Mercurial > projects > chipmunkd
view trunk/tests/ChipmunkDemos/samples/Joints.d @ 16:af2f61a96318
ported chipmunk demos
author | Extrawurst |
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date | Sat, 04 Dec 2010 02:02:29 +0100 |
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// written in the D programming language module samples.Joints; import chipmunkd.chipmunk; import samples.ChipmunkDemo; import std.math; static cpSpace *space; enum M_PI = PI; enum M_PI_2 = PI*0.5f; static cpBody * addBall(cpVect pos, cpVect boxOffset) { cpFloat radius = 15.0f; cpFloat mass = 1.0f; cpBody *_body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForCircle(mass, 0.0f, radius, cpvzero))); _body.p = cpvadd(pos, boxOffset); cpShape *shape = cpSpaceAddShape(space, cpCircleShapeNew(_body, radius, cpvzero)); shape.e = 0.0f; shape.u = 0.7f; return _body; } static cpBody * addLever(cpVect pos, cpVect boxOffset) { cpFloat mass = 1.0f; cpVect a = cpv(0, 15); cpVect b = cpv(0, -15); cpBody *_body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForSegment(mass, a, b))); _body.p = cpvadd(pos, cpvadd(boxOffset, cpv(0, -15))); cpShape *shape = cpSpaceAddShape(space, cpSegmentShapeNew(_body, a, b, 5.0f)); shape.e = 0.0f; shape.u = 0.7f; return _body; } static cpBody * addBar(cpVect pos, cpVect boxOffset) { cpFloat mass = 2.0f; cpVect a = cpv(0, 30); cpVect b = cpv(0, -30); cpBody *_body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForSegment(mass, a, b))); _body.p = cpvadd(pos, boxOffset); cpShape *shape = cpSpaceAddShape(space, cpSegmentShapeNew(_body, a, b, 5.0f)); shape.e = 0.0f; shape.u = 0.7f; return _body; } static cpBody * addWheel(cpVect pos, cpVect boxOffset) { cpFloat radius = 15.0f; cpFloat mass = 1.0f; cpBody *_body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForCircle(mass, 0.0f, radius, cpvzero))); _body.p = cpvadd(pos, boxOffset); cpShape *shape = cpSpaceAddShape(space, cpCircleShapeNew(_body, radius, cpvzero)); shape.e = 0.0f; shape.u = 0.7f; shape.group = 1; // use a group to keep the car parts from colliding return _body; } static cpBody * addChassis(cpVect pos, cpVect boxOffset) { int num = 4; cpVect verts[] = [ cpv(-40,-15), cpv(-40, 15), cpv( 40, 15), cpv( 40,-15), ]; cpFloat mass = 5.0f; cpBody *_body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForPoly(mass, num, verts.ptr, cpvzero))); _body.p = cpvadd(pos, boxOffset); cpShape *shape = cpSpaceAddShape(space, cpPolyShapeNew(_body, num, verts.ptr, cpvzero)); shape.e = 0.0f; shape.u = 0.7f; shape.group = 1; // use a group to keep the car parts from colliding return _body; } static cpSpace * init() { space = cpSpaceNew(); space.iterations = 10; space.gravity = cpv(0, -100); space.sleepTimeThreshold = 0.5f; cpBody *staticBody = &space.staticBody; cpShape *shape; shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,240), cpv(320,240), 0.0f)); shape.e = 1.0f; shape.u = 1.0f; shape.layers = NOT_GRABABLE_MASK; shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,120), cpv(320,120), 0.0f)); shape.e = 1.0f; shape.u = 1.0f; shape.layers = NOT_GRABABLE_MASK; shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,0), cpv(320,0), 0.0f)); shape.e = 1.0f; shape.u = 1.0f; shape.layers = NOT_GRABABLE_MASK; shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,-120), cpv(320,-120), 0.0f)); shape.e = 1.0f; shape.u = 1.0f; shape.layers = NOT_GRABABLE_MASK; shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,-240), cpv(320,-240), 0.0f)); shape.e = 1.0f; shape.u = 1.0f; shape.layers = NOT_GRABABLE_MASK; shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,-240), cpv(-320,240), 0.0f)); shape.e = 1.0f; shape.u = 1.0f; shape.layers = NOT_GRABABLE_MASK; shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-160,-240), cpv(-160,240), 0.0f)); shape.e = 1.0f; shape.u = 1.0f; shape.layers = NOT_GRABABLE_MASK; shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(0,-240), cpv(0,240), 0.0f)); shape.e = 1.0f; shape.u = 1.0f; shape.layers = NOT_GRABABLE_MASK; shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(160,-240), cpv(160,240), 0.0f)); shape.e = 1.0f; shape.u = 1.0f; shape.layers = NOT_GRABABLE_MASK; shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(320,-240), cpv(320,240), 0.0f)); shape.e = 1.0f; shape.u = 1.0f; shape.layers = NOT_GRABABLE_MASK; cpVect boxOffset; cpBody *body1; cpBody *body2; cpVect posA = cpv( 50, 60); cpVect posB = cpv(110, 60); // Pin Joints - Link shapes with a solid bar or pin. // Keeps the anchor points the same distance apart from when the joint was created. boxOffset = cpv(-320, -240); body1 = addBall(posA, boxOffset); body2 = addBall(posB, boxOffset); cpSpaceAddConstraint(space, cpPinJointNew(body1, body2, cpv(15,0), cpv(-15,0))); // Slide Joints - Like pin joints but with a min/max distance. // Can be used for a cheap approximation of a rope. boxOffset = cpv(-160, -240); body1 = addBall(posA, boxOffset); body2 = addBall(posB, boxOffset); cpSpaceAddConstraint(space, cpSlideJointNew(body1, body2, cpv(15,0), cpv(-15,0), 20.0f, 40.0f)); // Pivot Joints - Holds the two anchor points together. Like a swivel. boxOffset = cpv(0, -240); body1 = addBall(posA, boxOffset); body2 = addBall(posB, boxOffset); cpSpaceAddConstraint(space, cpPivotJointNew(body1, body2, cpvadd(boxOffset, cpv(80,60)))); // cpPivotJointNew() takes it's anchor parameter in world coordinates. The anchors are calculated from that // cpPivotJointNew2() lets you specify the two anchor points explicitly // Groove Joints - Like a pivot joint, but one of the anchors is a line segment that the pivot can slide in boxOffset = cpv(160, -240); body1 = addBall(posA, boxOffset); body2 = addBall(posB, boxOffset); cpSpaceAddConstraint(space, cpGrooveJointNew(body1, body2, cpv(30,30), cpv(30,-30), cpv(-30,0))); // Damped Springs boxOffset = cpv(-320, -120); body1 = addBall(posA, boxOffset); body2 = addBall(posB, boxOffset); cpSpaceAddConstraint(space, cpDampedSpringNew(body1, body2, cpv(15,0), cpv(-15,0), 20.0f, 5.0f, 0.3f)); // Damped Rotary Springs boxOffset = cpv(-160, -120); body1 = addBar(posA, boxOffset); body2 = addBar(posB, boxOffset); // Add some pin joints to hold the circles in place. cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, cpvadd(boxOffset, posA))); cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, cpvadd(boxOffset, posB))); cpSpaceAddConstraint(space, cpDampedRotarySpringNew(body1, body2, 0.0f, 3000.0f, 60.0f)); // Rotary Limit Joint boxOffset = cpv(0, -120); body1 = addLever(posA, boxOffset); body2 = addLever(posB, boxOffset); // Add some pin joints to hold the circles in place. cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, cpvadd(boxOffset, posA))); cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, cpvadd(boxOffset, posB))); // Hold their rotation within 90 degrees of each other. cpSpaceAddConstraint(space, cpRotaryLimitJointNew(body1, body2, -M_PI_2, M_PI_2)); // Ratchet Joint - A rotary ratchet, like a socket wrench boxOffset = cpv(160, -120); body1 = addLever(posA, boxOffset); body2 = addLever(posB, boxOffset); // Add some pin joints to hold the circles in place. cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, cpvadd(boxOffset, posA))); cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, cpvadd(boxOffset, posB))); // Ratchet every 90 degrees cpSpaceAddConstraint(space, cpRatchetJointNew(body1, body2, 0.0f, M_PI_2)); // Gear Joint - Maintain a specific angular velocity ratio boxOffset = cpv(-320, 0); body1 = addBar(posA, boxOffset); body2 = addBar(posB, boxOffset); // Add some pin joints to hold the circles in place. cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, cpvadd(boxOffset, posA))); cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, cpvadd(boxOffset, posB))); // Force one to sping 2x as fast as the other cpSpaceAddConstraint(space, cpGearJointNew(body1, body2, 0.0f, 2.0f)); // Simple Motor - Maintain a specific angular relative velocity boxOffset = cpv(-160, 0); body1 = addBar(posA, boxOffset); body2 = addBar(posB, boxOffset); // Add some pin joints to hold the circles in place. cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, cpvadd(boxOffset, posA))); cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, cpvadd(boxOffset, posB))); // Make them spin at 1/2 revolution per second in relation to each other. cpSpaceAddConstraint(space, cpSimpleMotorNew(body1, body2, M_PI)); // Make a car with some nice soft suspension boxOffset = cpv(0, 0); cpBody *wheel1 = addWheel(posA, boxOffset); cpBody *wheel2 = addWheel(posB, boxOffset); cpBody *chassis = addChassis(cpv(80, 100), boxOffset); cpSpaceAddConstraint(space, cpGrooveJointNew(chassis, wheel1, cpv(-30, -10), cpv(-30, -40), cpvzero)); cpSpaceAddConstraint(space, cpGrooveJointNew(chassis, wheel2, cpv( 30, -10), cpv( 30, -40), cpvzero)); cpSpaceAddConstraint(space, cpDampedSpringNew(chassis, wheel1, cpv(-30, 0), cpvzero, 50.0f, 20.0f, 1.5f)); cpSpaceAddConstraint(space, cpDampedSpringNew(chassis, wheel2, cpv( 30, 0), cpvzero, 50.0f, 20.0f, 1.5f)); return space; } static void update(int ticks) { cpSpaceStep(space, 1.0f/60.0f); } static void destroy() { cpSpaceFreeChildren(space); cpSpaceFree(space); } chipmunkDemo Joints = { "Joints and Constraints", null, &init, &update, &destroy, };