JNIEXPORT void JNICALL Java_com_wiyun_engine_chipmunk_RatchetJoint_init
(JNIEnv * env, jobject thiz, jobject b1, jobject b2, jfloat phase, jfloat ratchet) {
cpBody* body1 = (cpBody*)env->GetIntField(b1, g_fid_Body_mPointer);
cpBody* body2 = (cpBody*)env->GetIntField(b2, g_fid_Body_mPointer);
cpConstraint* constraint = cpRatchetJointNew(body1, body2, phase, ratchet);
env->SetIntField(thiz, g_fid_Constraint_mPointer, (jint)constraint);
}
SGPhysicsConstraint* SG_CALL sgPhysicsConstraintCreateRatchet(SGPhysicsBody* body1, SGPhysicsBody* body2, float phase, float ratchet)
{
SGPhysicsConstraint* constr = sgPhysicsConstraintCreate(body1, body2, SG_CONSTRAINT_RATCHET);
if(!constr) return NULL;
constr->handle = cpRatchetJointNew(body1->handle, body2->handle, phase, ratchet);
_postCreate(constr);
return constr;
}
WorldConstraint_t *worldConstr_createRatchetJoint(WorldEntity_t *a, WorldEntity_t *b, GLMFloat aPhase, GLMFloat aRatchet)
{
dynamo_assert(a->world == b->world, "Entities are not in the same world");
WorldConstraint_t *ret = obj_create_autoreleased(&Class_WorldConstraint);
ret->world = a->world;
ret->a = obj_retain(a);
ret->b = obj_retain(b);
ret->type = kWorldJointType_Ratchet;
ret->cpConstraint = cpRatchetJointNew(a->cpBody, b->cpBody, aPhase, aRatchet);
cpSpaceAddConstraint(ret->world->cpSpace, ret->cpConstraint);
return ret;
}
bool PhysicsJointRatchet::createConstraints()
{
do
{
auto joint = cpRatchetJointNew(_bodyA->getCPBody(),
_bodyB->getCPBody(),
PhysicsHelper::float2cpfloat(_phase),
PhysicsHelper::cpfloat2float(_ratchet));
CC_BREAK_IF(joint == nullptr);
_cpConstraints.push_back(joint);
return true;
} while (false);
return false;
}
cpConstraint *cpSpaceSerializer::createRatchetJoint(TiXmlElement *elm)
{
cpConstraint *constraint;
cpBody *a;
cpBody *b;
createBodies(elm, &a, &b);
cpFloat phase = createValue<cpFloat>("phase", elm);
cpFloat ratchet = createValue<cpFloat>("ratchet", elm);
constraint = cpRatchetJointNew(a, b, phase, ratchet);
((cpRatchetJoint*)constraint)->angle = createValue<cpFloat>("angle", elm);
//((cpRatchetJoint*)constraint)->jAcc = createValue<cpFloat>("jAcc", elm);
return constraint;
}
bool PhysicsJointRatchet::init(PhysicsBody* a, PhysicsBody* b, float phase, float ratchet)
{
do
{
CC_BREAK_IF(!PhysicsJoint::init(a, b));
auto constraint = cpRatchetJointNew(a->getCPBody(),
b->getCPBody(),
PhysicsHelper::float2cpfloat(phase),
PhysicsHelper::cpfloat2float(ratchet));
CC_BREAK_IF(constraint == nullptr);
_cpConstraints.push_back(constraint);
return true;
} while (false);
return false;
}
/*
* @param [Chipmunk2d::Body] a
* @param [Chipmunk2d::Body] b
* @param [Float] phase
* @param [Float] ratchet
*/
static mrb_value
ratchet_joint_initialize(mrb_state *mrb, mrb_value self)
{
cpConstraint *constraint;
cpBody *a;
cpBody *b;
mrb_value a_obj;
mrb_value b_obj;
mrb_float phase;
mrb_float ratchet;
mrb_get_args(mrb, "ooff", &a_obj, &b_obj, &phase, &ratchet);
a = mrb_data_get_ptr(mrb, a_obj, &mrb_cp_body_type);
b = mrb_data_get_ptr(mrb, b_obj, &mrb_cp_body_type);
mrb_cp_constraint_cleanup(mrb, self);
constraint = cpRatchetJointNew(a, b, (cpFloat)phase, (cpFloat)ratchet);
mrb_cp_constraint_init_bind(mrb, self, constraint);
mrb_iv_set(mrb, self, mrb_intern_lit(mrb, "body_a"), a_obj);
mrb_iv_set(mrb, self, mrb_intern_lit(mrb, "body_b"), b_obj);
return self;
}
static cpSpace *
init(void)
{
space = cpSpaceNew();
cpSpaceSetIterations(space, 10);
cpSpaceSetGravity(space, cpv(0, -100));
cpSpaceSetSleepTimeThreshold(space, 0.5f);
cpBody *staticBody = cpSpaceGetStaticBody(space);
cpShape *shape;
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,240), cpv(320,240), 0.0f));
cpShapeSetElasticity(shape, 1.0f);
cpShapeSetFriction(shape, 1.0f);
cpShapeSetLayers(shape, NOT_GRABABLE_MASK);
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,120), cpv(320,120), 0.0f));
cpShapeSetElasticity(shape, 1.0f);
cpShapeSetFriction(shape, 1.0f);
cpShapeSetLayers(shape, NOT_GRABABLE_MASK);
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,0), cpv(320,0), 0.0f));
cpShapeSetElasticity(shape, 1.0f);
cpShapeSetFriction(shape, 1.0f);
cpShapeSetLayers(shape, NOT_GRABABLE_MASK);
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,-120), cpv(320,-120), 0.0f));
cpShapeSetElasticity(shape, 1.0f);
cpShapeSetFriction(shape, 1.0f);
cpShapeSetLayers(shape, NOT_GRABABLE_MASK);
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,-240), cpv(320,-240), 0.0f));
cpShapeSetElasticity(shape, 1.0f);
cpShapeSetFriction(shape, 1.0f);
cpShapeSetLayers(shape, NOT_GRABABLE_MASK);
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,-240), cpv(-320,240), 0.0f));
cpShapeSetElasticity(shape, 1.0f);
cpShapeSetFriction(shape, 1.0f);
cpShapeSetLayers(shape, NOT_GRABABLE_MASK);
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-160,-240), cpv(-160,240), 0.0f));
cpShapeSetElasticity(shape, 1.0f);
cpShapeSetFriction(shape, 1.0f);
cpShapeSetLayers(shape, NOT_GRABABLE_MASK);
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(0,-240), cpv(0,240), 0.0f));
cpShapeSetElasticity(shape, 1.0f);
cpShapeSetFriction(shape, 1.0f);
cpShapeSetLayers(shape, NOT_GRABABLE_MASK);
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(160,-240), cpv(160,240), 0.0f));
cpShapeSetElasticity(shape, 1.0f);
cpShapeSetFriction(shape, 1.0f);
cpShapeSetLayers(shape, NOT_GRABABLE_MASK);
shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(320,-240), cpv(320,240), 0.0f));
cpShapeSetElasticity(shape, 1.0f);
cpShapeSetFriction(shape, 1.0f);
cpShapeSetLayers(shape, NOT_GRABABLE_MASK);
cpVect boxOffset;
cpBody *body1, *body2;
cpVect posA = cpv( 50, 60);
cpVect posB = cpv(110, 60);
#define POS_A cpvadd(boxOffset, posA)
#define POS_B cpvadd(boxOffset, posB)
// Pin Joints - Link shapes with a solid bar or pin.
// Keeps the anchor points the same distance apart from when the joint was created.
boxOffset = cpv(-320, -240);
body1 = addBall(posA, boxOffset);
body2 = addBall(posB, boxOffset);
cpSpaceAddConstraint(space, cpPinJointNew(body1, body2, cpv(15,0), cpv(-15,0)));
// Slide Joints - Like pin joints but with a min/max distance.
// Can be used for a cheap approximation of a rope.
boxOffset = cpv(-160, -240);
body1 = addBall(posA, boxOffset);
body2 = addBall(posB, boxOffset);
cpSpaceAddConstraint(space, cpSlideJointNew(body1, body2, cpv(15,0), cpv(-15,0), 20.0f, 40.0f));
// Pivot Joints - Holds the two anchor points together. Like a swivel.
boxOffset = cpv(0, -240);
body1 = addBall(posA, boxOffset);
body2 = addBall(posB, boxOffset);
cpSpaceAddConstraint(space, cpPivotJointNew(body1, body2, cpvadd(boxOffset, cpv(80,60))));
// cpPivotJointNew() takes it's anchor parameter in world coordinates. The anchors are calculated from that
// cpPivotJointNew2() lets you specify the two anchor points explicitly
// Groove Joints - Like a pivot joint, but one of the anchors is a line segment that the pivot can slide in
boxOffset = cpv(160, -240);
body1 = addBall(posA, boxOffset);
body2 = addBall(posB, boxOffset);
cpSpaceAddConstraint(space, cpGrooveJointNew(body1, body2, cpv(30,30), cpv(30,-30), cpv(-30,0)));
// Damped Springs
boxOffset = cpv(-320, -120);
body1 = addBall(posA, boxOffset);
body2 = addBall(posB, boxOffset);
cpSpaceAddConstraint(space, cpDampedSpringNew(body1, body2, cpv(15,0), cpv(-15,0), 20.0f, 5.0f, 0.3f));
// Damped Rotary Springs
boxOffset = cpv(-160, -120);
body1 = addBar(posA, boxOffset);
body2 = addBar(posB, boxOffset);
// Add some pin joints to hold the circles in place.
cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, POS_A));
cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, POS_B));
cpSpaceAddConstraint(space, cpDampedRotarySpringNew(body1, body2, 0.0f, 3000.0f, 60.0f));
// Rotary Limit Joint
boxOffset = cpv(0, -120);
body1 = addLever(posA, boxOffset);
body2 = addLever(posB, boxOffset);
// Add some pin joints to hold the circles in place.
cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, POS_A));
cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, POS_B));
// Hold their rotation within 90 degrees of each other.
cpSpaceAddConstraint(space, cpRotaryLimitJointNew(body1, body2, -M_PI_2, M_PI_2));
// Ratchet Joint - A rotary ratchet, like a socket wrench
boxOffset = cpv(160, -120);
body1 = addLever(posA, boxOffset);
body2 = addLever(posB, boxOffset);
// Add some pin joints to hold the circles in place.
cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, POS_A));
cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, POS_B));
// Ratchet every 90 degrees
cpSpaceAddConstraint(space, cpRatchetJointNew(body1, body2, 0.0f, M_PI_2));
// Gear Joint - Maintain a specific angular velocity ratio
boxOffset = cpv(-320, 0);
body1 = addBar(posA, boxOffset);
body2 = addBar(posB, boxOffset);
// Add some pin joints to hold the circles in place.
cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, POS_A));
cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, POS_B));
// Force one to sping 2x as fast as the other
cpSpaceAddConstraint(space, cpGearJointNew(body1, body2, 0.0f, 2.0f));
// Simple Motor - Maintain a specific angular relative velocity
boxOffset = cpv(-160, 0);
body1 = addBar(posA, boxOffset);
body2 = addBar(posB, boxOffset);
// Add some pin joints to hold the circles in place.
cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, POS_A));
cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, POS_B));
// Make them spin at 1/2 revolution per second in relation to each other.
cpSpaceAddConstraint(space, cpSimpleMotorNew(body1, body2, M_PI));
// Make a car with some nice soft suspension
boxOffset = cpv(0, 0);
cpBody *wheel1 = addWheel(posA, boxOffset);
cpBody *wheel2 = addWheel(posB, boxOffset);
cpBody *chassis = addChassis(cpv(80, 100), boxOffset);
cpSpaceAddConstraint(space, cpGrooveJointNew(chassis, wheel1, cpv(-30, -10), cpv(-30, -40), cpvzero));
cpSpaceAddConstraint(space, cpGrooveJointNew(chassis, wheel2, cpv( 30, -10), cpv( 30, -40), cpvzero));
cpSpaceAddConstraint(space, cpDampedSpringNew(chassis, wheel1, cpv(-30, 0), cpvzero, 50.0f, 20.0f, 10.0f));
cpSpaceAddConstraint(space, cpDampedSpringNew(chassis, wheel2, cpv( 30, 0), cpvzero, 50.0f, 20.0f, 10.0f));
return space;
}
