int i=0; i<numVerts; i++){
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123 cpVect v1 = tVerts[i];
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124 cpVect v2 = tVerts[(i+1)%numVerts];
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125
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126 cpFloat a = cpvcross(v2, v1);
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127 cpFloat b = cpvdot(v1, v1) + cpvdot(v1, v2) + cpvdot(v2, v2);
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128
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129 sum1 += a*b;
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130 sum2 += a;
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131 }
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132
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133 cpfree(tVerts);
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134 return (m*sum1)/(6.0f*sum2);
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135 }
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136
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137 /**
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138 Calculate the moment of inertia for a solid box.
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139 */
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140 cpFloat
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141 cpMomentForBox(cpFloat m, cpFloat width, cpFloat height)
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142 {
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143 return m*(width*width + height*height)/12.0f;
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144 }
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