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