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comparison trunk/tests/ChipmunkDemos/samples/TheoJansen.d @ 16:af2f61a96318

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ported chipmunk demos
author Extrawurst
date Sat, 04 Dec 2010 02:02:29 +0100
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15:df4ebc8add66 16:af2f61a96318
1
2 // written in the D programming language
3
4 module samples.TheoJansen;
5
6 import chipmunkd.chipmunk;
7
8 import samples.ChipmunkDemo;
9
10 import gameApp;
11
12 import std.math;
13
14 enum M_PI = PI;
15 enum M_PI_2 = PI*0.5f;
16
17 static cpSpace *space;
18
19 static cpConstraint *motor;
20
21 static void
22 update(int ticks)
23 {
24 cpFloat coef = (2.0f + arrowDirection.y)/3.0f;
25 cpFloat rate = arrowDirection.x*10.0f*coef;
26 cpSimpleMotorSetRate(motor, rate);
27 motor.maxForce = (rate) ? 100000.0f : 0.0f;
28
29 enum int steps = 3;
30 enum cpFloat dt = 1.0f/60.0f/cast(cpFloat)steps;
31
32 for(int i=0; i<steps; i++){
33 cpSpaceStep(space, dt);
34 }
35 }
36
37 static cpFloat seg_radius = 3.0f;
38
39 static void
40 make_leg(cpFloat side, cpFloat offset, cpBody *chassis, cpBody *crank, cpVect anchor)
41 {
42 cpVect a, b;
43 cpShape *shape;
44
45 cpFloat leg_mass = 1.0f;
46
47 // make leg
48 a = cpvzero, b = cpv(0.0f, side);
49 cpBody *upper_leg = cpBodyNew(leg_mass, cpMomentForSegment(leg_mass, a, b));
50 upper_leg.p = cpv(offset, 0.0f);
51 cpSpaceAddBody(space, upper_leg);
52 cpSpaceAddShape(space, cpSegmentShapeNew(upper_leg, a, b, seg_radius));
53 cpSpaceAddConstraint(space, cpPivotJointNew2(chassis, upper_leg, cpv(offset, 0.0f), cpvzero));
54
55 // lower leg
56 a = cpvzero, b = cpv(0.0f, -1.0f*side);
57 cpBody *lower_leg = cpBodyNew(leg_mass, cpMomentForSegment(leg_mass, a, b));
58 lower_leg.p = cpv(offset, -side);
59 cpSpaceAddBody(space, lower_leg);
60 shape = cpSegmentShapeNew(lower_leg, a, b, seg_radius);
61 shape.group = 1;
62 cpSpaceAddShape(space, shape);
63 shape = cpCircleShapeNew(lower_leg, seg_radius*2.0f, b);
64 shape.group = 1;
65 shape.e = 0.0f; shape.u = 1.0f;
66 cpSpaceAddShape(space, shape);
67 cpSpaceAddConstraint(space, cpPinJointNew(chassis, lower_leg, cpv(offset, 0.0f), cpvzero));
68
69 cpSpaceAddConstraint(space, cpGearJointNew(upper_leg, lower_leg, 0.0f, 1.0f));
70
71 cpConstraint *constraint;
72 cpFloat diag = cpfsqrt(side*side + offset*offset);
73
74 constraint = cpPinJointNew(crank, upper_leg, anchor, cpv(0.0f, side));
75 cpPinJointSetDist(constraint, diag);
76 cpSpaceAddConstraint(space, constraint);
77 constraint = cpPinJointNew(crank, lower_leg, anchor, cpvzero);
78 cpPinJointSetDist(constraint, diag);
79 cpSpaceAddConstraint(space, constraint);
80 }
81
82 static cpSpace *
83 init()
84 {
85 space = cpSpaceNew();
86
87 cpResetShapeIdCounter();
88
89 space = cpSpaceNew();
90 space.iterations = 20;
91 space.gravity = cpv(0,-500);
92
93 cpBody *staticBody = &space.staticBody;
94 cpShape *shape;
95 cpVect a, b;
96
97 // Create segments around the edge of the screen.
98 shape = cpSegmentShapeNew(staticBody, cpv(-320,-240), cpv(-320,240), 0.0f);
99 shape.e = 1.0f; shape.u = 1.0f;
100 shape.layers = NOT_GRABABLE_MASK;
101 cpSpaceAddShape(space, shape);
102
103 shape = cpSegmentShapeNew(staticBody, cpv(320,-240), cpv(320,240), 0.0f);
104 shape.e = 1.0f; shape.u = 1.0f;
105 shape.layers = NOT_GRABABLE_MASK;
106 cpSpaceAddShape(space, shape);
107
108 shape = cpSegmentShapeNew(staticBody, cpv(-320,-240), cpv(320,-240), 0.0f);
109 shape.e = 1.0f; shape.u = 1.0f;
110 shape.layers = NOT_GRABABLE_MASK;
111 cpSpaceAddShape(space, shape);
112
113 cpFloat offset = 30.0f;
114
115 // make chassis
116 cpFloat chassis_mass = 2.0f;
117 a = cpv(-offset, 0.0f), b = cpv(offset, 0.0f);
118 cpBody *chassis = cpBodyNew(chassis_mass, cpMomentForSegment(chassis_mass, a, b));
119 cpSpaceAddBody(space, chassis);
120 shape = cpSegmentShapeNew(chassis, a, b, seg_radius);
121 shape.group = 1;
122 cpSpaceAddShape(space, shape);
123
124 // make crank
125 cpFloat crank_mass = 1.0f;
126 cpFloat crank_radius = 13.0f;
127 cpBody *crank = cpBodyNew(crank_mass, cpMomentForCircle(crank_mass, crank_radius, 0.0f, cpvzero));
128 cpSpaceAddBody(space, crank);
129 shape = cpCircleShapeNew(crank, crank_radius, cpvzero);
130 shape.group = 1;
131 cpSpaceAddShape(space, shape);
132 cpSpaceAddConstraint(space, cpPivotJointNew2(chassis, crank, cpvzero, cpvzero));
133
134 cpFloat side = 30.0f;
135
136 int num_legs = 2;
137 for(int i=0; i<num_legs; i++){
138 make_leg(side, offset, chassis, crank, cpvmult(cpvforangle(cast(cpFloat)(2*i+0)/cast(cpFloat)num_legs*M_PI), crank_radius));
139 make_leg(side, -offset, chassis, crank, cpvmult(cpvforangle(cast(cpFloat)(2*i+1)/cast(cpFloat)num_legs*M_PI), crank_radius));
140 }
141
142 motor = cpSimpleMotorNew(chassis, crank, 6.0f);
143 cpSpaceAddConstraint(space, motor);
144
145 return space;
146 }
147
148 static void
149 destroy()
150 {
151 cpSpaceFreeChildren(space);
152 cpSpaceFree(space);
153 }
154
155 chipmunkDemo TheoJansen = {
156 "Theo Jansen Machine",
157 null,
158 &init,
159 &update,
160 &destroy,
161 };