1/* Copyright (c) 2007 Scott Lembcke
2 *
3 * Permission is hereby granted, free of charge, to any person obtaining a copy
4 * of this software and associated documentation files (the "Software"), to deal
5 * in the Software without restriction, including without limitation the rights
6 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
7 * copies of the Software, and to permit persons to whom the Software is
8 * furnished to do so, subject to the following conditions:
9 *
10 * The above copyright notice and this permission notice shall be included in
11 * all copies or substantial portions of the Software.
12 *
13 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
14 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
15 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
16 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
17 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
18 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
19 * SOFTWARE.
20 */
21
22#include <stdlib.h>
23#include <stdio.h>
24#include <math.h>
25#include <string.h>
26
27#include "chipmunk_private.h"
28#include "chipmunk_unsafe.h"
29#include "ChipmunkDemo.h"
30
31static cpShape *shape1, *shape2;
32
33static void
34update(cpSpace *space, cpFloat dt)
35{
36	cpSpaceStep(space, dt);
37}
38
39static void
40draw(cpSpace *space)
41{
42	ChipmunkDemoDefaultDrawImpl(space);
43	struct cpContact arr[CP_MAX_CONTACTS_PER_ARBITER];
44//	cpCollideShapes(shape1, shape2, (cpCollisionID[]){0}, arr);
45	cpCollisionInfo info = cpCollideShapes(shape2, shape1, 0x00000000, arr);
46}
47
48static cpSpace *
49init(void)
50{
51	cpSpace *space = cpSpaceNew();
52	cpSpaceSetIterations(space, 5);
53	space->damping = 0.1;
54
55	cpFloat mass = 1.0f;
56
57	{
58		cpFloat size = 100.0;
59
60		cpBody *body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForBox(mass, size, size)));
61		cpBodySetPosition(body, cpv(100.0, 50.0f));
62
63		shape1 = cpSpaceAddShape(space, cpBoxShapeNew(body, size, size, 0.0));
64		shape1->group = 1;
65	}{
66		cpFloat size = 100.0;
67
68		cpBody *body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForBox(mass, size, size)));
69		cpBodySetPosition(body, cpv(120.0, -40.0f));
70		cpBodySetAngle(body, 1e-2);
71
72		shape2 = cpSpaceAddShape(space, cpBoxShapeNew(body, size, size, 0.0));
73		shape2->group = 1;
74	}
75
76//	{
77//		cpFloat size = 100.0;
78//		const int NUM_VERTS = 5;
79//
80//		cpVect verts[NUM_VERTS];
81//		for(int i=0; i<NUM_VERTS; i++){
82//			cpFloat angle = -2*M_PI*i/((cpFloat) NUM_VERTS);
83//			verts[i] = cpv(size/2.0*cos(angle), size/2.0*sin(angle));
84//		}
85//
86//		cpBody *body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForPoly(mass, NUM_VERTS, verts, cpvzero)));
87//		cpBodySetPosition(body, cpv(100.0, 50.0f));
88//
89//		shape1 = cpSpaceAddShape(space, cpPolyShapeNew(body, NUM_VERTS, verts, cpvzero));
90//		shape1->group = 1;
91//	}
92//	{
93//		cpFloat size = 100.0;
94//		const int NUM_VERTS = 4;
95//
96//		cpVect verts[NUM_VERTS];
97//		for(int i=0; i<NUM_VERTS; i++){
98//			cpFloat angle = -2*M_PI*i/((cpFloat) NUM_VERTS);
99//			verts[i] = cpv(size/2.0*cos(angle), size/2.0*sin(angle));
100//		}
101//
102//		cpBody *body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForPoly(mass, NUM_VERTS, verts, cpvzero)));
103//		cpBodySetPosition(body, cpv(100.0, -50.0f));
104//
105//		shape2 = cpSpaceAddShape(space, cpPolyShapeNew(body, NUM_VERTS, verts, cpvzero));
106//		shape2->group = 1;
107//	}
108//
109//	{
110//		cpFloat size = 150.0;
111//		cpFloat radius = 25.0;
112//
113//		cpVect a = cpv( size/2.0, 0.0);
114//		cpVect b = cpv(-size/2.0, 0.0);
115//		cpBody *body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForSegment(mass, a, b)));
116//		cpBodySetPosition(body, cpv(0, 25));
117//
118//		shape1 = cpSpaceAddShape(space, cpSegmentShapeNew(body, a, b, radius));
119//		shape1->group = 1;
120//	}
121//	{
122//		cpFloat radius = 50.0;
123//
124//		cpBody *body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForCircle(mass, 0.0f, radius, cpvzero)));
125//		cpBodySetPosition(body, cpv(0, -25));
126//
127//		shape2 = cpSpaceAddShape(space, cpCircleShapeNew(body, radius, cpvzero));
128//		shape2->group = 1;
129//	}
130
131	return space;
132}
133
134static void
135destroy(cpSpace *space)
136{
137	ChipmunkDemoFreeSpaceChildren(space);
138	cpSpaceFree(space);
139}
140
141ChipmunkDemo GJK = {
142	"GJK",
143	1.0f/60.0f,
144	init,
145	update,
146	draw,
147	destroy,
148};
149