void __fastcall TForm1::MassSpringFormCreate(TObject *Sender)
{
m_floor = 0;
m_floor_spring_constant = DEFAULT_FLOOR_SPRING_CONSTANT;
// init world scale
scale = 2.0;
// create a world
world = new cWorld();
// set background properties
world->setBackgroundColor(0.2,0.2,0.2);
// create a camera in world
camera = new cCamera(world);
world->addChild(camera);
// set camera position and orientation
camera->set( cVector3d(0.0, 0.0, 7.0), // position of camera.
cVector3d(0.0, 0.0, 0.0), // camera looking at origin.
cVector3d(0.0, 1.0, 0.0)); // orientation of camera. (standing up.)
// Create a light source and attach it to camera
light = new cLight(world);
camera->addChild(light);
light->setEnabled(true);
light->setPos(cVector3d(0,2,4));
light->rotate(cVector3d(0,0,1), cDegToRad(180));
// create a display for graphic rendering
viewport = new cViewport(Panel1->Handle, camera, false);
// create a tool
tool = new cMeta3dofPointer(world, 0, true);
tool->initialize();
tool->setRenderingMode(RENDER_DEVICE);
// Rotate the tool so its axes align with our opengl-like axes
tool->rotate(cVector3d(0,0,1),-90.0*M_PI/180.0);
tool->rotate(cVector3d(1,0,0),-90.0*M_PI/180.0);
tool->computeGlobalPositions();
tool->setWorkspace(3.5*scale, 3.5*scale, 3.5*scale);
tool->setRadius(scale / 70.0);
// tool becomes a child of the camera which we can control from
world->addChild(tool);
// Create a mesh to represent the floor
m_floor = new cMesh(world);
world->addChild(m_floor);
// Fill in meaningful vertex positions
m_floor->newVertex(-FLOOR_X_SIZE/2.0, FLOOR_Y_POSITION, -FLOOR_Z_SIZE/2.0);
m_floor->newVertex(-FLOOR_X_SIZE/2.0, FLOOR_Y_POSITION, FLOOR_Z_SIZE/2.0);
m_floor->newVertex( FLOOR_X_SIZE/2.0, FLOOR_Y_POSITION, FLOOR_Z_SIZE/2.0);
m_floor->newTriangle(0,1,2);
m_floor->newVertex( FLOOR_X_SIZE/2.0, FLOOR_Y_POSITION, -FLOOR_Z_SIZE/2.0);
m_floor->newVertex(-FLOOR_X_SIZE/2.0, FLOOR_Y_POSITION, -FLOOR_Z_SIZE/2.0);
m_floor->newVertex( FLOOR_X_SIZE/2.0, FLOOR_Y_POSITION, FLOOR_Z_SIZE/2.0);
m_floor->newTriangle(3,4,5);
for(int n=0; n<6; n++)
{
cVertex* curVertex = m_floor->getVertex(n);
curVertex->setNormal(0,1,0);
}
// Give him some material properties...
cMaterial material;
material.m_ambient.set( 0.2, 0.2, 0.2, 1.0 );
material.m_diffuse.set( 0.6, 0.6, 0.6, 1.0 );
material.m_specular.set( 0.9, 0.9, 0.9, 1.0 );
material.setShininess(100);
m_floor->m_material = material;
// Create an initial ball
CBall* b = new CBall();
m_active_balls.push_back(b);
cVector3d pos(-1.0,0,1.0);
b->setPos(pos);
world->addChild(b);
// Create a series of masses connected by springs
for(int i=1; i<INITIAL_NUM_BALLS; i++) {
add_ball();
}
simulationOn = false;
}
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;
}
void add_ball_on(unsigned char r, unsigned char g, unsigned char b,
Cube *cube) {
add_ball(cube->x, cube->y, cube->z, r, g, b, cube);
}
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 add_ball_at(float x, float y, float z,
unsigned char r, unsigned char g, unsigned char b) {
add_ball(x, y, z, r, g, b, NULL);
}