/* 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.
 */

/*
 * The previous WalkBot demo I designed was fairly disappointing, so I implemented
 * the mechanism that Theo Jansen uses in his kinetic sculptures. Brilliant.
 * Read more here: http://en.wikipedia.org/wiki/Theo_Jansen
 */
 
#include "chipmunk/chipmunk.h"
#include "ChipmunkDemo.h"

static cpConstraint *motor;

static void
update(cpSpace *space, double dt)
{
	cpFloat coef = (2.0f + ChipmunkDemoKeyboard.y)/3.0f;
	cpFloat rate = ChipmunkDemoKeyboard.x*10.0f*coef;
	cpSimpleMotorSetRate(motor, rate);
	cpConstraintSetMaxForce(motor, (rate) ? 100000.0f : 0.0f);
	
	cpSpaceStep(space, dt);
}

static cpFloat seg_radius = 3.0f;

static void
make_leg(cpSpace *space, cpFloat side, cpFloat offset, cpBody *chassis, cpBody *crank, cpVect anchor)
{
	cpVect a, b;
	cpShape *shape;
	
	cpFloat leg_mass = 1.0f;

	// make leg
	a = cpvzero, b = cpv(0.0f, side);
	cpBody *upper_leg = cpSpaceAddBody(space, cpBodyNew(leg_mass, cpMomentForSegment(leg_mass, a, b, 0.0f)));
	cpBodySetPosition(upper_leg, cpv(offset, 0.0f));
	
	shape = cpSpaceAddShape(space, cpSegmentShapeNew(upper_leg, a, b, seg_radius));
	cpShapeSetFilter(shape, cpShapeFilterNew(1, CP_ALL_CATEGORIES, CP_ALL_CATEGORIES));
	
	cpSpaceAddConstraint(space, cpPivotJointNew2(chassis, upper_leg, cpv(offset, 0.0f), cpvzero));
	
	// lower leg
	a = cpvzero, b = cpv(0.0f, -1.0f*side);
	cpBody *lower_leg = cpSpaceAddBody(space, cpBodyNew(leg_mass, cpMomentForSegment(leg_mass, a, b, 0.0f)));
	cpBodySetPosition(lower_leg, cpv(offset, -side));
	
	shape = cpSpaceAddShape(space, cpSegmentShapeNew(lower_leg, a, b, seg_radius));
	cpShapeSetFilter(shape, cpShapeFilterNew(1, CP_ALL_CATEGORIES, CP_ALL_CATEGORIES));
	
	shape = cpSpaceAddShape(space, cpCircleShapeNew(lower_leg, seg_radius*2.0f, b));
	cpShapeSetFilter(shape, cpShapeFilterNew(1, CP_ALL_CATEGORIES, CP_ALL_CATEGORIES));
	cpShapeSetElasticity(shape, 0.0f);
	cpShapeSetFriction(shape, 1.0f);
	
	cpSpaceAddConstraint(space, cpPinJointNew(chassis, lower_leg, cpv(offset, 0.0f), cpvzero));
	
	cpSpaceAddConstraint(space, cpGearJointNew(upper_leg, lower_leg, 0.0f, 1.0f));
	
	cpConstraint *constraint;
	cpFloat diag = cpfsqrt(side*side + offset*offset);
	
	constraint = cpSpaceAddConstraint(space, cpPinJointNew(crank, upper_leg, anchor, cpv(0.0f, side)));
	cpPinJointSetDist(constraint, diag);
	
	constraint = cpSpaceAddConstraint(space, cpPinJointNew(crank, lower_leg, anchor, cpvzero));
	cpPinJointSetDist(constraint, diag);
}

static cpSpace *
init(void)
{
	ChipmunkDemoMessageString = "Use the arrow keys to control the machine.";
	
	cpSpace *space = cpSpaceNew();
	cpSpaceSetIterations(space, 20);
	cpSpaceSetGravity(space, cpv(0,-500));
	
	cpBody *staticBody = cpSpaceGetStaticBody(space);
	cpShape *shape;
	cpVect a, b;
	
	// Create segments around the edge of the screen.
	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);

	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);

	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);
	
	cpFloat offset = 30.0f;

	// make chassis
	cpFloat chassis_mass = 2.0f;
	a = cpv(-offset, 0.0f), b = cpv(offset, 0.0f);
	cpBody *chassis = cpSpaceAddBody(space, cpBodyNew(chassis_mass, cpMomentForSegment(chassis_mass, a, b, 0.0f)));
	
	shape = cpSpaceAddShape(space, cpSegmentShapeNew(chassis, a, b, seg_radius));
	cpShapeSetFilter(shape, cpShapeFilterNew(1, CP_ALL_CATEGORIES, CP_ALL_CATEGORIES));
	
	// make crank
	cpFloat crank_mass = 1.0f;
	cpFloat crank_radius = 13.0f;
	cpBody *crank = cpSpaceAddBody(space, cpBodyNew(crank_mass, cpMomentForCircle(crank_mass, crank_radius, 0.0f, cpvzero)));
	
	shape = cpSpaceAddShape(space, cpCircleShapeNew(crank, crank_radius, cpvzero));
	cpShapeSetFilter(shape, cpShapeFilterNew(1, CP_ALL_CATEGORIES, CP_ALL_CATEGORIES));
	
	cpSpaceAddConstraint(space, cpPivotJointNew2(chassis, crank, cpvzero, cpvzero));
	
	cpFloat side = 30.0f;
	
	int num_legs = 2;
	for(int i=0; i<num_legs; i++){
		make_leg(space, side,  offset, chassis, crank, cpvmult(cpvforangle((cpFloat)(2*i+0)/(cpFloat)num_legs*CP_PI), crank_radius));
		make_leg(space, side, -offset, chassis, crank, cpvmult(cpvforangle((cpFloat)(2*i+1)/(cpFloat)num_legs*CP_PI), crank_radius));
	}
	
	motor = cpSpaceAddConstraint(space, cpSimpleMotorNew(chassis, crank, 6.0f));

	return space;
}

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

ChipmunkDemo TheoJansen = {
	"Theo Jansen Machine",
	1.0/180.0,
	init,
	update,
	ChipmunkDemoDefaultDrawImpl,
	destroy,
};
