--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Renderer/Test/spe/ChainCal.cc	Fri Aug 06 19:59:23 2010 +0900
@@ -0,0 +1,94 @@
+#include <stdio.h>
+#include <string.h>
+#include <math.h>
+#include "ChainCal.h"
+#include "Func.h"
+#include "types.h"
+
+/* これは必須 */
+SchedDefineTask(ChainCal);
+
+#define CHAIN_LEN	50
+
+static const    double	m	    = 100.0;
+static const    double	k	    = 7000.0;
+static const    double	g	    = 9.8;
+static const    double	dt	    = 0.003;
+static const    double	chain_width = 10;
+static const    double	safe	    = 0.995;
+
+typedef struct {
+    double	x, y, next_x, next_y;
+    double	vx, vy, next_vx, next_vy;
+    double	angle[3];
+    int		can_move;
+    uint32	parent;
+    int		id;
+    //int parent;
+} ChainProperty, *ChainPropertyPtr;
+
+static int
+run(SchedTask *s,void *rbuf, void *wbuf)
+{
+    ChainPropertyPtr	property	= (ChainPropertyPtr)s->get_input(rbuf, 0);
+    ChainPropertyPtr	update_property = (ChainPropertyPtr)s->get_output(wbuf, 0);
+
+//    ChainPropertyPtr property = (ChainPropertyPtr)rbuf;
+//    int id			= get_param(0);
+    
+    //ChainPropertyPtr o_property = (ChainPropertyPtr)wbuf;
+    
+    for(int cnt = 0; cnt < 600; cnt++) {
+	for(int i = 0; i < CHAIN_LEN; i++) {
+	    if(property[i].can_move) {
+		double	dx  = property[i-1].x - property[i].x;
+		double	dy  = property[i-1].y - property[i].y;
+		double	l   = sqrt(dx * dx + dy * dy);
+		double	a   = k * (l - chain_width) / m;
+		double	ax  = a * dx / l;
+		double	ay  = a * dy / l;
+		if(i < CHAIN_LEN - 1) {
+		    dx  = property[i+1].x - property[i].x;
+		    dy  = property[i+1].y - property[i].y;
+		    l   = sqrt(dx * dx + dy * dy);
+		    a   = k * (l - chain_width) / m;
+		    ax += a * dx / l;
+		    ay += a * dy / l;
+		}
+		ay		    += g;
+		property[i].vx	    *= safe;
+		property[i].vy	    *= safe;
+		property[i].next_vx  = property[i].vx + ax *		dt;
+		property[i].next_vy  = property[i].vy + ay *		dt;
+		property[i].next_x   = property[i].x + property[i].vx *	dt;
+		property[i].next_y   = property[i].y + property[i].vy *	dt;
+	    } else {
+		property[i].next_x   = property[i].x;
+		property[i].next_y   = property[i].y;
+	    }
+	}
+	for(int i = 0; i < CHAIN_LEN; i++) {
+	    property[i].vx = property[i].next_vx;
+	    property[i].vy = property[i].next_vy;
+	    property[i].x  = property[i].next_x;
+	    property[i].y  = property[i].next_y;
+	}
+    }
+	
+    for (int j = 0; j < CHAIN_LEN; j++) {
+	int	p, n;
+	int	id = property[j].id;
+	p	   = n = id;
+	if(p != 0) {
+	    p--;
+	}
+	if(n != CHAIN_LEN - 1) {
+	    n++;
+	}
+	property[j].angle[2-(id%2)*2]
+	    = 90 + atan((property[p].next_y - property[n].next_y) / (property[p].next_x - property[n].next_x)) * 180 / M_PI;
+    }
+
+    memcpy((void*)update_property, (void*)property, sizeof(ChainProperty) *	CHAIN_LEN);    
+    return 0;
+}