/* Copyright (c) 2007 Scott Lembcke * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. */ #include "chipmunk/chipmunk.h" #include "ChipmunkDemo.h" static cpConstraint* motor; #define numBalls 5 static cpBody* balls[numBalls]; static void update(cpSpace* space, double dt) { cpFloat coef = (2.0f + ChipmunkDemoKeyboard.y) / 3.0f; cpFloat rate = ChipmunkDemoKeyboard.x * 30.0f * coef; cpSimpleMotorSetRate(motor, rate); cpConstraintSetMaxForce(motor, rate ? 1000000.0f : 0.0f); cpSpaceStep(space, dt); for (int i = 0; i < numBalls; i++) { cpBody* ball = balls[i]; cpVect pos = cpBodyGetPosition(ball); if (pos.x > 320.0f) { cpBodySetVelocity(ball, cpvzero); cpBodySetPosition(ball, cpv(-224.0f, 200.0f)); } } } static cpBody* add_ball(cpSpace* space, cpVect pos) { cpBody* body = cpSpaceAddBody(space, cpBodyNew(1.0f, cpMomentForCircle(1.0f, 30, 0, cpvzero))); cpBodySetPosition(body, pos); cpShape* shape = cpSpaceAddShape(space, cpCircleShapeNew(body, 30, cpvzero)); cpShapeSetElasticity(shape, 0.0f); cpShapeSetFriction(shape, 0.5f); return body; } static cpSpace* init(void) { ChipmunkDemoMessageString = "Use the arrow keys to control the machine."; cpSpace* 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); cpShapeSetFilter(shape, NOT_GRABBABLE_FILTER); shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-256, 16), cpv(-192, 0), 2.0f)); cpShapeSetElasticity(shape, 0.0f); cpShapeSetFriction(shape, 0.5f); cpShapeSetFilter(shape, NOT_GRABBABLE_FILTER); shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-192, 0), cpv(-192, -64), 2.0f)); cpShapeSetElasticity(shape, 0.0f); cpShapeSetFriction(shape, 0.5f); cpShapeSetFilter(shape, NOT_GRABBABLE_FILTER); shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-128, -64), cpv(-128, 144), 2.0f)); cpShapeSetElasticity(shape, 0.0f); cpShapeSetFriction(shape, 0.5f); cpShapeSetFilter(shape, NOT_GRABBABLE_FILTER); shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-192, 80), cpv(-192, 176), 2.0f)); cpShapeSetElasticity(shape, 0.0f); cpShapeSetFriction(shape, 0.5f); cpShapeSetFilter(shape, NOT_GRABBABLE_FILTER); shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-192, 176), cpv(-128, 240), 2.0f)); cpShapeSetElasticity(shape, 0.0f); cpShapeSetFriction(shape, 0.5f); cpShapeSetFilter(shape, NOT_GRABBABLE_FILTER); shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-128, 144), cpv(192, 64), 2.0f)); cpShapeSetElasticity(shape, 0.0f); cpShapeSetFriction(shape, 0.5f); cpShapeSetFilter(shape, NOT_GRABBABLE_FILTER); cpVect verts[] = { cpv(-30, -80), cpv(-30, 80), cpv(30, 64), cpv(30, -80), }; cpBody* plunger = cpSpaceAddBody(space, cpBodyNew(1.0f, INFINITY)); cpBodySetPosition(plunger, cpv(-160, -80)); shape = cpSpaceAddShape(space, cpPolyShapeNew(plunger, 4, verts, cpTransformIdentity, 0.0)); cpShapeSetElasticity(shape, 1.0f); cpShapeSetFriction(shape, 0.5f); cpShapeSetFilter(shape, cpShapeFilterNew(CP_NO_GROUP, 1, 1)); // add balls to hopper for (int i = 0; i < numBalls; i++) balls[i] = add_ball(space, cpv(-224 + i, 80 + 64 * i)); // add small gear cpBody* smallGear = cpSpaceAddBody(space, cpBodyNew(10.0f, cpMomentForCircle(10.0f, 80, 0, cpvzero))); cpBodySetPosition(smallGear, cpv(-160, -160)); cpBodySetAngle(smallGear, -CP_PI / 2.0f); shape = cpSpaceAddShape(space, cpCircleShapeNew(smallGear, 80.0f, cpvzero)); cpShapeSetFilter(shape, CP_SHAPE_FILTER_NONE); 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))); cpBodySetPosition(bigGear, cpv(80, -160)); cpBodySetAngle(bigGear, CP_PI / 2.0f); shape = cpSpaceAddShape(space, cpCircleShapeNew(bigGear, 160.0f, cpvzero)); cpShapeSetFilter(shape, CP_SHAPE_FILTER_NONE); 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, -CP_PI / 2.0f, -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), 0.0f))); cpBodySetPosition(feeder, cpv(-224, (bottom + top) / 2.0f)); cpFloat len = top - bottom; shape = cpSpaceAddShape(space, cpSegmentShapeNew(feeder, cpv(0.0f, len / 2.0f), cpv(0.0f, -len / 2.0f), 20.0f)); cpShapeSetFilter(shape, GRAB_FILTER); cpSpaceAddConstraint(space, cpPivotJointNew2(staticBody, feeder, cpv(-224.0f, bottom), cpv(0.0f, -len / 2.0f))); cpVect anchr = cpBodyWorldToLocal(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 void destroy(cpSpace* space) { ChipmunkDemoFreeSpaceChildren(space); cpSpaceFree(space); } ChipmunkDemo Pump = { "Pump", 1.0 / 120.0, init, update, ChipmunkDemoDefaultDrawImpl, destroy, };