// A pyramid
void Demo5(Body* b, Joint* j)
{
b->Set(Vec2(100.0f, 20.0f), FLT_MAX);
b->friction = 0.2f;
b->position.Set(0.0f, -0.5f * b->width.y);
b->rotation = 0.0f;
world.Add(b);
++b; ++numBodies;
Vec2 x(-6.0f, 0.75f);
Vec2 y;
for (int i = 0; i < 4; ++i)
{
y = x;
for (int j = i; j < 4; ++j)
{
b->Set(Vec2(1.0f, 1.0f), 10.0f);
b->friction = 0.2f;
b->position = y;
world.Add(b);
++b; ++numBodies;
y += Vec2(1.125f, 0.0f);
}
//x += Vec2(0.5625f, 1.125f);
x += Vec2(0.5625f, 2.0f);
}
}
// A vertical stack
void Demo4(Body* b, Joint* j)
{
//iLog("Start demo4");
b->Set(Vec2(100.0f, 20.0f), FLT_MAX);
b->friction = 0.2f;
b->position.Set(0.0f, -0.5f * b->width.y);
b->rotation = 0.0f;
world.Add(b);
//iLog("world.Add(b)");
++b; ++numBodies;
for (int i = 0; i < 10; ++i)
{
//iLog("i=%d",i);
b->Set(Vec2(1.0f, 1.0f), 1.0f);
//iLog("b->Set");
b->friction = 0.2f;
//iLog("b->friction");
float x = Random(-0.1f, 0.1f);
//iLog("b->Random,x=%f",x);
b->position.Set(x, 0.51f + 1.05f * i);
//iLog("b->position.Set");
world.Add(b);
//iLog("world.Add(b)");
++b; ++numBodies;
}
//iLog("End demo4");
}
// A suspension bridge
void Demo7(Body* b, Joint* j)
{
b->Set(Vec2(100.0f, 20.0f), FLT_MAX);
b->friction = 0.2f;
b->position.Set(0.0f, -0.5f * b->width.y);
b->rotation = 0.0f;
world.Add(b);
++b; ++numBodies;
const int numPlanks = 15;
float mass = 50.0f;
for (int i = 0; i < numPlanks; ++i)
{
b->Set(Vec2(1.0f, 0.25f), mass);
b->friction = 0.2f;
b->position.Set(-8.5f + 1.25f * i, 5.0f);
world.Add(b);
++b; ++numBodies;
}
// Tuning
float frequencyHz = 2.0f;
float dampingRatio = 0.7f;
// frequency in radians
float omega = 2.0f * k_pi * frequencyHz;
// damping coefficient
float d = 2.0f * mass * dampingRatio * omega;
// spring stifness
float k = mass * omega * omega;
// magic formulas
float softness = 1.0f / (d + timeStep * k);
float biasFactor = timeStep * k / (d + timeStep * k);
for (int i = 0; i < numPlanks; ++i)
{
j->Set(bodies+i, bodies+i+1, Vec2(-9.125f + 1.25f * i, 5.0f));
j->softness = softness;
j->biasFactor = biasFactor;
world.Add(j);
++j; ++numJoints;
}
j->Set(bodies + numPlanks, bodies, Vec2(-9.125f + 1.25f * numPlanks, 5.0f));
j->softness = softness;
j->biasFactor = biasFactor;
world.Add(j);
++j; ++numJoints;
}
// Single box
void Demo1(Body* b, Joint* j)
{
b->Set(Vec2(100.0f, 20.0f), FLT_MAX);
b->position.Set(0.0f, -0.5f * b->width.y);
world.Add(b);
++b; ++numBodies;
b->Set(Vec2(1.0f, 1.0f), 200.0f);
b->position.Set(0.0f, 4.0f);
world.Add(b);
++b; ++numBodies;
}
// Carga los recursos adecuados e inicializa las variables del objeto
void Objeto_Fisico::Inicializa(string Ruta_Fichero, float Peso, int Ancho, int Alto)
{
PALETTE palette; // Variable auxiliar
// Cargamos en memoria el gráfico indicado
Grafico_Objeto=load_bitmap((char *)Ruta_Fichero.c_str(), palette);
// <revisar> Controlar mejor error en la carga del fichero </revisar>
if(!Grafico_Objeto)
Aborta_Con_Error("ERROR:\nError de ejecucion en la funcion Inicializa() de Objeto_Fisico.cpp.\n - Error al cargar el grafico " + Ruta_Fichero);
// Si no se ha indicado nada, la caja de colisiones tomará el mismo tamaño que el gráfico
if(Ancho==0)
Ancho=Grafico_Objeto->w;
if(Alto==0)
Alto=Grafico_Objeto->h;
// Creamos la caja de colisiones asociada
Puntero_Box = new Body();
Puntero_Box->Set(Vec2(Ancho, Alto), Peso); // Tamaño
Puntero_Box->position.Set(320, 240); // Posición
Puntero_Box->friction = 0.5; // Fricción del objeto
world.Add(Puntero_Box); // La añadimos al "mundo"
bodies.push_back(Puntero_Box); // Y la añadimos al vector que almacena todos los cuerpos
}
void OnConnect(Client *c) {
World world = World(500, 500);
Robot* r1 = makeRobot(40, 40, Point(100.0f, 200.0f), &world);
Robot* r2 = makeRobot(40, 40, Point(200.0f, 200.0f), &world);
world.Add(r1);
world.Add(r2);
c->sendSelfInfo();
c->sendEnemyInfo(20);
c->sendGameInfo(&world);
c->notifyStart();
int sleepPeriod = 20;
r1->Execute("MOV", "120.0");
r1->Execute("FR", "");
r1->Execute("ROT", "-0.75");
//r2->Execute("FR", "");
for(int i = 0; i < 26; i++)
doLoobBody(world, c, sleepPeriod);
//r1->Execute("FR", "");
//r2->Execute("FR", "");
while(true)
doLoobBody(world, c, sleepPeriod);
}
// Función auxiliar que crea una unión entre el paracaídas y la nave
void Objeto_Nave::Crea_Cuerda(int Despl_Horizontal)
{
Body *b1=Puntero_Box;
Body *b2=Puntero_Paracaidas1->Puntero_Box;
int SemiDistancia=-1*(b1->position.y-b2->position.y)/2;
Joint *j = new Joint();
j->Set(b1, b2, b1->position + Vec2(Despl_Horizontal, SemiDistancia));
world.Add(j);
joints.push_back(j);
j = new Joint();
j->Set(b1, b2, b1->position + Vec2(Despl_Horizontal, SemiDistancia));
world.Add(j);
joints.push_back(j);
}
// A teeter
void Demo6(Body* b, Joint* j)
{
Body* b1 = b + 0;
b1->Set(Vec2(100.0f, 20.0f), FLT_MAX);
b1->position.Set(0.0f, -0.5f * b1->width.y);
world.Add(b1);
Body* b2 = b + 1;
b2->Set(Vec2(12.0f, 0.25f), 100.0f);
b2->position.Set(0.0f, 1.0f);
world.Add(b2);
Body* b3 = b + 2;
b3->Set(Vec2(0.5f, 0.5f), 25.0f);
b3->position.Set(-5.0f, 2.0f);
world.Add(b3);
Body* b4 = b + 3;
b4->Set(Vec2(0.5f, 0.5f), 25.0f);
b4->position.Set(-5.5f, 2.0f);
world.Add(b4);
Body* b5 = b + 4;
b5->Set(Vec2(1.0f, 1.0f), 100.0f);
b5->position.Set(5.5f, 15.0f);
world.Add(b5);
numBodies += 5;
j->Set(b1, b2, Vec2(0.0f, 1.0f));
world.Add(j);
numJoints += 1;
}
// A simple pendulum
void Demo2(Body* b, Joint* j)
{
Body* b1 = b + 0;
b1->Set(Vec2(100.0f, 20.0f), FLT_MAX);
b1->friction = 0.2f;
b1->position.Set(0.0f, -0.5f * b1->width.y);
b1->rotation = 0.0f;
world.Add(b1);
Body* b2 = b + 1;
b2->Set(Vec2(1.0f, 1.0f), 100.0f);
b2->friction = 0.2f;
b2->position.Set(9.0f, 11.0f);
b2->rotation = 0.0f;
world.Add(b2);
numBodies += 2;
j->Set(b1, b2, Vec2(0.0f, 11.0f));
world.Add(j);
numJoints += 1;
}
void LaunchBomb(void)
{
if (!bomb)
{
bomb = bodies + numBodies;
bomb->Set(Vec2(1.0f, 1.0f), 50.0f);
bomb->friction = 0.2f;
world.Add(bomb);
++numBodies;
}
bomb->position.Set(Random(-15.0f, 15.0f), 15.0f);
bomb->rotation = Random(-1.5f, 1.5f);
bomb->velocity = -1.5f * bomb->position;
bomb->angularVelocity = Random(-20.0f, 20.0f);
}
// Varying friction coefficients
void Demo3(Body* b, Joint* j)
{
//iLog("Start demo3");
b->Set(Vec2(100.0f, 20.0f), FLT_MAX);
b->position.Set(0.0f, -0.5f * b->width.y);
world.Add(b);
++b; ++numBodies;
b->Set(Vec2(13.0f, 0.25f), FLT_MAX);
b->position.Set(-2.0f, 11.0f);
b->rotation = -0.25f;
world.Add(b);
++b; ++numBodies;
b->Set(Vec2(0.25f, 1.0f), FLT_MAX);
b->position.Set(5.25f, 9.5f);
world.Add(b);
++b; ++numBodies;
b->Set(Vec2(13.0f, 0.25f), FLT_MAX);
b->position.Set(2.0f, 7.0f);
b->rotation = 0.25f;
world.Add(b);
++b; ++numBodies;
b->Set(Vec2(0.25f, 1.0f), FLT_MAX);
b->position.Set(-5.25f, 5.5f);
world.Add(b);
++b; ++numBodies;
b->Set(Vec2(13.0f, 0.25f), FLT_MAX);
b->position.Set(-2.0f, 3.0f);
b->rotation = -0.25f;
world.Add(b);
++b; ++numBodies;
float friction[5] = {0.75f, 0.5f, 0.35f, 0.1f, 0.0f};
for (int i = 0; i < 5; ++i)
{
b->Set(Vec2(0.5f, 0.5f), 25.0f);
b->friction = friction[i];
b->position.Set(-7.5f + 2.0f * i, 14.0f);
world.Add(b);
++b; ++numBodies;
}
//iLog("End demo3");
}
// A multi-pendulum
void Demo9(Body* b, Joint* j)
{
////i51AdeOsLog(0, "InitDemo(1111)");
b->Set(Vec2(100.0f, 20.0f), FLT_MAX);
b->friction = 0.2f;
////i51AdeOsLog(0, "InitDemo(22222)");
b->position.Set(0.0f, -0.5f * b->width.y);
////i51AdeOsLog(0, "InitDemo(3333333)");
b->rotation = 0.0f;
world.Add(b);
////i51AdeOsLog(0, "InitDemo(4444444)");
Body * b1 = b;
++b;
++numBodies;
float mass = 10.0f;
// Tuning
float frequencyHz = 4.0f;
float dampingRatio = 0.7f;
// frequency in radians
float omega = 2.0f * k_pi * frequencyHz;
// damping coefficient
float d = 2.0f * mass * dampingRatio * omega;
// spring stiffness
float k = mass * omega * omega;
// magic formulas
float softness = 1.0f / (d + timeStep * k);
float biasFactor = timeStep * k / (d + timeStep * k);
const float y = 12.0f;
////i51AdeOsLog(0, "InitDemo(555555)");
for (int i = 0; i < 15; ++i)
{
Vec2 x(0.5f + i, y);
////i51AdeOsLog(0, "InitDemo(11 i %d)",i);
b->Set(Vec2(0.75f, 0.25f), mass);
b->friction = 0.2f;
b->position = x;
b->rotation = 0.0f;
world.Add(b);
////i51AdeOsLog(0, "InitDemo(22 i %d)",i);
j->Set(b1, b, Vec2((float)i, y));
////i51AdeOsLog(0, "InitDemo(33 i %d)",i);
j->softness = softness;
j->biasFactor = biasFactor;
world.Add(j);
////i51AdeOsLog(0, "InitDemo(44 i %d)",i);
b1 = b;
++b;
++numBodies;
++j;
++numJoints;
}
////i51AdeOsLog(0, "InitDemo(66666)");
}
// Dominos
void Demo8(Body* b, Joint* j)
{
Body* b1 = b;
b->Set(Vec2(100.0f, 20.0f), FLT_MAX);
b->position.Set(0.0f, -0.5f * b->width.y);
world.Add(b);
++b; ++numBodies;
b->Set(Vec2(12.0f, 0.5f), FLT_MAX);
b->position.Set(-1.5f, 10.0f);
world.Add(b);
++b; ++numBodies;
for (int i = 0; i < 10; ++i)
{
b->Set(Vec2(0.2f, 2.0f), 10.0f);
b->position.Set(-6.0f + 1.0f * i, 11.125f);
b->friction = 0.1f;
world.Add(b);
++b; ++numBodies;
}
b->Set(Vec2(14.0f, 0.5f), FLT_MAX);
b->position.Set(1.0f, 6.0f);
b->rotation = 0.3f;
world.Add(b);
++b; ++numBodies;
Body* b2 = b;
b->Set(Vec2(0.5f, 3.0f), FLT_MAX);
b->position.Set(-7.0f, 4.0f);
world.Add(b);
++b; ++numBodies;
Body* b3 = b;
b->Set(Vec2(12.0f, 0.25f), 20.0f);
b->position.Set(-0.9f, 1.0f);
world.Add(b);
++b; ++numBodies;
j->Set(b1, b3, Vec2(-2.0f, 1.0f));
world.Add(j);
++j; ++numJoints;
Body* b4 = b;
b->Set(Vec2(0.5f, 0.5f), 10.0f);
b->position.Set(-10.0f, 15.0f);
world.Add(b);
++b; ++numBodies;
j->Set(b2, b4, Vec2(-7.0f, 15.0f));
world.Add(j);
++j; ++numJoints;
Body* b5 = b;
b->Set(Vec2(2.0f, 2.0f), 20.0f);
b->position.Set(6.0f, 2.5f);
b->friction = 0.1f;
world.Add(b);
++b; ++numBodies;
j->Set(b1, b5, Vec2(6.0f, 2.6f));
world.Add(j);
++j; ++numJoints;
Body* b6 = b;
b->Set(Vec2(2.0f, 0.2f), 10.0f);
b->position.Set(6.0f, 3.6f);
world.Add(b);
++b; ++numBodies;
j->Set(b5, b6, Vec2(7.0f, 3.5f));
world.Add(j);
++j; ++numJoints;
}
