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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 template CP_DefineConstraintGetter(string _struct,string type,string member,string name)
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62 {
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63 enum CP_DefineConstraintGetter =
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64 "static "~type~" "~_struct~"Get"~name~"(cpConstraint *constraint){"~
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65 cpConstraintCheckCast!("constraint",_struct)~
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66 "cpConstraintActivateBodies(constraint);"~
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67 "return (cast("~_struct~"*)constraint)."~member~";"~
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68 "}";
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69 }
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70
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71 template CP_DefineConstraintSetter(string _struct,string type,string member,string name)
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72 {
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73 enum CP_DefineConstraintSetter =
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74 "static void "~_struct~"Set"~name~"(cpConstraint *constraint,"~type~" value){"~
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75 cpConstraintCheckCast!("constraint",_struct)~
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76 "cpConstraintActivateBodies(constraint);"~
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77 "(cast("~_struct~"*)constraint)."~member~" = value;"~
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78 "}";
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79 }
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80
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81 template CP_DefineConstraintProperty(string _struct,string type,string member,string name)
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82 {
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83 enum CP_DefineConstraintProperty =
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84 CP_DefineConstraintGetter!(_struct,type,member,name)~CP_DefineConstraintSetter!(_struct,type,member,name);
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85
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86 }
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87
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88 //// Built in Joint types
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89 public import chipmunkd.constraints.cpPinJoint;
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6
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90 public import chipmunkd.constraints.cpSlideJoint;
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4
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91 public import chipmunkd.constraints.cpPivotJoint;
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6
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92 public import chipmunkd.constraints.cpGrooveJoint;
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4
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93 public import chipmunkd.constraints.cpDampedSpring;
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6
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94 public import chipmunkd.constraints.cpDampedRotarySpring;
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95 public import chipmunkd.constraints.cpRotaryLimitJoint;
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96 public import chipmunkd.constraints.cpRatchetJoint;
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97 public import chipmunkd.constraints.cpGearJoint;
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98 public import chipmunkd.constraints.cpSimpleMotor;
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4
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99
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100
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101 cpFloat cp_constraint_bias_coef = 0.1f;
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102
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103 void cpConstraintDestroy(cpConstraint *constraint){}
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104
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105 void
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106 cpConstraintFree(cpConstraint *constraint)
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107 {
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108 if(constraint){
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109 cpConstraintDestroy(constraint);
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110 cpfree(constraint);
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111 }
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112 }
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113
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114 void
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115 cpConstraintInit(cpConstraint *constraint, /+const+/ cpConstraintClass *klass, cpBody *a, cpBody *b)
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116 {
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117 constraint.klass = klass;
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118 constraint.a = a;
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119 constraint.b = b;
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120
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121 constraint.maxForce = cast(cpFloat)INFINITY;
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122 constraint.biasCoef = cp_constraint_bias_coef;
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123 constraint.maxBias = cast(cpFloat)INFINITY;
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124 }
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