Line::Line(ShapeLine *src, float mass){
cpFloat moment = cpMomentForSegment(mass, toChipmunk(src->getA()), toChipmunk(src->getB()), src->getRadius());
DynamicBody::setup(cpShapeGetSpace(src->shape), mass, moment);
ShapeLine::setup(src);
cpSpaceRemoveShape(cpShapeGetSpace(shape), shape);
cpSpaceAddShape(cpBodyGetSpace(body), shape);
cpShapeSetBody(shape, body);
}
static void
make_leg(cpSpace *space, 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 = cpSpaceAddBody(space, cpBodyNew(leg_mass, cpMomentForSegment(leg_mass, a, b, 0.0f)));
cpBodySetPosition(upper_leg, cpv(offset, 0.0f));
shape = cpSpaceAddShape(space, cpSegmentShapeNew(upper_leg, a, b, seg_radius));
cpShapeSetFilter(shape, cpShapeFilterNew(1, CP_ALL_CATEGORIES, CP_ALL_CATEGORIES));
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 = cpSpaceAddBody(space, cpBodyNew(leg_mass, cpMomentForSegment(leg_mass, a, b, 0.0f)));
cpBodySetPosition(lower_leg, cpv(offset, -side));
shape = cpSpaceAddShape(space, cpSegmentShapeNew(lower_leg, a, b, seg_radius));
cpShapeSetFilter(shape, cpShapeFilterNew(1, CP_ALL_CATEGORIES, CP_ALL_CATEGORIES));
shape = cpSpaceAddShape(space, cpCircleShapeNew(lower_leg, seg_radius*2.0f, b));
cpShapeSetFilter(shape, cpShapeFilterNew(1, CP_ALL_CATEGORIES, CP_ALL_CATEGORIES));
cpShapeSetElasticity(shape, 0.0f);
cpShapeSetFriction(shape, 1.0f);
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 = cpSpaceAddConstraint(space, cpPinJointNew(crank, upper_leg, anchor, cpv(0.0f, side)));
cpPinJointSetDist(constraint, diag);
constraint = cpSpaceAddConstraint(space, cpPinJointNew(crank, lower_leg, anchor, cpvzero));
cpPinJointSetDist(constraint, diag);
}
static cpSpace *
init(void)
{
QUERY_START = cpvzero;
space = cpSpaceNew();
cpSpaceSetIterations(space, 5);
{ // add a fat segment
cpFloat mass = 1.0f;
cpFloat length = 100.0f;
cpVect a = cpv(-length/2.0f, 0.0f), b = cpv(length/2.0f, 0.0f);
cpBody *body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForSegment(mass, a, b)));
cpBodySetPos(body, cpv(0.0f, 100.0f));
cpSpaceAddShape(space, cpSegmentShapeNew(body, a, b, 20.0f));
}
{ // add a static segment
cpSpaceAddShape(space, cpSegmentShapeNew(cpSpaceGetStaticBody(space), cpv(0, 300), cpv(300, 0), 0.0f));
}
{ // add a pentagon
cpFloat mass = 1.0f;
const int NUM_VERTS = 5;
cpVect verts[NUM_VERTS];
for(int i=0; i<NUM_VERTS; i++){
cpFloat angle = -2*M_PI*i/((cpFloat) NUM_VERTS);
verts[i] = cpv(30*cos(angle), 30*sin(angle));
}
cpBody *body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForPoly(mass, NUM_VERTS, verts, cpvzero)));
cpBodySetPos(body, cpv(50.0f, 50.0f));
cpSpaceAddShape(space, cpPolyShapeNew(body, NUM_VERTS, verts, cpvzero));
}
{ // add a circle
cpFloat mass = 1.0f;
cpFloat r = 20.0f;
cpBody *body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForCircle(mass, 0.0f, r, cpvzero)));
cpBodySetPos(body, cpv(100.0f, 100.0f));
cpSpaceAddShape(space, cpCircleShapeNew(body, r, cpvzero));
}
return space;
}
static cpBody *utils_update_drawing(cpBody *drawing) {
cpFloat mass = cpBodyGetMass(drawing);
cpFloat moment = cpBodyGetMoment(drawing);
Body_data *pa = cpBodyGetUserData(drawing);
//cpFloat x = g_array_index(pa->x_values, cpFloat, 0);
//cpFloat y = g_array_index(pa->y_values, cpFloat, 0);
cpVect pos_a, pos_b;
cpVect origin = cpBodyGetPos(drawing);
cpFloat mi, micx = 0, micy = 0;
int length = pa->x_values->len;
for (int index = 1; index < length; index++) {
pos_a = cpv(g_array_index(pa->x_values, cpFloat, index - 1), g_array_index(pa->y_values, cpFloat, index - 1));
pos_b = cpv(g_array_index(pa->x_values, cpFloat, index), g_array_index(pa->y_values, cpFloat, index));
//fprintf(stdout, "Pos_a = (%5.2f, %5.2f)\n", pos_a.x, pos_a.y);
mi = (CRAYON_MASS * cpAreaForSegment( pos_a, pos_b, CRAYON_RADIUS ));
micx += mi * ((pos_a.x + pos_b.x) / 2);
micy += mi * ((pos_a.y + pos_b.y) / 2);
mass += mi;
moment += cpMomentForSegment(mass, pos_a, pos_b); // not actually sum, but maybe it is
}
cpBodySetMass(drawing, mass);
cpBodySetMoment(drawing, moment);
// center of mass is the average of all vertices NOT
//cpVect new_origin = cpv(x / length, y / length);
cpVect new_origin = cpv(micx / mass, micy / mass);
new_origin = cpBodyLocal2World(drawing, new_origin);
cpBodySetPos( drawing, new_origin );
//fprintf(stdout, "Position set at (%5.2f, %5.2f)\n", new_origin.x, new_origin.y);
cpSpace * space = cpBodyGetSpace(drawing);
cpSpaceReindexShapesForBody(space, drawing);
//cpBodySetPos(drawing, cpv(pos.x + (second.x / length), pos.y + (second.y / length)));
//pa->offset = cpvsub(new_origin, origin);
pa = shift_origin(drawing, origin, new_origin);
cpBodySetUserData(drawing, pa);
if (space)
post_step_body_replace_shapes(space, drawing, NULL);
else
fprintf(stderr, "WTF\n");
//if (!(cpSpaceAddPostStepCallback(space, (cpPostStepFunc) post_step_body_replace_shapes, drawing, NULL)))
//fprintf(stderr, "FAILED POST-STEP CALLBACK\n\n");
return drawing;
}
__declspec( dllexport ) void momentforsegment( const void * _in, int in_size, void * _out, int out_sz )
{
cpVect translated1 = PEEKVECT(INPUT_MEMBLOCK,4);
cpVect translated2 = PEEKVECT(INPUT_MEMBLOCK,12);
cpVect offset = PEEKVECT(INPUT_MEMBLOCK,20);
translated1.x += offset.x;
translated1.y += offset.y;
translated2.x += offset.x;
translated2.y += offset.y;
POKEFLOAT(OUTPUT_MEMBLOCK,0,cpMomentForSegment(PEEKFLOAT(INPUT_MEMBLOCK,0),translated1,translated2));
}
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 *
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)));
cpBodySetPos(body, cpvadd(pos, boxOffset));
cpShape *shape = cpSpaceAddShape(space, cpSegmentShapeNew(body, a, b, 5.0f));
cpShapeSetElasticity(shape, 0.0f);
cpShapeSetFriction(shape, 0.7f);
return body;
}
static cpBody *utils_update_drawing(cpBody *drawing) {
cpFloat mass = cpBodyGetMass(drawing);
cpFloat moment = cpBodyGetMoment(drawing);
Point_array *pa = cpBodyGetUserData(drawing);
cpFloat x = g_array_index(pa->x_values, cpFloat, 0);
cpFloat y = g_array_index(pa->y_values, cpFloat, 0);
cpVect pos_a, pos_b;
cpVect origin = cpBodyGetPos(drawing);
cpFloat mi, micx = 0, micy = 0;
int length = pa->x_values->len;
for (int index = 1; index < length; index++) {
pos_a = cpv(g_array_index(pa->x_values, cpFloat, index - 1), g_array_index(pa->y_values, cpFloat, index - 1));
pos_b = cpv(g_array_index(pa->x_values, cpFloat, index), g_array_index(pa->y_values, cpFloat, index));
cpvadd(pos_a, origin);
cpvadd(pos_b, origin);
x += pos_b.x;
y += pos_b.y;
mi = (CRAYON_MASS * cpAreaForSegment( pos_a, pos_b, CRAYON_RADIUS ));
micx += mi * ((pos_a.x + pos_b.x) / 2);
micy += mi * ((pos_a.y + pos_b.y) / 2);
mass += mi;
moment += cpMomentForSegment(mass, pos_a, pos_b); // not actually sum
}
cpBodySetMass(drawing, mass);
cpBodySetMoment(drawing, moment);
// center of mass is the average of all vertices NOT
//cpVect new_origin = cpv(x / length, y / length);
cpVect new_origin = cpv(micx / mass, micy / mass);
cpBodySetPos( drawing, new_origin );
//cpBodySetPos(drawing, cpv(pos.x + (second.x / length), pos.y + (second.y / length)));
pa = shift_origin(pa, origin, new_origin);
cpBodySetUserData(drawing, pa);
return drawing;
}
cpFloat
cpMomentForPoly(cpFloat m, const int numVerts, const cpVect *verts, cpVect offset)
{
if(numVerts == 2) return cpMomentForSegment(m, verts[0], verts[1]);
cpFloat sum1 = 0.0f;
cpFloat sum2 = 0.0f;
for(int i=0; i<numVerts; i++){
cpVect v1 = cpvadd(verts[i], offset);
cpVect v2 = cpvadd(verts[(i+1)%numVerts], offset);
cpFloat a = cpvcross(v2, v1);
cpFloat b = cpvdot(v1, v1) + cpvdot(v1, v2) + cpvdot(v2, v2);
sum1 += a*b;
sum2 += a;
}
return (m*sum1)/(6.0f*sum2);
}
cpFloat
cpMomentForPoly(cpFloat m, const int count, const cpVect *verts, cpVect offset, cpFloat radius)
{
if(count == 2) return cpMomentForSegment(m, verts[0], verts[1], radius);
cpFloat sum1 = 0.0f;
cpFloat sum2 = 0.0f;
for(int i=0; i<count; i++){
cpVect v1 = cpvadd(verts[i], offset);
cpVect v2 = cpvadd(verts[(i+1)%count], offset);
cpFloat a = cpvcross(v2, v1);
cpFloat b = cpvdot(v1, v1) + cpvdot(v1, v2) + cpvdot(v2, v2);
sum1 += a*b;
sum2 += a;
}
// TODO account for radius.
return (m*sum1)/(6.0f*sum2);
}
Mirror::Mirror(ResourceManager& a_ResMgr, cpSpace& a_Space)
: GameObject(a_ResMgr, a_Space)
{
//create le sprite
m_resMgr.CreateSprite("media/mirror2.png", &m_Sprite);
m_resMgr.AddDrawableSprite(&m_Sprite);
sf::Vector2u sprSize = m_Sprite.sprite->getTexture()->getSize();
m_Sprite.sprite->setOrigin(sprSize.x/2,sprSize.y/2);
//moment of inertia (rotation thing)
cpFloat length = m_Sprite.sprite->getTexture()->getSize().x;
cpFloat mass = 1;
cpFloat moment = cpMomentForSegment(mass, cpv(0,0), cpv(0,length));
//---------------top
//create physbody
m_pReflectBody = cpSpaceAddBody(&a_Space, cpBodyNew(mass, moment));
m_pReflectBody->data = this;
//create collision line
m_pReflectLine = cpSpaceAddShape( &a_Space, cpSegmentShapeNew(m_pReflectBody, cpv(0,0), cpv(sprSize.x,0), 1) );
cpShapeSetFriction(m_pReflectLine, 0);
m_pReflectLine->data = this;
m_pReflectLine->sensor = 1;
//only have the reflect line call the callbacks
cpShapeSetCollisionType(m_pReflectLine, MIRROR);
//---------------bottom
//create physbody
m_pBody = cpSpaceAddBody(&a_Space, cpBodyNew(mass, moment));
m_pBody->data = this;
//create collision line
m_pShape = cpSpaceAddShape( &a_Space, cpSegmentShapeNew(m_pBody, cpv(0,sprSize.y), cpv(sprSize.x,sprSize.y), 1) );
cpShapeSetFriction(m_pShape, 0);
m_pShape->data = this;
}
static VALUE
rb_cpMomentForSegment(VALUE self, VALUE m, VALUE v1, VALUE v2) {
cpFloat i = cpMomentForSegment(NUM2DBL(m), *VGET(v1), *VGET(v2));
return rb_float_new(i);
}
static cpSpace *
init(void)
{
cpResetShapeIdCounter();
space = cpSpaceNew();
space->elasticIterations = 0;
space->iterations = 5;
cpSpaceResizeStaticHash(space, 40.0f, 999);
cpSpaceResizeActiveHash(space, 30.0f, 2999);
cpBody *staticBody = &space->staticBody;
cpShape *shape;
// add a non-collidable segment as a quick and dirty way to draw the query line
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpvzero, cpv(100.0f, 0.0f), 4.0f));
shape->layers = 0;
querySeg = shape;
{ // add a fat segment
cpFloat mass = 1.0f;
cpFloat length = 100.0f;
cpVect a = cpv(-length/2.0f, 0.0f), b = cpv(length/2.0f, 0.0f);
cpBody *body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForSegment(mass, a, b)));
body->p = cpv(0.0f, 100.0f);
cpSpaceAddShape(space, cpSegmentShapeNew(body, a, b, 20.0f));
}
{ // add a static segment
cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(0, 300), cpv(300, 0), 0.0f));
}
{ // add a pentagon
cpFloat mass = 1.0f;
const int NUM_VERTS = 5;
cpVect verts[NUM_VERTS];
for(int i=0; i<NUM_VERTS; i++){
cpFloat angle = -2*(cpFloat)M_PI*i/((cpFloat) NUM_VERTS);
verts[i] = cpv(30*cosf(angle), 30*sinf(angle));
}
cpBody *body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForPoly(mass, NUM_VERTS, verts, cpvzero)));
body->p = cpv(50.0f, 50.0f);
cpSpaceAddShape(space, cpPolyShapeNew(body, NUM_VERTS, verts, cpvzero));
}
{ // add a circle
cpFloat mass = 1.0f;
cpFloat r = 20.0f;
cpBody *body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForCircle(mass, 0.0f, r, cpvzero)));
body->p = cpv(100.0f, 100.0f);
cpSpaceAddShape(space, cpCircleShapeNew(body, r, cpvzero));
}
return space;
}
static cpSpace *
init(void)
{
ChipmunkDemoMessageString = "Use the arrow keys to control the machine.";
space = cpSpaceNew();
cpSpaceSetGravity(space, cpv(0, -600));
cpBody *staticBody = cpSpaceGetStaticBody(space);
cpShape *shape;
// beveling all of the line segments slightly helps prevent things from getting stuck on cracks
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-256,16), cpv(-256,300), 2.0f));
cpShapeSetElasticity(shape, 0.0f);
cpShapeSetFriction(shape, 0.5f);
cpShapeSetLayers(shape, NOT_GRABABLE_MASK);
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-256,16), cpv(-192,0), 2.0f));
cpShapeSetElasticity(shape, 0.0f);
cpShapeSetFriction(shape, 0.5f);
cpShapeSetLayers(shape, NOT_GRABABLE_MASK);
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-192,0), cpv(-192, -64), 2.0f));
cpShapeSetElasticity(shape, 0.0f);
cpShapeSetFriction(shape, 0.5f);
cpShapeSetLayers(shape, NOT_GRABABLE_MASK);
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-128,-64), cpv(-128,144), 2.0f));
cpShapeSetElasticity(shape, 0.0f);
cpShapeSetFriction(shape, 0.5f);
cpShapeSetLayers(shape, NOT_GRABABLE_MASK);
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-192,80), cpv(-192,176), 2.0f));
cpShapeSetElasticity(shape, 0.0f);
cpShapeSetFriction(shape, 0.5f);
cpShapeSetLayers(shape, NOT_GRABABLE_MASK);
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-192,176), cpv(-128,240), 2.0f));
cpShapeSetElasticity(shape, 0.0f);
cpShapeSetFriction(shape, 0.5f);
cpShapeSetLayers(shape, NOT_GRABABLE_MASK);
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-128,144), cpv(192,64), 2.0f));
cpShapeSetElasticity(shape, 0.0f);
cpShapeSetFriction(shape, 0.5f);
cpShapeSetLayers(shape, NOT_GRABABLE_MASK);
cpVect verts[] = {
cpv(-30,-80),
cpv(-30, 80),
cpv( 30, 64),
cpv( 30,-80),
};
cpBody *plunger = cpSpaceAddBody(space, cpBodyNew(1.0f, INFINITY));
cpBodySetPos(plunger, cpv(-160,-80));
shape = cpSpaceAddShape(space, cpPolyShapeNew(plunger, 4, verts, cpvzero));
cpShapeSetElasticity(shape, 1.0f);
cpShapeSetFriction(shape, 0.5f);
cpShapeSetLayers(shape, 1);
// add balls to hopper
for(int i=0; i<numBalls; i++)
balls[i] = add_ball(cpv(-224 + i,80 + 64*i));
// add small gear
cpBody *smallGear = cpSpaceAddBody(space, cpBodyNew(10.0f, cpMomentForCircle(10.0f, 80, 0, cpvzero)));
cpBodySetPos(smallGear, cpv(-160,-160));
cpBodySetAngle(smallGear, -M_PI_2);
shape = cpSpaceAddShape(space, cpCircleShapeNew(smallGear, 80.0f, cpvzero));
cpShapeSetLayers(shape, 0);
cpSpaceAddConstraint(space, cpPivotJointNew2(staticBody, smallGear, cpv(-160,-160), cpvzero));
// add big gear
cpBody *bigGear = cpSpaceAddBody(space, cpBodyNew(40.0f, cpMomentForCircle(40.0f, 160, 0, cpvzero)));
cpBodySetPos(bigGear, cpv(80,-160));
cpBodySetAngle(bigGear, M_PI_2);
shape = cpSpaceAddShape(space, cpCircleShapeNew(bigGear, 160.0f, cpvzero));
cpShapeSetLayers(shape, 0);
cpSpaceAddConstraint(space, cpPivotJointNew2(staticBody, bigGear, cpv(80,-160), cpvzero));
// connect the plunger to the small gear.
cpSpaceAddConstraint(space, cpPinJointNew(smallGear, plunger, cpv(80,0), cpv(0,0)));
// connect the gears.
cpSpaceAddConstraint(space, cpGearJointNew(smallGear, bigGear, -M_PI_2, -2.0f));
// feeder mechanism
cpFloat bottom = -300.0f;
cpFloat top = 32.0f;
cpBody *feeder = cpSpaceAddBody(space, cpBodyNew(1.0f, cpMomentForSegment(1.0f, cpv(-224.0f, bottom), cpv(-224.0f, top))));
cpBodySetPos(feeder, cpv(-224, (bottom + top)/2.0f));
cpFloat len = top - bottom;
cpSpaceAddShape(space, cpSegmentShapeNew(feeder, cpv(0.0f, len/2.0f), cpv(0.0f, -len/2.0f), 20.0f));
cpSpaceAddConstraint(space, cpPivotJointNew2(staticBody, feeder, cpv(-224.0f, bottom), cpv(0.0f, -len/2.0f)));
cpVect anchr = cpBodyWorld2Local(feeder, cpv(-224.0f, -160.0f));
cpSpaceAddConstraint(space, cpPinJointNew(feeder, smallGear, anchr, cpv(0.0f, 80.0f)));
// motorize the second gear
motor = cpSpaceAddConstraint(space, cpSimpleMotorNew(staticBody, bigGear, 3.0f));
return space;
}
static VALUE
rb_momentForSegment(VALUE self, VALUE m, VALUE a, VALUE b)
{
cpFloat i = cpMomentForSegment(NUM2DBL(m), *VGET(a), *VGET(b));
return rb_float_new(i);
}
/*
* The moment is like the rotational mass of a body
* Note: !This function may also set the mass of the object!
*/
static int l_physics_setBodyMoment(lua_State* state)
{
l_tools_checkUserDataPlusErrMsg(state, 1, "You must provide a body");
l_physics_Body* body = (l_physics_Body*)lua_touserdata(state, 1);
/*
* You can provide a custom moment
* for this body *or* you can choose what
* type of body this is and let chipmunk
* calculate the value based on some attributes
*/
int index = 2;
cpFloat _mass = 0;
cpFloat moment = 0;
if (lua_type(state, 2) == LUA_TNUMBER)
{
moment = l_tools_toNumberOrError(state, 2);
}
else if (lua_type(state, 2) == LUA_TSTRING)
{
const char* whatFor = lua_tostring(state, 2);
if (strcmp(whatFor, "box") == 0)
{
cpFloat mass = l_tools_toNumberOrError(state, 3);
cpFloat width = l_tools_toNumberOrError(state, 4);
cpFloat height = l_tools_toNumberOrError(state, 5);
_mass = mass;
moment = cpMomentForBox(mass, width, height);
}
else if (strcmp(whatFor, "circle") == 0)
{
cpFloat mass = l_tools_toNumberOrError(state, index++);
cpFloat inner_radius = l_tools_toNumberOrError(state, index++);
cpFloat outer_radius = l_tools_toNumberOrError(state, index++);
cpVect offset = cpvzero;
offset.x = l_tools_toNumberOrError(state, index++);
offset.y = l_tools_toNumberOrError(state, index++);
_mass = mass;
moment = cpMomentForCircle(mass, inner_radius, outer_radius, offset);
}
else if (strcmp(whatFor, "segment") == 0)
{
cpFloat mass = l_tools_toNumberOrError(state, index++);
cpVect a = cpvzero;
a.x = l_tools_toNumberOrError(state, index++);
a.y = l_tools_toNumberOrError(state, index++);
cpVect b = cpvzero;
b.x = l_tools_toNumberOrError(state, index++);
b.y = l_tools_toNumberOrError(state, index++);
cpFloat radius = l_tools_toNumberOrError(state, index++);
_mass = mass;
moment = cpMomentForSegment(mass, a, b, radius);
}
}
if (_mass > 0)
cpBodySetMass(body->body, _mass);
cpBodySetMoment(body->body, moment);
return 0;
}
static cpSpace *
init(void)
{
space = cpSpaceNew();
space->gravity = cpv(0, -600);
cpBody *staticBody = &space->staticBody;
cpShape *shape;
// beveling all of the line segments slightly helps prevent things from getting stuck on cracks
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-256,16), cpv(-256,300), 2.0f));
shape->e = 0.0f; shape->u = 0.5f; shape->layers = 1;
shape->layers = NOT_GRABABLE_MASK;
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-256,16), cpv(-192,0), 2.0f));
shape->e = 0.0f; shape->u = 0.5f; shape->layers = 1;
shape->layers = NOT_GRABABLE_MASK;
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-192,0), cpv(-192, -64), 2.0f));
shape->e = 0.0f; shape->u = 0.5f; shape->layers = 1;
shape->layers = NOT_GRABABLE_MASK;
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-128,-64), cpv(-128,144), 2.0f));
shape->e = 0.0f; shape->u = 0.5f; shape->layers = 1;
shape->layers = NOT_GRABABLE_MASK;
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-192,80), cpv(-192,176), 2.0f));
shape->e = 0.0f; shape->u = 0.5f; shape->layers = 1;
shape->layers = NOT_GRABABLE_MASK;
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-192,176), cpv(-128,240), 2.0f));
shape->e = 0.0f; shape->u = 0.0f; shape->layers = 1;
shape->layers = NOT_GRABABLE_MASK;
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-128,144), cpv(192,64), 2.0f));
shape->e = 0.0f; shape->u = 0.5f; shape->layers = 1;
shape->layers = NOT_GRABABLE_MASK;
cpVect verts[] = {
cpv(-30,-80),
cpv(-30, 80),
cpv( 30, 64),
cpv( 30,-80),
};
cpBody *plunger = cpSpaceAddBody(space, cpBodyNew(1.0f, INFINITY));
plunger->p = cpv(-160,-80);
shape = cpSpaceAddShape(space, cpPolyShapeNew(plunger, 4, verts, cpvzero));
shape->e = 1.0f; shape->u = 0.5f; shape->layers = 1;
// add balls to hopper
for(int i=0; i<numBalls; i++)
balls[i] = add_ball(cpv(-224 + i,80 + 64*i));
// add small gear
cpBody *smallGear = cpSpaceAddBody(space, cpBodyNew(10.0f, cpMomentForCircle(10.0f, 80, 0, cpvzero)));
smallGear->p = cpv(-160,-160);
cpBodySetAngle(smallGear, (cpFloat)-M_PI_2);
shape = cpSpaceAddShape(space, cpCircleShapeNew(smallGear, 80.0f, cpvzero));
shape->layers = 0;
cpSpaceAddConstraint(space, cpPivotJointNew2(staticBody, smallGear, cpv(-160,-160), cpvzero));
// add big gear
cpBody *bigGear = cpSpaceAddBody(space, cpBodyNew(40.0f, cpMomentForCircle(40.0f, 160, 0, cpvzero)));
bigGear->p = cpv(80,-160);
cpBodySetAngle(bigGear, (cpFloat)M_PI_2);
shape = cpSpaceAddShape(space, cpCircleShapeNew(bigGear, 160.0f, cpvzero));
shape->layers = 0;
cpSpaceAddConstraint(space, cpPivotJointNew2(staticBody, bigGear, cpv(80,-160), cpvzero));
// connect the plunger to the small gear.
cpSpaceAddConstraint(space, cpPinJointNew(smallGear, plunger, cpv(80,0), cpv(0,0)));
// connect the gears.
cpSpaceAddConstraint(space, cpGearJointNew(smallGear, bigGear, (cpFloat)-M_PI_2, -2.0f));
// feeder mechanism
cpFloat bottom = -300.0f;
cpFloat top = 32.0f;
cpBody *feeder = cpSpaceAddBody(space, cpBodyNew(1.0f, cpMomentForSegment(1.0f, cpv(-224.0f, bottom), cpv(-224.0f, top))));
feeder->p = cpv(-224, (bottom + top)/2.0f);
cpFloat len = top - bottom;
cpSpaceAddShape(space, cpSegmentShapeNew(feeder, cpv(0.0f, len/2.0f), cpv(0.0f, -len/2.0f), 20.0f));
cpSpaceAddConstraint(space, cpPivotJointNew2(staticBody, feeder, cpv(-224.0f, bottom), cpv(0.0f, -len/2.0f)));
cpVect anchr = cpBodyWorld2Local(feeder, cpv(-224.0f, -160.0f));
cpSpaceAddConstraint(space, cpPinJointNew(feeder, smallGear, anchr, cpv(0.0f, 80.0f)));
// motorize the second gear
motor = cpSpaceAddConstraint(space, cpSimpleMotorNew(staticBody, bigGear, 3.0f));
return space;
}
void Line::setup(cpSpace* space, glm::vec2 a, glm::vec2 b, float radius, float mass){
DynamicBody::setup(space, mass, cpMomentForSegment(mass, toChipmunk(a), toChipmunk(b), radius));
ShapeLine::setup(space, body, a, b, radius);
}
static cpSpace *
init(void)
{
ChipmunkDemoMessageString = "Use the arrow keys to control the machine.";
cpSpace *space = cpSpaceNew();
cpSpaceSetIterations(space, 20);
cpSpaceSetGravity(space, cpv(0,-500));
cpBody *staticBody = cpSpaceGetStaticBody(space);
cpShape *shape;
cpVect a, b;
// Create segments around the edge of the screen.
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,-240), cpv(-320,240), 0.0f));
cpShapeSetElasticity(shape, 1.0f);
cpShapeSetFriction(shape, 1.0f);
cpShapeSetFilter(shape, NOT_GRABBABLE_FILTER);
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(320,-240), cpv(320,240), 0.0f));
cpShapeSetElasticity(shape, 1.0f);
cpShapeSetFriction(shape, 1.0f);
cpShapeSetFilter(shape, NOT_GRABBABLE_FILTER);
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,-240), cpv(320,-240), 0.0f));
cpShapeSetElasticity(shape, 1.0f);
cpShapeSetFriction(shape, 1.0f);
cpShapeSetFilter(shape, NOT_GRABBABLE_FILTER);
cpFloat offset = 30.0f;
// make chassis
cpFloat chassis_mass = 2.0f;
a = cpv(-offset, 0.0f), b = cpv(offset, 0.0f);
cpBody *chassis = cpSpaceAddBody(space, cpBodyNew(chassis_mass, cpMomentForSegment(chassis_mass, a, b, 0.0f)));
shape = cpSpaceAddShape(space, cpSegmentShapeNew(chassis, a, b, seg_radius));
cpShapeSetFilter(shape, cpShapeFilterNew(1, CP_ALL_CATEGORIES, CP_ALL_CATEGORIES));
// make crank
cpFloat crank_mass = 1.0f;
cpFloat crank_radius = 13.0f;
cpBody *crank = cpSpaceAddBody(space, cpBodyNew(crank_mass, cpMomentForCircle(crank_mass, crank_radius, 0.0f, cpvzero)));
shape = cpSpaceAddShape(space, cpCircleShapeNew(crank, crank_radius, cpvzero));
cpShapeSetFilter(shape, cpShapeFilterNew(1, CP_ALL_CATEGORIES, CP_ALL_CATEGORIES));
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(space, side, offset, chassis, crank, cpvmult(cpvforangle((cpFloat)(2*i+0)/(cpFloat)num_legs*M_PI), crank_radius));
make_leg(space, side, -offset, chassis, crank, cpvmult(cpvforangle((cpFloat)(2*i+1)/(cpFloat)num_legs*M_PI), crank_radius));
}
motor = cpSpaceAddConstraint(space, cpSimpleMotorNew(chassis, crank, 6.0f));
return space;
}
GLMFloat world_momentForSegment(GLMFloat aMass, vec2_t a, vec2_t b)
{
return cpMomentForSegment(aMass, VEC2_TO_CPV(a), VEC2_TO_CPV(b));
}
