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- /* 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 cpBody *dollyBody = NULL;
- // Constraint used as a servo motor to move the dolly back and forth.
- static cpConstraint *dollyServo = NULL;
- // Constraint used as a winch motor to lift the load.
- static cpConstraint *winchServo = NULL;
- // Temporary joint used to hold the hook to the load.
- static cpConstraint *hookJoint = NULL;
- static void
- update(cpSpace *space, double dt)
- {
- // Set the first anchor point (the one attached to the static body) of the dolly servo to the mouse's x position.
- cpPivotJointSetAnchorA(dollyServo, cpv(ChipmunkDemoMouse.x, 100));
- // Set the max length of the winch servo to match the mouse's height.
- cpSlideJointSetMax(winchServo, cpfmax(100 - ChipmunkDemoMouse.y, 50));
- if(hookJoint && ChipmunkDemoRightClick){
- cpSpaceRemoveConstraint(space, hookJoint);
- cpConstraintFree(hookJoint);
- hookJoint = NULL;
- }
- cpSpaceStep(space, dt);
- }
- enum COLLISION_TYPES {
- HOOK_SENSOR = 1,
- CRATE,
- };
- static void
- AttachHook(cpSpace *space, cpBody *hook, cpBody *crate)
- {
- hookJoint = cpSpaceAddConstraint(space, cpPivotJointNew(hook, crate, cpBodyGetPosition(hook)));
- }
- static cpBool
- HookCrate(cpArbiter *arb, cpSpace *space, void *data)
- {
- if(hookJoint == NULL){
- // Get pointers to the two bodies in the collision pair and define local variables for them.
- // Their order matches the order of the collision types passed
- // to the collision handler this function was defined for
- CP_ARBITER_GET_BODIES(arb, hook, crate);
- // additions and removals can't be done in a normal callback.
- // Schedule a post step callback to do it.
- // Use the hook as the key and pass along the arbiter.
- cpSpaceAddPostStepCallback(space, (cpPostStepFunc)AttachHook, hook, crate);
- }
- return cpTrue; // return value is ignored for sensor callbacks anyway
- }
- static cpSpace *
- init(void)
- {
- ChipmunkDemoMessageString = "Control the crane by moving the mouse. Right click to release.";
- cpSpace *space = cpSpaceNew();
- cpSpaceSetIterations(space, 30);
- cpSpaceSetGravity(space, cpv(0, -100));
- cpSpaceSetDamping(space, 0.8);
- 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);
- cpShapeSetFilter(shape, NOT_GRABBABLE_FILTER);
- // Add a body for the dolly.
- dollyBody = cpSpaceAddBody(space, cpBodyNew(10, INFINITY));
- cpBodySetPosition(dollyBody, cpv(0, 100));
- // Add a block so you can see it.
- cpSpaceAddShape(space, cpBoxShapeNew(dollyBody, 30, 30, 0.0));
- // Add a groove joint for it to move back and forth on.
- cpSpaceAddConstraint(space, cpGrooveJointNew(staticBody, dollyBody, cpv(-250, 100), cpv(250, 100), cpvzero));
- // Add a pivot joint to act as a servo motor controlling it's position
- // By updating the anchor points of the pivot joint, you can move the dolly.
- dollyServo = cpSpaceAddConstraint(space, cpPivotJointNew(staticBody, dollyBody, cpBodyGetPosition(dollyBody)));
- // Max force the dolly servo can generate.
- cpConstraintSetMaxForce(dollyServo, 10000);
- // Max speed of the dolly servo
- cpConstraintSetMaxBias(dollyServo, 100);
- // You can also change the error bias to control how it slows down.
- //cpConstraintSetErrorBias(dollyServo, 0.2);
- // Add the crane hook.
- cpBody *hookBody = cpSpaceAddBody(space, cpBodyNew(1, INFINITY));
- cpBodySetPosition(hookBody, cpv(0, 50));
- // Add a sensor shape for it. This will be used to figure out when the hook touches a box.
- shape = cpSpaceAddShape(space, cpCircleShapeNew(hookBody, 10, cpvzero));
- cpShapeSetSensor(shape, cpTrue);
- cpShapeSetCollisionType(shape, HOOK_SENSOR);
- // Add a slide joint to act as a winch motor
- // By updating the max length of the joint you can make it pull up the load.
- winchServo = cpSpaceAddConstraint(space, cpSlideJointNew(dollyBody, hookBody, cpvzero, cpvzero, 0, INFINITY));
- // Max force the dolly servo can generate.
- cpConstraintSetMaxForce(winchServo, 30000);
- // Max speed of the dolly servo
- cpConstraintSetMaxBias(winchServo, 60);
- // TODO: cleanup
- // Finally a box to play with
- cpBody *boxBody = cpSpaceAddBody(space, cpBodyNew(30, cpMomentForBox(30, 50, 50)));
- cpBodySetPosition(boxBody, cpv(200, -200));
- // Add a block so you can see it.
- shape = cpSpaceAddShape(space, cpBoxShapeNew(boxBody, 50, 50, 0.0));
- cpShapeSetFriction(shape, 0.7);
- cpShapeSetCollisionType(shape, CRATE);
- cpCollisionHandler *handler = cpSpaceAddCollisionHandler(space, HOOK_SENSOR, CRATE);
- handler->beginFunc = (cpCollisionBeginFunc)HookCrate;
- return space;
- }
- static void
- destroy(cpSpace *space)
- {
- ChipmunkDemoFreeSpaceChildren(space);
- cpSpaceFree(space);
- }
- ChipmunkDemo Crane = {
- "Crane",
- 1.0/60.0,
- init,
- update,
- ChipmunkDemoDefaultDrawImpl,
- destroy,
- };
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