--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/walkprog/ball_bound.cc	Thu Dec 10 19:40:08 2009 +0900
@@ -0,0 +1,194 @@
+#include <math.h>
+#include <stdlib.h>
+#include "SceneGraphRoot.h"
+#include "MainLoop.h"
+#include "ball_bound.h"
+
+
+// prototype
+static void ball_move(SceneGraphPtr node, int screen_w, int screen_h);
+static void ball_collision(SceneGraphPtr node, int screen_w, int screen_h, SceneGraphPtr tree);
+static void ball_collision_idle(SceneGraphPtr, int w, int h, SceneGraphPtr tree);
+
+
+static float vy = 0.0f; // y 方向速度
+static float dt = 1.0/1.0f; // frame rate 
+
+static float e = -0.8f;  // 反発係数
+static float g = 9.8f;  // 重力加速度
+//static float v0 = 0.0f; // 初速は 0
+
+static float h0; // 初期高さ
+static float ball_radius = 100.0f;
+
+static float speed = 10.0f;
+
+static void
+ball_move_idle2(SceneGraphPtr node, int screen_w, int screen_h)
+{
+    Pad *pad = sgroot->getController();
+
+    if (pad->circle.isHold()) {
+		if (pad->left.isHold()) {
+			node->xyz[0] -= speed;
+			if(node->xyz[0] < ball_radius)
+				node->xyz[0] = ball_radius;
+		} else if (pad->right.isHold()) {
+			node->xyz[0] += speed;
+			if(node->xyz[0] > screen_w  - ball_radius)
+				node->xyz[0] = screen_w - ball_radius;
+		}
+
+		if (pad->up.isHold()) {
+			node->xyz[1] -= speed;
+		} else if (pad->down.isHold()) {
+			node->xyz[1] += speed;
+            if(node->xyz[1] > screen_h - ball_radius)
+				node->xyz[1] = screen_h - ball_radius;
+		}
+    } else {
+		node->set_move_collision(ball_move, ball_collision);
+    }
+}
+
+static int time = 0;
+
+static void
+ball_move_idle(SceneGraphPtr node, int screen_w, int screen_h)
+{
+    Pad *pad = sgroot->getController();
+
+    if (pad->circle.isPush()) {
+		node->set_move_collision(ball_move_idle2, ball_collision_idle);
+		time = 0;
+    }
+
+    time++;
+
+    if (time > 90) {
+		float w = (float)random();
+      
+		w = fmodf(w, screen_w - ball_radius*2);
+		node->xyz[0] = w + ball_radius;
+		node->xyz[1] = h0;
+		node->set_move_collision(ball_move, ball_collision);
+		time = 0;
+    }
+}
+
+static void
+ball_move(SceneGraphPtr node, int screen_w, int screen_h)
+{
+ 
+}
+
+static void
+ball_collision_idle(SceneGraphPtr, int w, int h, SceneGraphPtr tree)
+{
+}
+
+static void
+ball_collision(SceneGraphPtr node, int screen_w, int screen_h,
+			   SceneGraphPtr tree)
+{
+  node->angle[1] += 1;
+  //node->angle[0] += 1;
+
+}
+
+MainLoopPtr 
+ball_bound::init(Viewer *sgroot, int screen_w, int screen_h)
+{
+  SceneGraphPtr body,waist;
+  SceneGraphPtr arm1R, arm2R, handR;
+  SceneGraphPtr arm1L, arm2L, handL;
+  SceneGraphPtr leg1R, leg2R, footR;
+  SceneGraphPtr leg1L, leg2L, footL;
+
+    // 固定した値で srandom すると、毎回同じ、random() 列が生成される
+    // random な値が欲しいなら、man random に方法が書いてあります。
+  srandom(100);
+  
+  //sgroot->createFromXMLfile("xml_file/body_hakama.xml");
+  sgroot->createFromXMLfile("xml_file/body_hakama.xml");
+  
+  body = sgroot->createSceneGraph("body");
+  //body->set_move_collision(ball_move, ball_collision);
+  
+#if 1
+  waist = sgroot->createSceneGraph("waist");
+  arm1R = sgroot->createSceneGraph("arm1R");
+  arm2R = sgroot->createSceneGraph("arm2R");
+  arm1L = sgroot->createSceneGraph("arm1L");
+  arm2L = sgroot->createSceneGraph("arm2L");
+  handR = sgroot->createSceneGraph("handR");
+  handL = sgroot->createSceneGraph("handL");
+  
+  leg1R = sgroot->createSceneGraph("leg1R");
+  leg2R = sgroot->createSceneGraph("leg2R");
+  leg1L = sgroot->createSceneGraph("leg1L");
+  leg2L = sgroot->createSceneGraph("leg2L");
+  footR = sgroot->createSceneGraph("footR");
+  footL = sgroot->createSceneGraph("footL");
+  
+  body->addChild(arm1R);
+  body->addChild(arm1L);
+  arm1R->addChild(arm2R);
+  arm1L->addChild(arm2L);
+  arm2R->addChild(handR);
+  arm2L->addChild(handL);
+  
+  body->addChild(waist);	
+  waist->addChild(leg1R);
+  waist->addChild(leg1L);
+  leg1R->addChild(leg2R);
+  leg1L->addChild(leg2L);
+  leg2R->addChild(footR);
+  leg2L->addChild(footL);
+#endif
+  
+  //    h0 = screen_h/2;
+  //   h0 = -1000;
+  
+  body->xyz[0] = screen_w/2;
+  //ball->xyz[0] = 0.0f;
+  body->xyz[1] = screen_h/2;
+  body->xyz[2] = 100;
+  //ball->xyz[2] = 30.0f;
+  body->angle[0] = -90.0f;
+  body->angle[1] = 180.0f;
+  
+ arm1R->set_move_collision(ball_move, ball_collision);
+  
+  sgroot->setSceneData(body);
+  
+  return sgroot;
+}
+
+extern Application *
+application() {
+    return new ball_bound();
+}
+
+const char *usr_help_str = "Usage: ./test_nogl [OPTION]\n";
+
+extern int init(TaskManager *manager, int argc, char *argv[]);
+extern void task_initialize();
+static void TMend(TaskManager *manager);
+
+int
+TMmain(TaskManager *manager, int argc, char *argv[])
+{
+    task_initialize();
+    manager->set_TMend(TMend);
+    return init(manager, argc, argv);
+
+}
+
+void
+TMend(TaskManager *manager)
+{
+    printf("test_nogl end\n");
+}
+
+/* end */