CDynamics2DStretchableObjectModel::~CDynamics2DStretchableObjectModel() {
if(m_pcGrippable != NULL) delete m_pcGrippable;
if(m_ptLinearFriction != NULL) {
cpSpaceRemoveConstraint(GetDynamics2DEngine().GetPhysicsSpace(), m_ptLinearFriction);
cpConstraintFree(m_ptLinearFriction);
}
if(m_ptAngularFriction != NULL) {
cpSpaceRemoveConstraint(GetDynamics2DEngine().GetPhysicsSpace(), m_ptAngularFriction);
cpConstraintFree(m_ptAngularFriction);
}
}
void CDynamics2DVelocityControl::Detach() {
if(m_ptControlledBody != NULL) {
/* Remove constraints */
cpSpaceRemoveConstraint(m_cDyn2DEngine.GetPhysicsSpace(), m_ptLinearConstraint);
cpSpaceRemoveConstraint(m_cDyn2DEngine.GetPhysicsSpace(), m_ptAngularConstraint);
/* Free memory up */
cpConstraintFree(m_ptLinearConstraint);
cpConstraintFree(m_ptAngularConstraint);
/* Erase pointer to controlled body */
m_ptControlledBody = NULL;
}
}
CDynamics2DCylinderEntity::~CDynamics2DCylinderEntity() {
if(m_ptBody != NULL) {
cpSpaceRemoveConstraint(m_cEngine.GetPhysicsSpace(), m_ptLinearFriction);
cpSpaceRemoveConstraint(m_cEngine.GetPhysicsSpace(), m_ptAngularFriction);
cpConstraintFree(m_ptLinearFriction);
cpConstraintFree(m_ptAngularFriction);
cpSpaceRemoveBody(m_cEngine.GetPhysicsSpace(), m_ptBody);
cpBodyFree(m_ptBody);
cpSpaceRemoveShape(m_cEngine.GetPhysicsSpace(), m_ptShape);
}
else {
cpSpaceRemoveStaticShape(m_cEngine.GetPhysicsSpace(), m_ptShape);
cpSpaceRehashStatic(m_cEngine.GetPhysicsSpace());
}
cpShapeFree(m_ptShape);
}
void worldConstr_invalidate(WorldConstraint_t *aConstraint)
{
if(!aConstraint->isValid)
return;
aConstraint->isValid = false;
cpSpaceRemoveConstraint(aConstraint->world->cpSpace, aConstraint->cpConstraint);
}
void NaiveRotationAlgorithm::stepSystem(SystemInfo *individual)
{
MachineSystem *oldSystem = individual->system;
individual->system = new MachineSystem(*oldSystem); // copy it to stop all the damn bouncing about
delete oldSystem;
cpBody *inputBody = individual->system->partAtPosition(individual->system->inputMachinePosition)->body;
cpBody *outputBody = individual->system->partAtPosition(individual->system->outputMachinePosition)->body;
cpSpace *systemSpace = individual->system->getSpace();
cpConstraint *motor = cpSimpleMotorNew(cpSpaceGetStaticBody(systemSpace), inputBody, M_PI);
cpSpaceAddConstraint(systemSpace, motor);
cpConstraintSetMaxForce(motor, 50000);
for (int i=0; i<simSteps; i++) {
individual->inputValues[i] = (cpBodyGetAngle(inputBody));
cpSpaceStep(systemSpace, 0.1);
individual->outputValues[i] = (cpBodyGetAngle(outputBody));
}
cpSpaceRemoveConstraint(systemSpace, motor);
cpBodySetAngVel(outputBody, 0);
cpBodySetAngle(inputBody, 0);
}
void SDynamics2DEngineGripperData::ClearConstraints() {
if(GripConstraint != NULL) {
cpSpaceRemoveConstraint(Space, GripConstraint);
cpConstraintFree(GripConstraint);
GripConstraint = NULL;
GripperEntity.ClearGrippedEntity();
}
}
static void
PostStepRemoveJoint(cpSpace *space, void *key, void *data)
{
// printf("Removing joint for %p\n", data);
cpConstraint *joint = (cpConstraint *)key;
cpSpaceRemoveConstraint(space, joint);
cpConstraintFree(joint);
}
void GeometrySpringDynamic::clearJoints()
{
if( 0 != m_ConstraintGear && true == cpSpaceContainsConstraint( m_Space, m_ConstraintGear ) )
{
cpSpaceRemoveConstraint( m_Space, m_ConstraintGear );
cpConstraintFree( m_ConstraintGear );
m_ConstraintGear = 0;
}
}
void PlayLayer::onForwardUp() {
DoodleTruck *doodleTruck = DoodleTruck::sharedDoodleTruck();
if (cpSpaceContainsConstraint(doodleTruck->getSpace(), (cpConstraint*)doodleTruck->getMotor()))
cpSpaceRemoveConstraint(doodleTruck->getSpace(), (cpConstraint*)doodleTruck->getMotor());
forward_touched = false;
measureRPM->removeRPM();
measureBoost->removeBoost();
}
int kmport(port_t* port)
{
if(port == NULL) {
return -1; // nyurupo~
}
if(port->kind == NULL) {
return -1; // bad port
}
if(port->kind->km == NULL) {
return -1; // not implemented
}
cpSpace* space = current_space();
cpBodyEachConstraint_b(port->body,
^(cpConstraint* c) { cpSpaceRemoveConstraint(space, c); });
static void
update(cpSpace *space, double dt)
{
// Set the first anchor point (the one attached to the static body) of the dolly servo to the mouse's x position.
cpPivotJointSetAnchorA(dollyServo, cpv(ChipmunkDemoMouse.x, 100));
// Set the max length of the winch servo to match the mouse's height.
cpSlideJointSetMax(winchServo, cpfmax(100 - ChipmunkDemoMouse.y, 50));
if(hookJoint && ChipmunkDemoRightClick){
cpSpaceRemoveConstraint(space, hookJoint);
cpConstraintFree(hookJoint);
hookJoint = NULL;
}
cpSpaceStep(space, dt);
}
Body::~Body(){
if(body){
//clean up all constraints
constraintsToRemove.clear();
cpBodyEachConstraint(body, &constraintRemoveQuery, (void*)this);
for(auto c: constraintsToRemove){
((Constraint*)cpConstraintGetUserData(c))->constraint = nullptr;
cpSpaceRemoveConstraint(cpConstraintGetSpace(c), c);
cpConstraintDestroy(c);
}
//remove body
cpSpaceRemoveBody(cpBodyGetSpace(body), body);
cpBodyFree(body);
body = nullptr;
}
}
/* Mouse handling is a bit tricky. We want the user to move
* tiles using the mouse but because tiles are dynamic bodies
* managed by Chipmunk2D, we cannot directly control them.
* This is resolved by creating a pivot joint between an
* invisible mouse body that we can control and the tile body
* that we cannot directly control.
*/
static void apply_mouse_motion(struct state* state)
{
struct mouse m;
update_mouse(&m);
int w, h;
get_screen_size(&w, &h);
int x = m.x_position * w;
int y = m.y_position * h;
cpVect mouse_pos = cpv(x, y);
cpVect new_point =
cpvlerp(cpBodyGetPosition(state->mouse_body), mouse_pos, 0.25f);
cpBodySetVelocity(
state->mouse_body,
cpvmult(cpvsub(new_point, cpBodyGetPosition(state->mouse_body)),
60.0f));
cpBodySetPosition(state->mouse_body, new_point);
if (m.left_click && state->mouse_joint == NULL) {
cpFloat radius = 5.0;
cpPointQueryInfo info = { 0 };
cpShape* shape = cpSpacePointQueryNearest(state->space, mouse_pos,
radius, GRAB_FILTER, &info);
if (shape && cpBodyGetMass(cpShapeGetBody(shape)) < INFINITY) {
cpVect nearest = (info.distance > 0.0f ? info.point : mouse_pos);
cpBody* body = cpShapeGetBody(shape);
state->mouse_joint =
cpPivotJointNew2(state->mouse_body, body, cpvzero,
cpBodyWorldToLocal(body, nearest));
cpConstraintSetMaxForce(state->mouse_joint, 5000000.0f);
cpConstraintSetErrorBias(state->mouse_joint,
cpfpow(1.0f - 0.15f, 60.0f));
cpSpaceAddConstraint(state->space, state->mouse_joint);
}
}
if (m.left_click == false && state->mouse_joint != NULL) {
cpSpaceRemoveConstraint(state->space, state->mouse_joint);
cpConstraintFree(state->mouse_joint);
state->mouse_joint = NULL;
}
}
static void
update(int ticks)
{
int steps = 1;
cpFloat dt = 1.0f/60.0f/(cpFloat)steps;
for(int i=0; i<steps; i++){
// Set the first anchor point (the one attached to the static body) of the dolly servo to the mouse's x position.
cpPivotJointSetAnchr1(dollyServo, cpv(ChipmunkDemoMouse.x, 100));
// Set the max length of the winch servo to match the mouse's height.
cpSlideJointSetMax(winchServo, cpfmax(100 - ChipmunkDemoMouse.y, 50));
if(hookJoint && ChipmunkDemoKeyboard.y < 0){
cpSpaceRemoveConstraint(space, hookJoint);
cpConstraintFree(hookJoint);
hookJoint = NULL;
}
cpSpaceStep(space, dt);
}
}
static void
click(int button, int state, int x, int y)
{
if(button == GLUT_LEFT_BUTTON){
if(state == GLUT_DOWN){
cpVect point = mouseToSpace(x, y);
cpShape *shape = cpSpacePointQueryFirst(space, point, GRABABLE_MASK_BIT, CP_NO_GROUP);
if(shape){
cpBody *body = shape->body;
mouseJoint = cpPivotJointNew2(mouseBody, body, cpvzero, cpBodyWorld2Local(body, point));
mouseJoint->maxForce = 50000.0f;
mouseJoint->errorBias = cpfpow(1.0f - 0.15f, 60.0f);
cpSpaceAddConstraint(space, mouseJoint);
}
} else if(mouseJoint){
cpSpaceRemoveConstraint(space, mouseJoint);
cpConstraintFree(mouseJoint);
mouseJoint = NULL;
}
}
}
void DynamicObjectStabilizator::clearResources()
{
{
vector<cpBody *>::iterator begin = m_KineticBodies.begin();
vector<cpBody *>::iterator end = m_KineticBodies.end();
vector<cpBody *>::iterator iter = begin;
for( ; iter != end ; iter++ )
{
cpBody * kineticBody = (* iter );
cpSpaceRemoveBody( m_Space, kineticBody );
}
}
{
vector<cpConstraint *>::iterator begin = m_Joints.begin();
vector<cpConstraint *>::iterator end = m_Joints.end();
vector<cpConstraint *>::iterator iter = begin;
for( ; iter != end ; iter++ )
{
cpConstraint * joint = (* iter );
cpSpaceRemoveConstraint( m_Space, joint );
}
}
}
void PhysicsWorld::doRemoveJoint(PhysicsJoint* joint)
{
for (auto constraint : joint->_cpConstraints)
{
cpSpaceRemoveConstraint(_cpSpace, constraint);
}
_joints.remove(joint);
joint->_world = nullptr;
if (joint->getBodyA())
{
joint->getBodyA()->removeJoint(joint);
}
if (joint->getBodyB())
{
joint->getBodyB()->removeJoint(joint);
}
if (joint->_destoryMark)
{
delete joint;
}
}
__declspec( dllexport ) void deletevar( const void * _in, int in_size, void * _out, int out_sz )
{
cpBody *body;
int i;
int index;
Variable *var;
Variable *mainVar = vhRemoveVariable(&mVariableHandler,PEEKINT(INPUT_MEMBLOCK,0));
if (mainVar->mType == VarTypeBody)
{
body = (cpBody*)mainVar->mPtr;
resetVariableList();
cpBodyEachShape(body,listShape,0);
index = 0;
for (i = 0;i != mVariableListIterator;i++)
{
var = mVariableList[i];
POKEINT(OUTPUT_MEMBLOCK,index,var->mCBPtr);index += 4;
cpSpaceRemoveShape(&mSpace,(cpShape*)var->mPtr);
cpShapeFree((cpShape*)var->mPtr);
//MessageBoxA(NULL,"ShapeRemoved2","Error",MB_OK);
vhRemoveVariable(&mVariableHandler,var->mLocalHandle);
varFree(var);
}
resetVariableList();
cpBodyEachConstraint(body,listConstraint,0);
for (i = 0;i != mVariableListIterator;i++)
{
var = mVariableList[i];
POKEINT(OUTPUT_MEMBLOCK,index,var->mCBPtr);index+=4;
//MessageBoxA(NULL,"Constraint removed2","Error",MB_OK);
cpSpaceRemoveConstraint(&mSpace,(cpConstraint*)var->mPtr);
cpConstraintFree((cpConstraint*)var->mPtr);
vhRemoveVariable(&mVariableHandler,var->mLocalHandle);
varFree(var);
}
POKEINT(OUTPUT_MEMBLOCK,index,0);//End point
//MessageBoxA(NULL,"BodyRemoved","Error",MB_OK);
cpSpaceRemoveBody(&mSpace,body);
cpBodyFree(body);
varFree(mainVar);
}
else if (mainVar->mType == VarTypeShape)
{
cpSpaceRemoveShape(&mSpace,(cpShape*)mainVar->mPtr);
cpShapeFree((cpShape*)mainVar->mPtr);
//MessageBoxA(NULL,"ShapeRemoved","Error",MB_OK);
varFree(mainVar);
POKEINT(OUTPUT_MEMBLOCK,0,0);
}
else if (mainVar->mType == VarTypeConstraint)
{
cpSpaceRemoveConstraint(&mSpace,(cpConstraint*)mainVar->mPtr);
cpConstraintFree((cpConstraint*)mainVar->mPtr);
varFree(mainVar);
POKEINT(OUTPUT_MEMBLOCK,0,0);
}
else if (mainVar->mType == VarTypeDataArray)
{
daFree((DataArray*)mainVar->mPtr);
varFree(mainVar);
POKEINT(OUTPUT_MEMBLOCK,0,0);
}
else
{
//Failure...
MessageBoxA(NULL,"Unknown cpChipmunk error 11","Error",MB_OK);
varFree(mainVar);
POKEINT(OUTPUT_MEMBLOCK,0,0);
}
}
void Space::removeConstraint(cp::Constraint *constraint)
{
cpSpaceRemoveConstraint(space,constraint ? constraint->get() : 0);
}
CCJoint::~CCJoint()
{
cpSpaceRemoveConstraint(this->world->getSpace(), this->m_constraint);
cpConstraintFree(this->m_constraint);
}
static void constraintFreeWrap(cpSpace *space, cpConstraint *constraint, void *unused){
cpSpaceRemoveConstraint(space, constraint);
cpConstraintFree(constraint);
}
void Chains::BreakablejointPostStepRemove(cpSpace *space, cpConstraint *joint, void *unused)
{
cpSpaceRemoveConstraint(space, joint);
cpConstraintFree(joint);
}
