/* 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 <stdlib.h>#include <stdio.h>#include <math.h>#include "chipmunk.h"// TODO clean this upextern cpSpace *space;extern cpBody *staticBody;cpJoint *joint;cpBody *chassis, *wheel1, *wheel2;void demo7_update(int ticks){	int steps = 3;	cpFloat dt = 1.0f/60.0f/(cpFloat)steps;		for(int i=0; i<steps; i++){		cpBodyResetForces(chassis);		cpBodyResetForces(wheel1);		cpBodyResetForces(wheel2);		cpDampedSpring(chassis, wheel1, cpv(40, 15), cpvzero, 50.0f, 150.0f, 10.0f, dt);		cpDampedSpring(chassis, wheel2, cpv(-40, 15), cpvzero, 50.0f, 150.0f, 10.0f, dt);				cpSpaceStep(space, dt);	}}static cpBody *make_box(cpFloat x, cpFloat y){	int num = 4;	cpVect verts[] = {		cpv(-15,-7),		cpv(-15, 7),		cpv( 15, 7),		cpv( 15,-7),	};		cpBody *body = cpBodyNew(1.0f, cpMomentForPoly(1.0f, num, verts, cpv(0,0)));	//	cpBody *body1 = cpBodyNew(1.0/0.0, 1.0/0.0);	body->p = cpv(x, y);	cpSpaceAddBody(space, body);	cpShape *shape = cpPolyShapeNew(body, num, verts, cpv(0,0));	shape->e = 0.0f; shape->u = 1.0f;	cpSpaceAddShape(space, shape);		return body;}void demo7_init(void){	staticBody = cpBodyNew(INFINITY, INFINITY);		cpResetShapeIdCounter();	space = cpSpaceNew();	space->iterations = 10;	cpSpaceResizeActiveHash(space, 50.0f, 999);	cpSpaceResizeStaticHash(space, 50.0f, 999);	space->gravity = cpv(0, -300);	cpShape *shape;		shape = cpSegmentShapeNew(staticBody, cpv(-320,-240), cpv(-320,240), 0.0f);	shape->e = 1.0f; shape->u = 1.0f;	cpSpaceAddStaticShape(space, shape);		shape = cpSegmentShapeNew(staticBody, cpv(320,-240), cpv(320,240), 0.0f);	shape->e = 1.0f; shape->u = 1.0f;	cpSpaceAddStaticShape(space, shape);		shape = cpSegmentShapeNew(staticBody, cpv(-320,-240), cpv(320,-240), 0.0f);	shape->e = 1.0f; shape->u = 1.0f;	cpSpaceAddStaticShape(space, shape);		shape = cpSegmentShapeNew(staticBody, cpv(-320,70), cpv(0,-240), 0.0f);	shape->e = 1.0f; shape->u = 1.0f;	cpSpaceAddStaticShape(space, shape);		shape = cpSegmentShapeNew(staticBody, cpv(0,-240), cpv(320,-200), 0.0f);	shape->e = 1.0f; shape->u = 1.0f;	cpSpaceAddStaticShape(space, shape);		shape = cpSegmentShapeNew(staticBody, cpv(200,-240), cpv(320,-100), 0.0f);	shape->e = 1.0f; shape->u = 1.0f;	cpSpaceAddStaticShape(space, shape);		//	shape = cpShapeNew(CP_SEGMENT_SHAPE, cpSegmentNew(cpv(-320,240), cpv(320,240)), space->staticBody);//	shape->e = 1.0; shape->u = 1.0;//	cpSpaceAddStaticShape(space, shape);		cpBody *body1, *body2, *body3, *body4, *body5, *body6, *body7;			body1 = make_box(-100, 100);	body2 = make_box(body1->p.x + 40, 100);	body3 = make_box(body2->p.x + 40, 100);	body4 = make_box(body3->p.x + 40, 100);	body5 = make_box(body4->p.x + 40, 100);	body6 = make_box(body5->p.x + 40, 100);	body7 = make_box(body6->p.x + 40, 100);		joint = cpPivotJointNew(staticBody, body1, cpv(body1->p.x - 20, 100));	cpSpaceAddJoint(space, joint);		joint = cpPivotJointNew(body1, body2, cpv(body2->p.x - 20, 100));	cpSpaceAddJoint(space, joint);		joint = cpPivotJointNew(body2, body3, cpv(body3->p.x - 20, 100));	cpSpaceAddJoint(space, joint);		joint = cpPivotJointNew(body3, body4, cpv(body4->p.x - 20, 100));	cpSpaceAddJoint(space, joint);		joint = cpPivotJointNew(body4, body5, cpv(body5->p.x - 20, 100));	cpSpaceAddJoint(space, joint);		joint = cpPivotJointNew(body5, body6, cpv(body6->p.x - 20, 100));	cpSpaceAddJoint(space, joint);		joint = cpPivotJointNew(body6, body7, cpv(body7->p.x - 20, 100));	cpSpaceAddJoint(space, joint);		joint = cpPivotJointNew(body7, staticBody, cpv(body7->p.x + 20, 100));	cpSpaceAddJoint(space, joint);			body1 = make_box(-100, 50);	body2 = make_box(body1->p.x + 40, 50);	body3 = make_box(body2->p.x + 40, 50);	body4 = make_box(body3->p.x + 40, 50);	body5 = make_box(body4->p.x + 40, 50);	body6 = make_box(body5->p.x + 40, 50);	body7 = make_box(body6->p.x + 40, 50);		cpFloat max = 25.0f;	cpFloat min = 10.0f;		joint = cpSlideJointNew(staticBody, body1, cpv(body1->p.x - 15 - 10, 50), cpv(-15, 0), min, max);	cpSpaceAddJoint(space, joint);		joint = cpSlideJointNew(body1, body2, cpv(15, 0), cpv(-15, 0), min, max);	cpSpaceAddJoint(space, joint);		joint = cpSlideJointNew(body2, body3, cpv(15, 0), cpv(-15, 0), min, max);	cpSpaceAddJoint(space, joint);		joint = cpSlideJointNew(body3, body4, cpv(15, 0), cpv(-15, 0), min, max);	cpSpaceAddJoint(space, joint);		joint = cpSlideJointNew(body4, body5, cpv(15, 0), cpv(-15, 0), min, max);	cpSpaceAddJoint(space, joint);		joint = cpSlideJointNew(body5, body6, cpv(15, 0), cpv(-15, 0), min, max);	cpSpaceAddJoint(space, joint);		joint = cpSlideJointNew(body6, body7, cpv(15, 0), cpv(-15, 0), min, max);	cpSpaceAddJoint(space, joint);		joint = cpSlideJointNew(body7, staticBody, cpv(15, 0), cpv(body7->p.x + 15 + 10, 50), min, max);	cpSpaceAddJoint(space, joint);		body1 = make_box(-100, 150);	body2 = make_box(body1->p.x + 40, 150);	body3 = make_box(body2->p.x + 40, 150);	body4 = make_box(body3->p.x + 40, 150);	body5 = make_box(body4->p.x + 40, 150);	body6 = make_box(body5->p.x + 40, 150);	body7 = make_box(body6->p.x + 40, 150);		joint = cpPinJointNew(staticBody, body1, cpv(body1->p.x - 15 - 10, 150), cpv(-15, 0));	cpSpaceAddJoint(space, joint);		joint = cpPinJointNew(body1, body2, cpv(15, 0), cpv(-15, 0));	cpSpaceAddJoint(space, joint);		joint = cpPinJointNew(body2, body3, cpv(15, 0), cpv(-15, 0));	cpSpaceAddJoint(space, joint);		joint = cpPinJointNew(body3, body4, cpv(15, 0), cpv(-15, 0));	cpSpaceAddJoint(space, joint);		joint = cpPinJointNew(body4, body5, cpv(15, 0), cpv(-15, 0));	cpSpaceAddJoint(space, joint);		joint = cpPinJointNew(body5, body6, cpv(15, 0), cpv(-15, 0));	cpSpaceAddJoint(space, joint);		joint = cpPinJointNew(body6, body7, cpv(15, 0), cpv(-15, 0));	cpSpaceAddJoint(space, joint);		joint = cpPinJointNew(body7, staticBody, cpv(15, 0), cpv(body7->p.x + 15 + 10, 150));	cpSpaceAddJoint(space, joint);		body1 = make_box(190, 200);	joint = cpGrooveJointNew(staticBody, body1, cpv(0, 195), cpv(250, 200), cpv(-15, 0));	cpSpaceAddJoint(space, joint);		int num = 4;	cpVect verts[] = {		cpv(-20,-15),		cpv(-20, 15),		cpv( 20, 15),		cpv( 20,-15),	};		chassis = cpBodyNew(10.0f, cpMomentForPoly(10.0f, num, verts, cpv(0,0)));	chassis->p = cpv(-200, 100);//	body->v = cpv(200, 0);	cpSpaceAddBody(space, chassis);	shape = cpPolyShapeNew(chassis, num, verts, cpv(0,0));	shape->e = 0.0f; shape->u = 1.0f;	cpSpaceAddShape(space, shape);		cpFloat radius = 15;	cpFloat wheel_mass = 0.3f;	cpVect offset = cpv(radius + 30, -25);	wheel1 = cpBodyNew(wheel_mass, cpMomentForCircle(wheel_mass, 0.0f, radius, cpvzero));	wheel1->p = cpvadd(chassis->p, offset);	wheel1->v = chassis->v;	cpSpaceAddBody(space, wheel1);	shape = cpCircleShapeNew(wheel1, radius, cpvzero);	shape->e = 0.0f; shape->u = 2.5f;	cpSpaceAddShape(space, shape);		joint = cpPinJointNew(chassis, wheel1, cpvzero, cpvzero);	cpSpaceAddJoint(space, joint);			wheel2 = cpBodyNew(wheel_mass, cpMomentForCircle(wheel_mass, 0.0f, radius, cpvzero));	wheel2->p = cpvadd(chassis->p, cpv(-offset.x, offset.y));	wheel2->v = chassis->v;	cpSpaceAddBody(space, wheel2);	shape = cpCircleShapeNew(wheel2, radius, cpvzero);	shape->e = 0.0f; shape->u = 2.5f;	cpSpaceAddShape(space, shape);		joint = cpPinJointNew(chassis, wheel2, cpvzero, cpvzero);	cpSpaceAddJoint(space, joint);}