// written in the D programming language

module samples.Joints;

import dchip.all;

import samples.ChipmunkDemo;

import std.math;

static cpSpace *space;

enum M_PI = PI;
enum M_PI_2 = PI*0.5f;

static cpBody *
addBall(cpVect pos, cpVect boxOffset)
{
    cpFloat radius = 15.0f;
    cpFloat mass = 1.0f;
    cpBody *_body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForCircle(mass, 0.0f, radius, cpvzero)));
    _body.p = cpvadd(pos, boxOffset);

    cpShape *shape = cpSpaceAddShape(space, cpCircleShapeNew(_body, radius, cpvzero));
    shape.e = 0.0f; shape.u = 0.7f;

    return _body;
}

static cpBody *
addLever(cpVect pos, cpVect boxOffset)
{
    cpFloat mass = 1.0f;
    cpVect a = cpv(0,  15);
    cpVect b = cpv(0, -15);

    cpBody *_body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForSegment(mass, a, b)));
    _body.p = cpvadd(pos, cpvadd(boxOffset, cpv(0, -15)));

    cpShape *shape = cpSpaceAddShape(space, cpSegmentShapeNew(_body, a, b, 5.0f));
    shape.e = 0.0f; shape.u = 0.7f;

    return _body;
}

static cpBody *
addBar(cpVect pos, cpVect boxOffset)
{
    cpFloat mass = 2.0f;
    cpVect a = cpv(0,  30);
    cpVect b = cpv(0, -30);

    cpBody *_body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForSegment(mass, a, b)));
    _body.p = cpvadd(pos, boxOffset);

    cpShape *shape = cpSpaceAddShape(space, cpSegmentShapeNew(_body, a, b, 5.0f));
    shape.e = 0.0f; shape.u = 0.7f;

    return _body;
}

static cpBody *
addWheel(cpVect pos, cpVect boxOffset)
{
    cpFloat radius = 15.0f;
    cpFloat mass = 1.0f;
    cpBody *_body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForCircle(mass, 0.0f, radius, cpvzero)));
    _body.p = cpvadd(pos, boxOffset);

    cpShape *shape = cpSpaceAddShape(space, cpCircleShapeNew(_body, radius, cpvzero));
    shape.e = 0.0f; shape.u = 0.7f;
    shape.group = 1; // use a group to keep the car parts from colliding

    return _body;
}

static cpBody *
addChassis(cpVect pos, cpVect boxOffset)
{
    int num = 4;
    cpVect verts[] = [
        cpv(-40,-15),
        cpv(-40, 15),
        cpv( 40, 15),
        cpv( 40,-15),
    ];


    cpFloat mass = 5.0f;
    cpBody *_body = cpSpaceAddBody(space, cpBodyNew(mass, cpMomentForPoly(mass, num, verts.ptr, cpvzero)));
    _body.p = cpvadd(pos, boxOffset);

    cpShape *shape = cpSpaceAddShape(space, cpPolyShapeNew(_body, num, verts.ptr, cpvzero));
    shape.e = 0.0f; shape.u = 0.7f;
    shape.group = 1; // use a group to keep the car parts from colliding

    return _body;
}

static cpSpace *
init()
{
    space = cpSpaceNew();
    space.iterations = 10;
    space.gravity = cpv(0, -100);
    space.sleepTimeThreshold = 0.5f;

    cpBody *staticBody = space.staticBody;
    cpShape *shape;

    shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,240), cpv(320,240), 0.0f));
    shape.e = 1.0f; shape.u = 1.0f;
    shape.layers = NOT_GRABABLE_MASK;

    shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,120), cpv(320,120), 0.0f));
    shape.e = 1.0f; shape.u = 1.0f;
    shape.layers = NOT_GRABABLE_MASK;

    shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,0), cpv(320,0), 0.0f));
    shape.e = 1.0f; shape.u = 1.0f;
    shape.layers = NOT_GRABABLE_MASK;

    shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,-120), cpv(320,-120), 0.0f));
    shape.e = 1.0f; shape.u = 1.0f;
    shape.layers = NOT_GRABABLE_MASK;

    shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,-240), cpv(320,-240), 0.0f));
    shape.e = 1.0f; shape.u = 1.0f;
    shape.layers = NOT_GRABABLE_MASK;


    shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,-240), cpv(-320,240), 0.0f));
    shape.e = 1.0f; shape.u = 1.0f;
    shape.layers = NOT_GRABABLE_MASK;

    shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-160,-240), cpv(-160,240), 0.0f));
    shape.e = 1.0f; shape.u = 1.0f;
    shape.layers = NOT_GRABABLE_MASK;

    shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(0,-240), cpv(0,240), 0.0f));
    shape.e = 1.0f; shape.u = 1.0f;
    shape.layers = NOT_GRABABLE_MASK;

    shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(160,-240), cpv(160,240), 0.0f));
    shape.e = 1.0f; shape.u = 1.0f;
    shape.layers = NOT_GRABABLE_MASK;

    shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(320,-240), cpv(320,240), 0.0f));
    shape.e = 1.0f; shape.u = 1.0f;
    shape.layers = NOT_GRABABLE_MASK;

    cpVect boxOffset;
    cpBody *body1;
    cpBody *body2;

    cpVect posA = cpv( 50, 60);
    cpVect posB = cpv(110, 60);

    // Pin Joints - Link shapes with a solid bar or pin.
    // Keeps the anchor points the same distance apart from when the joint was created.
    boxOffset = cpv(-320, -240);
    body1 = addBall(posA, boxOffset);
    body2 = addBall(posB, boxOffset);
    cpSpaceAddConstraint(space, cpPinJointNew(body1, body2, cpv(15,0), cpv(-15,0)));

    // Slide Joints - Like pin joints but with a min/max distance.
    // Can be used for a cheap approximation of a rope.
    boxOffset = cpv(-160, -240);
    body1 = addBall(posA, boxOffset);
    body2 = addBall(posB, boxOffset);
    cpSpaceAddConstraint(space, cpSlideJointNew(body1, body2, cpv(15,0), cpv(-15,0), 20.0f, 40.0f));

    // Pivot Joints - Holds the two anchor points together. Like a swivel.
    boxOffset = cpv(0, -240);
    body1 = addBall(posA, boxOffset);
    body2 = addBall(posB, boxOffset);
    cpSpaceAddConstraint(space, cpPivotJointNew(body1, body2, cpvadd(boxOffset, cpv(80,60))));
    // cpPivotJointNew() takes it's anchor parameter in world coordinates. The anchors are calculated from that
    // cpPivotJointNew2() lets you specify the two anchor points explicitly

    // Groove Joints - Like a pivot joint, but one of the anchors is a line segment that the pivot can slide in
    boxOffset = cpv(160, -240);
    body1 = addBall(posA, boxOffset);
    body2 = addBall(posB, boxOffset);
    cpSpaceAddConstraint(space, cpGrooveJointNew(body1, body2, cpv(30,30), cpv(30,-30), cpv(-30,0)));

    // Damped Springs
    boxOffset = cpv(-320, -120);
    body1 = addBall(posA, boxOffset);
    body2 = addBall(posB, boxOffset);
    cpSpaceAddConstraint(space, cpDampedSpringNew(body1, body2, cpv(15,0), cpv(-15,0), 20.0f, 5.0f, 0.3f));

    // Damped Rotary Springs
    boxOffset = cpv(-160, -120);
    body1 = addBar(posA, boxOffset);
    body2 = addBar(posB, boxOffset);
    // Add some pin joints to hold the circles in place.
    cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, cpvadd(boxOffset, posA)));
    cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, cpvadd(boxOffset, posB)));
    cpSpaceAddConstraint(space, cpDampedRotarySpringNew(body1, body2, 0.0f, 3000.0f, 60.0f));

    // Rotary Limit Joint
    boxOffset = cpv(0, -120);
    body1 = addLever(posA, boxOffset);
    body2 = addLever(posB, boxOffset);
    // Add some pin joints to hold the circles in place.
    cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, cpvadd(boxOffset, posA)));
    cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, cpvadd(boxOffset, posB)));
    // Hold their rotation within 90 degrees of each other.
    cpSpaceAddConstraint(space, cpRotaryLimitJointNew(body1, body2, -M_PI_2, M_PI_2));

    // Ratchet Joint - A rotary ratchet, like a socket wrench
    boxOffset = cpv(160, -120);
    body1 = addLever(posA, boxOffset);
    body2 = addLever(posB, boxOffset);
    // Add some pin joints to hold the circles in place.
    cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, cpvadd(boxOffset, posA)));
    cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, cpvadd(boxOffset, posB)));
    // Ratchet every 90 degrees
    cpSpaceAddConstraint(space, cpRatchetJointNew(body1, body2, 0.0f, M_PI_2));

    // Gear Joint - Maintain a specific angular velocity ratio
    boxOffset = cpv(-320, 0);
    body1 = addBar(posA, boxOffset);
    body2 = addBar(posB, boxOffset);
    // Add some pin joints to hold the circles in place.
    cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, cpvadd(boxOffset, posA)));
    cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, cpvadd(boxOffset, posB)));
    // Force one to sping 2x as fast as the other
    cpSpaceAddConstraint(space, cpGearJointNew(body1, body2, 0.0f, 2.0f));

    // Simple Motor - Maintain a specific angular relative velocity
    boxOffset = cpv(-160, 0);
    body1 = addBar(posA, boxOffset);
    body2 = addBar(posB, boxOffset);
    // Add some pin joints to hold the circles in place.
    cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, cpvadd(boxOffset, posA)));
    cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, cpvadd(boxOffset, posB)));
    // Make them spin at 1/2 revolution per second in relation to each other.
    cpSpaceAddConstraint(space, cpSimpleMotorNew(body1, body2, M_PI));

    // Make a car with some nice soft suspension
    boxOffset = cpv(0, 0);
    cpBody *wheel1 = addWheel(posA, boxOffset);
    cpBody *wheel2 = addWheel(posB, boxOffset);
    cpBody *chassis = addChassis(cpv(80, 100), boxOffset);

    cpSpaceAddConstraint(space, cpGrooveJointNew(chassis, wheel1, cpv(-30, -10), cpv(-30, -40), cpvzero));
    cpSpaceAddConstraint(space, cpGrooveJointNew(chassis, wheel2, cpv( 30, -10), cpv( 30, -40), cpvzero));

    cpSpaceAddConstraint(space, cpDampedSpringNew(chassis, wheel1, cpv(-30, 0), cpvzero, 50.0f, 20.0f, 1.5f));
    cpSpaceAddConstraint(space, cpDampedSpringNew(chassis, wheel2, cpv( 30, 0), cpvzero, 50.0f, 20.0f, 1.5f));

    return space;
}

static void
update(int ticks)
{
    cpSpaceStep(space, 1.0f/60.0f);
}

static void
destroy()
{
    ChipmunkDemoFreeSpaceChildren(space);
    cpSpaceFree(space);
}

chipmunkDemo Joints = {
    "Joints and Constraints",
    null,
    &init,
    &update,
    &destroy,
};