--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/trunk/tests/ChipmunkDemos/samples/TheoJansen.d	Sat Dec 04 02:02:29 2010 +0100
@@ -0,0 +1,161 @@
+
+// written in the D programming language
+
+module samples.TheoJansen;
+
+import chipmunkd.chipmunk;
+
+import samples.ChipmunkDemo;
+
+import gameApp;
+
+import std.math;
+
+enum M_PI = PI;
+enum M_PI_2 = PI*0.5f;
+
+static cpSpace *space;
+
+static cpConstraint *motor;
+
+static void
+update(int ticks)
+{
+	cpFloat coef = (2.0f + arrowDirection.y)/3.0f;
+	cpFloat rate = arrowDirection.x*10.0f*coef;
+	cpSimpleMotorSetRate(motor, rate);
+	motor.maxForce = (rate) ? 100000.0f : 0.0f;
+	
+	enum int steps = 3;
+	enum cpFloat dt = 1.0f/60.0f/cast(cpFloat)steps;
+	
+	for(int i=0; i<steps; i++){
+		cpSpaceStep(space, dt);
+	}
+}
+
+static cpFloat seg_radius = 3.0f;
+
+static void
+make_leg(cpFloat side, cpFloat offset, cpBody *chassis, cpBody *crank, cpVect anchor)
+{
+	cpVect a, b;
+	cpShape *shape;
+	
+	cpFloat leg_mass = 1.0f;
+
+	// make leg
+	a = cpvzero, b = cpv(0.0f, side);
+	cpBody *upper_leg = cpBodyNew(leg_mass, cpMomentForSegment(leg_mass, a, b));
+	upper_leg.p = cpv(offset, 0.0f);
+	cpSpaceAddBody(space, upper_leg);
+	cpSpaceAddShape(space, cpSegmentShapeNew(upper_leg, a, b, seg_radius));
+	cpSpaceAddConstraint(space, cpPivotJointNew2(chassis, upper_leg, cpv(offset, 0.0f), cpvzero));
+	
+	// lower leg
+	a = cpvzero, b = cpv(0.0f, -1.0f*side);
+	cpBody *lower_leg = cpBodyNew(leg_mass, cpMomentForSegment(leg_mass, a, b));
+	lower_leg.p = cpv(offset, -side);
+	cpSpaceAddBody(space, lower_leg);
+	shape = cpSegmentShapeNew(lower_leg, a, b, seg_radius);
+	shape.group = 1;
+	cpSpaceAddShape(space, shape);
+	shape = cpCircleShapeNew(lower_leg, seg_radius*2.0f, b);
+	shape.group = 1;
+	shape.e = 0.0f; shape.u = 1.0f;
+	cpSpaceAddShape(space, shape);
+	cpSpaceAddConstraint(space, cpPinJointNew(chassis, lower_leg, cpv(offset, 0.0f), cpvzero));
+	
+	cpSpaceAddConstraint(space, cpGearJointNew(upper_leg, lower_leg, 0.0f, 1.0f));
+	
+	cpConstraint *constraint;
+	cpFloat diag = cpfsqrt(side*side + offset*offset);
+	
+	constraint = cpPinJointNew(crank, upper_leg, anchor, cpv(0.0f, side));
+	cpPinJointSetDist(constraint, diag);
+	cpSpaceAddConstraint(space, constraint);
+	constraint = cpPinJointNew(crank, lower_leg, anchor, cpvzero);
+	cpPinJointSetDist(constraint, diag);
+	cpSpaceAddConstraint(space, constraint);
+}
+
+static cpSpace *
+init()
+{
+	space = cpSpaceNew();
+	
+	cpResetShapeIdCounter();
+	
+	space = cpSpaceNew();
+	space.iterations = 20;
+	space.gravity = cpv(0,-500);
+	
+	cpBody *staticBody = &space.staticBody;
+	cpShape *shape;
+	cpVect a, b;
+	
+	// Create segments around the edge of the screen.
+	shape = cpSegmentShapeNew(staticBody, cpv(-320,-240), cpv(-320,240), 0.0f);
+	shape.e = 1.0f; shape.u = 1.0f;
+	shape.layers = NOT_GRABABLE_MASK;
+	cpSpaceAddShape(space, shape);
+
+	shape = cpSegmentShapeNew(staticBody, cpv(320,-240), cpv(320,240), 0.0f);
+	shape.e = 1.0f; shape.u = 1.0f;
+	shape.layers = NOT_GRABABLE_MASK;
+	cpSpaceAddShape(space, shape);
+
+	shape = cpSegmentShapeNew(staticBody, cpv(-320,-240), cpv(320,-240), 0.0f);
+	shape.e = 1.0f; shape.u = 1.0f;
+	shape.layers = NOT_GRABABLE_MASK;
+	cpSpaceAddShape(space, shape);
+	
+	cpFloat offset = 30.0f;
+
+	// make chassis
+	cpFloat chassis_mass = 2.0f;
+	a = cpv(-offset, 0.0f), b = cpv(offset, 0.0f);
+	cpBody *chassis = cpBodyNew(chassis_mass, cpMomentForSegment(chassis_mass, a, b));
+	cpSpaceAddBody(space, chassis);
+	shape = cpSegmentShapeNew(chassis, a, b, seg_radius);
+	shape.group = 1;
+	cpSpaceAddShape(space, shape);
+	
+	// make crank
+	cpFloat crank_mass = 1.0f;
+	cpFloat crank_radius = 13.0f;
+	cpBody *crank = cpBodyNew(crank_mass, cpMomentForCircle(crank_mass, crank_radius, 0.0f, cpvzero));
+	cpSpaceAddBody(space, crank);
+	shape = cpCircleShapeNew(crank, crank_radius, cpvzero);
+	shape.group = 1;
+	cpSpaceAddShape(space, shape);
+	cpSpaceAddConstraint(space, cpPivotJointNew2(chassis, crank, cpvzero, cpvzero));
+	
+	cpFloat side = 30.0f;
+	
+	int num_legs = 2;
+	for(int i=0; i<num_legs; i++){
+		make_leg(side,  offset, chassis, crank, cpvmult(cpvforangle(cast(cpFloat)(2*i+0)/cast(cpFloat)num_legs*M_PI), crank_radius));
+		make_leg(side, -offset, chassis, crank, cpvmult(cpvforangle(cast(cpFloat)(2*i+1)/cast(cpFloat)num_legs*M_PI), crank_radius));
+	}
+	
+	motor = cpSimpleMotorNew(chassis, crank, 6.0f);
+	cpSpaceAddConstraint(space, motor);
+
+	return space;
+}
+
+static void
+destroy()
+{
+	cpSpaceFreeChildren(space);
+	cpSpaceFree(space);
+}
+
+chipmunkDemo TheoJansen = {
+	"Theo Jansen Machine",
+	null,
+	&init,
+	&update,
+	&destroy,
+};