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)); }