mirror of https://github.com/axmolengine/axmol.git
285 lines
12 KiB
C++
285 lines
12 KiB
C++
/* Copyright (c) 2007 Scott Lembcke
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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#include "chipmunk/chipmunk.h"
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#include "ChipmunkDemo.h"
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static cpBody* addBall(cpSpace* space, cpVect pos, cpVect boxOffset)
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{
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cpFloat radius = 15.0f;
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cpFloat mass = 1.0f;
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cpBody* body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForCircle(mass, 0.0f, radius, cpvzero)));
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cpBodySetPosition(body, cpvadd(pos, boxOffset));
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cpShape* shape = cpSpaceAddShape(space, cpCircleShapeNew(body, radius, cpvzero));
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cpShapeSetElasticity(shape, 0.0f);
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cpShapeSetFriction(shape, 0.7f);
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return body;
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}
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static cpBody* addLever(cpSpace* space, cpVect pos, cpVect boxOffset)
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{
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cpFloat mass = 1.0f;
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cpVect a = cpv(0, 15);
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cpVect b = cpv(0, -15);
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cpBody* body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForSegment(mass, a, b, 0.0f)));
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cpBodySetPosition(body, cpvadd(pos, cpvadd(boxOffset, cpv(0, -15))));
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cpShape* shape = cpSpaceAddShape(space, cpSegmentShapeNew(body, a, b, 5.0f));
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cpShapeSetElasticity(shape, 0.0f);
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cpShapeSetFriction(shape, 0.7f);
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return body;
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}
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static cpBody* addBar(cpSpace* space, cpVect pos, cpVect boxOffset)
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{
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cpFloat mass = 2.0f;
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cpVect a = cpv(0, 30);
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cpVect b = cpv(0, -30);
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cpBody* body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForSegment(mass, a, b, 0.0f)));
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cpBodySetPosition(body, cpvadd(pos, boxOffset));
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cpShape* shape = cpSpaceAddShape(space, cpSegmentShapeNew(body, a, b, 5.0f));
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cpShapeSetElasticity(shape, 0.0f);
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cpShapeSetFriction(shape, 0.7f);
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cpShapeSetFilter(shape, cpShapeFilterNew(1, CP_ALL_CATEGORIES, CP_ALL_CATEGORIES));
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return body;
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}
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static cpBody* addWheel(cpSpace* space, cpVect pos, cpVect boxOffset)
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{
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cpFloat radius = 15.0f;
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cpFloat mass = 1.0f;
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cpBody* body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForCircle(mass, 0.0f, radius, cpvzero)));
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cpBodySetPosition(body, cpvadd(pos, boxOffset));
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cpShape* shape = cpSpaceAddShape(space, cpCircleShapeNew(body, radius, cpvzero));
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cpShapeSetElasticity(shape, 0.0f);
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cpShapeSetFriction(shape, 0.7f);
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cpShapeSetFilter(shape, cpShapeFilterNew(1, CP_ALL_CATEGORIES, CP_ALL_CATEGORIES));
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return body;
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}
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static cpBody* addChassis(cpSpace* space, cpVect pos, cpVect boxOffset)
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{
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cpFloat mass = 5.0f;
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cpFloat width = 80;
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cpFloat height = 30;
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cpBody* body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForBox(mass, width, height)));
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cpBodySetPosition(body, cpvadd(pos, boxOffset));
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cpShape* shape = cpSpaceAddShape(space, cpBoxShapeNew(body, width, height, 0.0));
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cpShapeSetElasticity(shape, 0.0f);
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cpShapeSetFriction(shape, 0.7f);
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cpShapeSetFilter(shape, cpShapeFilterNew(1, CP_ALL_CATEGORIES, CP_ALL_CATEGORIES));
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return body;
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}
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static cpSpace* init(void)
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{
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cpSpace* space = cpSpaceNew();
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cpSpaceSetIterations(space, 10);
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cpSpaceSetGravity(space, cpv(0, -100));
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cpSpaceSetSleepTimeThreshold(space, 0.5f);
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cpBody* staticBody = cpSpaceGetStaticBody(space);
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cpShape* shape;
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shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320, 240), cpv(320, 240), 0.0f));
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cpShapeSetElasticity(shape, 1.0f);
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cpShapeSetFriction(shape, 1.0f);
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cpShapeSetFilter(shape, NOT_GRABBABLE_FILTER);
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shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320, 120), cpv(320, 120), 0.0f));
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cpShapeSetElasticity(shape, 1.0f);
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cpShapeSetFriction(shape, 1.0f);
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cpShapeSetFilter(shape, NOT_GRABBABLE_FILTER);
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shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320, 0), cpv(320, 0), 0.0f));
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cpShapeSetElasticity(shape, 1.0f);
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cpShapeSetFriction(shape, 1.0f);
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cpShapeSetFilter(shape, NOT_GRABBABLE_FILTER);
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shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320, -120), cpv(320, -120), 0.0f));
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cpShapeSetElasticity(shape, 1.0f);
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cpShapeSetFriction(shape, 1.0f);
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cpShapeSetFilter(shape, NOT_GRABBABLE_FILTER);
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shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320, -240), cpv(320, -240), 0.0f));
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cpShapeSetElasticity(shape, 1.0f);
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cpShapeSetFriction(shape, 1.0f);
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cpShapeSetFilter(shape, NOT_GRABBABLE_FILTER);
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shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320, -240), cpv(-320, 240), 0.0f));
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cpShapeSetElasticity(shape, 1.0f);
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cpShapeSetFriction(shape, 1.0f);
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cpShapeSetFilter(shape, NOT_GRABBABLE_FILTER);
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shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-160, -240), cpv(-160, 240), 0.0f));
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cpShapeSetElasticity(shape, 1.0f);
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cpShapeSetFriction(shape, 1.0f);
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cpShapeSetFilter(shape, NOT_GRABBABLE_FILTER);
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shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(0, -240), cpv(0, 240), 0.0f));
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cpShapeSetElasticity(shape, 1.0f);
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cpShapeSetFriction(shape, 1.0f);
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cpShapeSetFilter(shape, NOT_GRABBABLE_FILTER);
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shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(160, -240), cpv(160, 240), 0.0f));
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cpShapeSetElasticity(shape, 1.0f);
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cpShapeSetFriction(shape, 1.0f);
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cpShapeSetFilter(shape, NOT_GRABBABLE_FILTER);
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shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(320, -240), cpv(320, 240), 0.0f));
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cpShapeSetElasticity(shape, 1.0f);
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cpShapeSetFriction(shape, 1.0f);
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cpShapeSetFilter(shape, NOT_GRABBABLE_FILTER);
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cpVect boxOffset;
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cpBody *body1, *body2;
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cpVect posA = cpv(50, 60);
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cpVect posB = cpv(110, 60);
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#define POS_A cpvadd(boxOffset, posA)
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#define POS_B cpvadd(boxOffset, posB)
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// Pin Joints - Link shapes with a solid bar or pin.
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// Keeps the anchor points the same distance apart from when the joint was created.
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boxOffset = cpv(-320, -240);
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body1 = addBall(space, posA, boxOffset);
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body2 = addBall(space, posB, boxOffset);
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cpSpaceAddConstraint(space, cpPinJointNew(body1, body2, cpv(15, 0), cpv(-15, 0)));
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// Slide Joints - Like pin joints but with a min/max distance.
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// Can be used for a cheap approximation of a rope.
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boxOffset = cpv(-160, -240);
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body1 = addBall(space, posA, boxOffset);
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body2 = addBall(space, posB, boxOffset);
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cpSpaceAddConstraint(space, cpSlideJointNew(body1, body2, cpv(15, 0), cpv(-15, 0), 20.0f, 40.0f));
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// Pivot Joints - Holds the two anchor points together. Like a swivel.
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boxOffset = cpv(0, -240);
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body1 = addBall(space, posA, boxOffset);
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body2 = addBall(space, posB, boxOffset);
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cpSpaceAddConstraint(space, cpPivotJointNew(body1, body2, cpvadd(boxOffset, cpv(80, 60))));
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// cpPivotJointNew() takes it's anchor parameter in world coordinates. The anchors are calculated from that
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// cpPivotJointNew2() lets you specify the two anchor points explicitly
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// Groove Joints - Like a pivot joint, but one of the anchors is a line segment that the pivot can slide in
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boxOffset = cpv(160, -240);
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body1 = addBall(space, posA, boxOffset);
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body2 = addBall(space, posB, boxOffset);
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cpSpaceAddConstraint(space, cpGrooveJointNew(body1, body2, cpv(30, 30), cpv(30, -30), cpv(-30, 0)));
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// Damped Springs
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boxOffset = cpv(-320, -120);
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body1 = addBall(space, posA, boxOffset);
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body2 = addBall(space, posB, boxOffset);
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cpSpaceAddConstraint(space, cpDampedSpringNew(body1, body2, cpv(15, 0), cpv(-15, 0), 20.0f, 5.0f, 0.3f));
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// Damped Rotary Springs
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boxOffset = cpv(-160, -120);
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body1 = addBar(space, posA, boxOffset);
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body2 = addBar(space, posB, boxOffset);
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// Add some pin joints to hold the circles in place.
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cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, POS_A));
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cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, POS_B));
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cpSpaceAddConstraint(space, cpDampedRotarySpringNew(body1, body2, 0.0f, 3000.0f, 60.0f));
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// Rotary Limit Joint
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boxOffset = cpv(0, -120);
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body1 = addLever(space, posA, boxOffset);
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body2 = addLever(space, posB, boxOffset);
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// Add some pin joints to hold the circles in place.
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cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, POS_A));
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cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, POS_B));
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// Hold their rotation within 90 degrees of each other.
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cpSpaceAddConstraint(space, cpRotaryLimitJointNew(body1, body2, -CP_PI / 2.0f, CP_PI / 2.0f));
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// Ratchet Joint - A rotary ratchet, like a socket wrench
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boxOffset = cpv(160, -120);
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body1 = addLever(space, posA, boxOffset);
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body2 = addLever(space, posB, boxOffset);
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// Add some pin joints to hold the circles in place.
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cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, POS_A));
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cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, POS_B));
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// Ratchet every 90 degrees
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cpSpaceAddConstraint(space, cpRatchetJointNew(body1, body2, 0.0f, CP_PI / 2.0f));
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// Gear Joint - Maintain a specific angular velocity ratio
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boxOffset = cpv(-320, 0);
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body1 = addBar(space, posA, boxOffset);
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body2 = addBar(space, posB, boxOffset);
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// Add some pin joints to hold the circles in place.
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cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, POS_A));
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cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, POS_B));
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// Force one to sping 2x as fast as the other
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cpSpaceAddConstraint(space, cpGearJointNew(body1, body2, 0.0f, 2.0f));
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// Simple Motor - Maintain a specific angular relative velocity
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boxOffset = cpv(-160, 0);
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body1 = addBar(space, posA, boxOffset);
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body2 = addBar(space, posB, boxOffset);
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// Add some pin joints to hold the circles in place.
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cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, POS_A));
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cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, POS_B));
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// Make them spin at 1/2 revolution per second in relation to each other.
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cpSpaceAddConstraint(space, cpSimpleMotorNew(body1, body2, CP_PI));
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// Make a car with some nice soft suspension
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boxOffset = cpv(0, 0);
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cpBody* wheel1 = addWheel(space, posA, boxOffset);
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cpBody* wheel2 = addWheel(space, posB, boxOffset);
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cpBody* chassis = addChassis(space, cpv(80, 100), boxOffset);
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cpSpaceAddConstraint(space, cpGrooveJointNew(chassis, wheel1, cpv(-30, -10), cpv(-30, -40), cpvzero));
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cpSpaceAddConstraint(space, cpGrooveJointNew(chassis, wheel2, cpv(30, -10), cpv(30, -40), cpvzero));
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cpSpaceAddConstraint(space, cpDampedSpringNew(chassis, wheel1, cpv(-30, 0), cpvzero, 50.0f, 20.0f, 10.0f));
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cpSpaceAddConstraint(space, cpDampedSpringNew(chassis, wheel2, cpv(30, 0), cpvzero, 50.0f, 20.0f, 10.0f));
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return space;
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}
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static void update(cpSpace* space, double dt)
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{
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cpSpaceStep(space, dt);
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}
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static void destroy(cpSpace* space)
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{
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ChipmunkDemoFreeSpaceChildren(space);
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cpSpaceFree(space);
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}
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ChipmunkDemo Joints = {
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"Joints and Constraints", 1.0 / 60.0, init, update, ChipmunkDemoDefaultDrawImpl, destroy,
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};
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