Value * tumble ( std::list<Value *> * args, Scope * s ) {
World * world = current_gro_program->get_world();
std::list<Value *>::iterator i = args->begin();
float vel = (*i)->num_value();
if ( current_cell != NULL ) {
float a = current_cell->get_theta();
cpBody * body = current_cell->get_body();
cpVect v = cpBodyGetVel ( body );
cpFloat adot = cpBodyGetAngVel ( body );
cpBodySetTorque ( body, vel - adot ); // apply torque
cpBodyApplyForce ( // damp translation
current_cell->get_shape()->body,
cpv (
- v.x * world->get_sim_dt(),
- v.y * world->get_sim_dt()
),
cpv ( 0, 0 ) );
} else
printf ( "Warning: Tried to emit signal from outside a cell program. No action taken\n" );
return new Value ( Value::UNIT );
}
void RigidBody2D::CopyBodyData(cpBody* body)
{
cpBodySetAngle(m_handle, cpBodyGetAngle(body));
cpBodySetAngularVelocity(m_handle, cpBodyGetAngularVelocity(body));
cpBodySetCenterOfGravity(m_handle, cpBodyGetCenterOfGravity(body));
cpBodySetForce(m_handle, cpBodyGetForce(body));
cpBodySetPosition(m_handle, cpBodyGetPosition(body));
cpBodySetTorque(m_handle, cpBodyGetTorque(body));
cpBodySetVelocity(m_handle, cpBodyGetVelocity(body));
}
void RigidBody2D::CopyBodyData(cpBody* from, cpBody* to)
{
cpBodySetAngle(to, cpBodyGetAngle(from));
cpBodySetAngularVelocity(to, cpBodyGetAngularVelocity(from));
cpBodySetCenterOfGravity(to, cpBodyGetCenterOfGravity(from));
cpBodySetForce(to, cpBodyGetForce(from));
cpBodySetPosition(to, cpBodyGetPosition(from));
cpBodySetTorque(to, cpBodyGetTorque(from));
cpBodySetVelocity(to, cpBodyGetVelocity(from));
}
static int l_physics_setBodyTorque(lua_State* state)
{
l_tools_checkUserDataPlusErrMsg(state, 1, "You must provide a body");
l_physics_Body* body = (l_physics_Body*)lua_touserdata(state, 1);
float value = l_tools_toNumberOrError(state, 2);
cpBodySetTorque(body->body, value);
return 0;
}
void update_turn()
{
int i;
for(i=0; i<1; i++) {
cpFloat desired_torque = 0;
if(controls.left)
desired_torque = -1100;
else if(controls.right)
desired_torque = 1100;
cpBodySetTorque(tire[i], desired_torque);
}
}
static void internalBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt)
{
cpBodyUpdateVelocity(body, cpvzero, damping, dt);
// Skip kinematic bodies.
if(cpBodyGetType(body) == CP_BODY_TYPE_KINEMATIC) return;
cpAssertSoft(body->m > 0.0f && body->i > 0.0f, "Body's mass and moment must be positive to simulate. (Mass: %f Moment: f)", body->m, body->i);
cocos2d::PhysicsBody *physicsBody = static_cast<cocos2d::PhysicsBody*>(body->userData);
if(physicsBody->isGravityEnabled())
body->v = cpvclamp(cpvadd(cpvmult(body->v, damping), cpvmult(cpvadd(gravity, cpvmult(body->f, body->m_inv)), dt)), physicsBody->getVelocityLimit());
else
body->v = cpvclamp(cpvadd(cpvmult(body->v, damping), cpvmult(cpvmult(body->f, body->m_inv), dt)), physicsBody->getVelocityLimit());
cpFloat w_limit = physicsBody->getAngularVelocityLimit();
body->w = cpfclamp(body->w*damping + body->t*body->i_inv*dt, -w_limit, w_limit);
// Reset forces.
body->f = cpvzero;
//to check body sanity
cpBodySetTorque(body, 0.0f);
}
void cBody::Torque( const cpFloat& torque ) {
cpBodySetTorque( mBody, torque );
}
void PhysicsBody::applyTorque(float torque)
{
cpBodySetTorque(_info->getBody(), PhysicsHelper::float2cpfloat(torque));
}
void PhysicsBody::applyTorque(float torque)
{
cpBodySetTorque(_cpBody, torque);
}
void RigidBody2D::AddTorque(float torque)
{
cpBodySetTorque(m_handle, cpBodyGetTorque(m_handle) + ToRadians(torque));
}
void RigidBody2D::AddTorque(const RadianAnglef& torque)
{
cpBodySetTorque(m_handle, cpBodyGetTorque(m_handle) + torque.value);
}
void physics_set_torque(Entity ent, Scalar torque)
{
PhysicsInfo *info = entitypool_get(pool, ent);
error_assert(info);
cpBodySetTorque(info->body, torque);
}
void PhysicsBody::applyTorque(float torque)
{
cpBodySetTorque(_cpBody, PhysicsHelper::float2cpfloat(torque));
}
void Body::setTorque(cpFloat value)
{
cpBodySetTorque(body,value);
}
void RCPBody::setTorque(float t)
{
if (mBody) {
cpBodySetTorque(mBody, t);
}
}
