xmain.d

   1 /*
   2  * Copyright (c) 2006-2007 Erin Catto http://box2d.org
   3  *
   4  * Permission to use, copy, modify, distribute and sell this software
   5  * and its documentation for any purpose is hereby granted without fee,
   6  * provided that the above copyright notice appear in all copies.
   7  * Erin Catto makes no representations about the suitability
   8  * of this software for any purpose.
   9  * It is provided "as is" without express or implied warranty.
  10  *
  11  * Changes by Ketmar // Invisible Vector
  12  */
  13 module xmain;
  14
  15 import arsd.simpledisplay;
  16
  17 import iv.glbinds.utils;
  18 import iv.vmath;
  19
  20 import b2dlite;
  21
  22 bool optShowTimes = false;
  23 bool optDrawBVH = false;
  24
  25
  26 // ////////////////////////////////////////////////////////////////////////// //
  27 enum GWidth = 800;
  28 enum GHeight = 600;
  29
  30
  31 // ////////////////////////////////////////////////////////////////////////// //
  32 __gshared BodyContact[] contacts;
  33
  34
  35 // ////////////////////////////////////////////////////////////////////////// //
  36 // random number in range [-1,1]
  37 public VFloat rnd () {
  38   pragma(inline, true);
  39   import std.random : uniform;
  40   return cast(VFloat)uniform!"[]"(-VFloatNum!1, VFloatNum!1);
  41 }
  42
  43 public VFloat rnd (VFloat lo, VFloat hi) {
  44   pragma(inline, true);
  45   import std.random : uniform;
  46   return cast(VFloat)uniform!"[]"(lo, hi);
  47 }
  48
  49
  50 // ////////////////////////////////////////////////////////////////////////// //
  51 __gshared BodyBase bomb = null;
  52
  53 __gshared VFloat timeStep = VFloatNum!1/VFloatNum!60;
  54 __gshared int iterations = 10;
  55 __gshared Vec2 gravity = Vec2(VFloatNum!0, -VFloatNum!10);
  56
  57 __gshared int demoIndex = 0;
  58 __gshared string demoTitle;
  59
  60 __gshared bool onlyOneBomb = false;
  61 __gshared int launchesLeft = 0;
  62
  63 __gshared World world;
  64 shared static this () { world = new World(gravity, iterations); }
  65
  66
  67 // ////////////////////////////////////////////////////////////////////////// //
  68 void launchBomb (SimpleWindow sdwin) {
  69   if (!onlyOneBomb || bomb is null) {
  70     Vec2[] vtx;
  71     foreach (int ang; 0..10) {
  72       import std.math : cos, sin;
  73       import std.random : uniform;
  74       Vec2 v = Vec2(0.6*cos(deg2rad(360/10*ang))*uniform!"[]"(0.7, 1.3), 0.6*sin(deg2rad(360/10*ang))*uniform!"[]"(0.7, 1.3));
  75       vtx ~= v;
  76     }
  77     bomb = new PolyBody(world, vtx, 50);
  78     //bomb = PolyBody.Box(Vec2(VFloatNum!1, VFloatNum!1), VFloatNum!50);
  79     bomb.friction = VFloatNum!(0.2);
  80   }
  81   bomb.setPosition(rnd(-VFloatNum!15, VFloatNum!15), VFloatNum!15);
  82   bomb.rotation = rnd(-VFloatNum!(1.5), VFloatNum!(1.5));
  83   bomb.velocity = bomb.position*(-VFloatNum!(1.5));
  84   bomb.angularVelocity = rnd(-VFloatNum!20, VFloatNum!20);
  85   import std.format : format;
  86   sdwin.title = "%s -- bodies: %s".format(demoTitle, world.bodies.length);
  87 }
  88
  89
  90 // ////////////////////////////////////////////////////////////////////////// //
  91 void drawBody (BodyBase bodyb) {
  92   if (auto booody = cast(PolyBody)bodyb) {
  93     if (booody is bomb) {
  94       glColor3f(VFloatNum!(0.4), VFloatNum!(0.9), VFloatNum!(0.4));
  95     } else {
  96       glColor3f(VFloatNum!(0.8), VFloatNum!(0.8), VFloatNum!(0.9));
  97     }
  98     auto rmt = booody.rmat;
  99     glBegin(GL_LINE_LOOP);
 100     foreach (const ref vx; booody.verts) {
 101       auto vp = booody.position+rmt*vx;
 102       glVertex2f(vp.x, vp.y);
 103     }
 104     glEnd();
 105   }
 106 }
 107
 108
 109 void drawJoint (Joint joint) {
 110   auto b1 = joint.body0;
 111   auto b2 = joint.body1;
 112
 113   auto r1 = b1.rmat;
 114   auto r2 = b2.rmat;
 115
 116   Vec2 x1 = b1.position;
 117   Vec2 p1 = x1+r1*joint.localAnchor1;
 118
 119   Vec2 x2 = b2.position;
 120   Vec2 p2 = x2+r2*joint.localAnchor2;
 121
 122   glColor3f(VFloatNum!(0.5), VFloatNum!(0.5), VFloatNum!(0.8));
 123   glBegin(GL_LINES);
 124   glVertex2f(x1.x, x1.y);
 125   glVertex2f(p1.x, p1.y);
 126   glVertex2f(x2.x, x2.y);
 127   glVertex2f(p2.x, p2.y);
 128   glEnd();
 129 }
 130
 131
 132 void drawWorld () {
 133   glMatrixMode(GL_MODELVIEW);
 134   glLoadIdentity();
 135   glTranslatef(VFloatNum!0, -VFloatNum!7, -VFloatNum!25);
 136
 137   // draw world
 138   foreach (BodyBase b; world.bodies) b.drawBody();
 139   foreach (Joint j; world.joints) j.drawJoint();
 140
 141   // draw contacts
 142   {
 143     import iv.glbinds;
 144     glPointSize(VFloatNum!4);
 145     glColor3f(VFloatNum!1, VFloatNum!0, VFloatNum!0);
 146     glBegin(GL_POINTS);
 147     foreach (const ref cxy; contacts) glVertex2f(cxy.position.x, cxy.position.y);
 148     glEnd();
 149     glPointSize(VFloatNum!1);
 150   }
 151
 152   if (optDrawBVH) {
 153     // draw BVH
 154     world.drawBVH((Vec2 min, Vec2 max) {
 155       glColor3f(VFloatNum!1, VFloatNum!1, VFloatNum!0);
 156       glBegin(GL_LINE_LOOP);
 157       glVertex2f(min.x, min.y);
 158       glVertex2f(max.x, min.y);
 159       glVertex2f(max.x, max.y);
 160       glVertex2f(min.x, max.y);
 161       glEnd();
 162     });
 163   }
 164 }
 165
 166
 167 // ////////////////////////////////////////////////////////////////////////// //
 168 // demos
 169 enum BoxW = VFloatNum!100;
 170 enum BoxH = VFloatNum!20;
 171
 172 struct DemoInfo { string dsc; }
 173
 174
 175 // single box
 176 @DemoInfo("A Single Box") void demo1 () {
 177   PolyBody.Box(world, Vec2(BoxW, BoxH), VFloat.max, (b, size) {
 178     b.setPosition(VFloatNum!0, -VFloatNum!(0.5)*size.y);
 179   });
 180   PolyBody.Box(world, Vec2(VFloatNum!1, VFloatNum!1), VFloatNum!200, (b, size) {
 181     b.setPosition(VFloatNum!0, VFloatNum!4);
 182   });
 183 }
 184
 185
 186 // a simple pendulum
 187 @DemoInfo("Simple Pendulum") void demo2 () {
 188   auto b1 = PolyBody.Box(world, Vec2(BoxW, BoxH), VFloat.max, (b, size) {
 189     b.friction = VFloatNum!(0.2);
 190     b.setPosition(VFloatNum!0, -VFloatNum!(0.5)*size.y);
 191     b.rotation = VFloatNum!0;
 192   });
 193
 194   auto b2 = PolyBody.Box(world, Vec2(VFloatNum!1, VFloatNum!1), VFloatNum!100, (b, size) {
 195     b.friction = VFloatNum!(0.2);
 196     b.setPosition(VFloatNum!9, VFloatNum!11);
 197     b.rotation = VFloatNum!0;
 198   });
 199
 200   new Joint(world, b1, b2, Vec2(VFloatNum!0, VFloatNum!11));
 201 }
 202
 203
 204 // varying friction coefficients
 205 @DemoInfo("Varying Friction Coefficients") void demo3 () {
 206   PolyBody.Box(world, Vec2(BoxW, BoxH), VFloat.max, (b, size) {
 207     b.setPosition(VFloatNum!0, -VFloatNum!(0.5)*size.y);
 208   });
 209
 210   PolyBody.Box(world, Vec2(VFloatNum!13, VFloatNum!(0.25)), VFloat.max, (b, size) {
 211     b.setPosition(-VFloatNum!2, VFloatNum!11);
 212     b.rotation = -VFloatNum!(0.25);
 213   });
 214
 215   PolyBody.Box(world, Vec2(VFloatNum!(0.25), VFloatNum!1), VFloat.max, (b, size) {
 216     b.setPosition(VFloatNum!(5.25), VFloatNum!(9.5));
 217   });
 218
 219   PolyBody.Box(world, Vec2(VFloatNum!13, VFloatNum!(0.25)), VFloat.max, (b, size) {
 220     b.setPosition(VFloatNum!2, VFloatNum!7);
 221     b.rotation = VFloatNum!(0.25);
 222   });
 223
 224   PolyBody.Box(world, Vec2(VFloatNum!(0.25), VFloatNum!1), VFloat.max, (b, size) {
 225     b.setPosition(-VFloatNum!(5.25), VFloatNum!(5.5));
 226   });
 227
 228   PolyBody.Box(world, Vec2(VFloatNum!13, VFloatNum!(0.25)), VFloat.max, (b, size) {
 229     b.setPosition(-VFloatNum!2, VFloatNum!3);
 230     b.rotation = -VFloatNum!(0.25);
 231   });
 232
 233   static immutable VFloat[5] frictions = [
 234     VFloatNum!(0.75),
 235     VFloatNum!(0.5),
 236     VFloatNum!(0.35),
 237     VFloatNum!(0.1),
 238     VFloatNum!0
 239   ];
 240   foreach (immutable idx, VFloat frc; frictions) {
 241     PolyBody.Box(world, Vec2(VFloatNum!(0.5), VFloatNum!(0.5)), VFloatNum!25, (b, size) {
 242       b.friction = frc;
 243       b.setPosition(-VFloatNum!(7.5)+VFloatNum!2*cast(int)idx, VFloatNum!14);
 244     });
 245   }
 246 }
 247
 248
 249 // a vertical stack
 250 @DemoInfo("Randomized Stacking") void demo4 () {
 251   PolyBody.Box(world, Vec2(BoxW, BoxH), VFloat.max, (b, size) {
 252     b.friction = VFloatNum!(0.2);
 253     b.setPosition(VFloatNum!0, -VFloatNum!(0.5)*size.y);
 254     b.rotation = VFloatNum!0;
 255   });
 256
 257   foreach (int idx; 0..10) {
 258     PolyBody.Box(world, Vec2(VFloatNum!1, VFloatNum!1), VFloatNum!1, (b, size) {
 259       b.friction = VFloatNum!(0.2);
 260       VFloat x = rnd(-VFloatNum!(0.1), VFloatNum!(0.1));
 261       b.setPosition(x, VFloatNum!(0.51)+VFloatNum!(1.05)*idx);
 262     });
 263   }
 264 }
 265
 266
 267 // a pyramid
 268 @DemoInfo("Pyramid Stacking") void demo5 () {
 269   PolyBody.Box(world, Vec2(BoxW, BoxH), VFloat.max, (b, size) {
 270     b.friction = VFloatNum!(0.2);
 271     b.setPosition(VFloatNum!0, -VFloatNum!(0.5)*size.y);
 272     b.rotation = VFloatNum!0;
 273   });
 274
 275   Vec2 x = Vec2(-VFloatNum!6, VFloatNum!(0.75));
 276   foreach (int idx; 0..12) {
 277     auto y = x;
 278     foreach (int j; idx..12) {
 279       PolyBody.Box(world, Vec2(VFloatNum!1, VFloatNum!1), VFloatNum!10, (b, size) {
 280         b.friction = VFloatNum!(0.2);
 281         b.position = y;
 282       });
 283       y += Vec2(VFloatNum!(1.125), VFloatNum!0);
 284     }
 285     //x += Vec2(VFloatNum!(0.5625), VFloatNum!(1.125));
 286     x += Vec2(VFloatNum!(0.5625), VFloatNum!2);
 287   }
 288 }
 289
 290
 291 // a teeter
 292 @DemoInfo("A Teeter") void demo6 () {
 293   auto b1 = PolyBody.Box(world, Vec2(BoxW, BoxH), VFloat.max, (b, size) {
 294     b.setPosition(VFloatNum!0, -VFloatNum!(0.5)*size.y);
 295   });
 296
 297   auto b2 = PolyBody.Box(world, Vec2(VFloatNum!12, VFloatNum!(0.25)), VFloatNum!100, (b, size) {
 298     b.setPosition(VFloatNum!0, VFloatNum!1);
 299   });
 300
 301   new Joint(world, b1, b2, Vec2(VFloatNum!0, VFloatNum!1));
 302
 303   PolyBody.Box(world, Vec2(VFloatNum!(0.5), VFloatNum!(0.5)), VFloatNum!25, (b, size) {
 304     b.setPosition(-VFloatNum!5, VFloatNum!2);
 305   });
 306
 307   PolyBody.Box(world, Vec2(VFloatNum!(0.5), VFloatNum!(0.5)), VFloatNum!25, (b, size) {
 308     b.setPosition(-VFloatNum!(5.5), VFloatNum!2);
 309   });
 310
 311   PolyBody.Box(world, Vec2(VFloatNum!1, VFloatNum!1), VFloatNum!100, (b, size) {
 312     b.setPosition(VFloatNum!(5.5), VFloatNum!15);
 313   });
 314 }
 315
 316
 317 // a suspension bridge
 318 @DemoInfo("A Suspension Bridge") void demo7 () {
 319   import std.math : PI;
 320
 321   PolyBody.Box(world, Vec2(BoxW, BoxH), VFloat.max, (b, size) {
 322     b.friction = VFloatNum!(0.2);
 323     b.setPosition(VFloatNum!0, -VFloatNum!(0.5)*size.y);
 324     b.rotation = VFloatNum!0;
 325   });
 326
 327   enum numPlanks = 15;
 328   VFloat mass = VFloatNum!50;
 329   foreach (int idx; 0..numPlanks) {
 330     PolyBody.Box(world, Vec2(VFloatNum!1, VFloatNum!(0.25)), mass, (b, size) {
 331       b.friction = VFloatNum!(0.2);
 332       b.setPosition(-VFloatNum!(8.5)+VFloatNum!(1.25)*idx, VFloatNum!5);
 333     });
 334   }
 335
 336   // tuning
 337   VFloat frequencyHz = VFloatNum!2;
 338   VFloat dampingRatio = VFloatNum!(0.7);
 339   // frequency in radians
 340   VFloat omega = VFloatNum!2*PI*frequencyHz;
 341   // damping coefficient
 342   VFloat d = VFloatNum!2*mass*dampingRatio*omega;
 343   // spring stifness
 344   VFloat k = mass*omega*omega;
 345   // magic formulas
 346   VFloat softnesss = VFloatNum!1/(d+timeStep*k);
 347   VFloat biasFactorr = timeStep*k/(d+timeStep*k);
 348
 349   foreach (int idx; 0..numPlanks) {
 350     new Joint(world, world.bodies[idx], world.bodies[idx+1], Vec2(-VFloatNum!(9.125)+VFloatNum!(1.25)*idx, VFloatNum!5), (j) {
 351       j.softness = softnesss;
 352       j.biasFactor = biasFactorr;
 353     });
 354   }
 355
 356   new Joint(world, world.bodies[numPlanks], world.bodies[0], Vec2(-VFloatNum!(9.125)+VFloatNum!(1.25)*numPlanks, VFloatNum!5), (j) {
 357     j.softness = softnesss;
 358     j.biasFactor = biasFactorr;
 359   });
 360 }
 361
 362
 363 // dominos
 364 @DemoInfo("Dominos") void demo8 () {
 365   auto b1 = PolyBody.Box(world, Vec2(BoxW, BoxH), VFloat.max, (b, size) {
 366     b.setPosition(VFloatNum!0, -VFloatNum!(0.5)*size.y);
 367   });
 368
 369   PolyBody.Box(world, Vec2(VFloatNum!12, VFloatNum!(0.5)), VFloat.max, (b, size) {
 370     b.setPosition(-VFloatNum!(1.5), VFloatNum!10);
 371   });
 372
 373   foreach (int idx; 0..10) {
 374     PolyBody.Box(world, Vec2(VFloatNum!(0.2), VFloatNum!2), VFloatNum!100, (b, size) {
 375       b.setPosition(-VFloatNum!6+VFloatNum!1*idx, VFloatNum!(11.125));
 376       b.friction = VFloatNum!(0.1);
 377     });
 378   }
 379
 380   PolyBody.Box(world, Vec2(VFloatNum!14, VFloatNum!(0.5)), VFloat.max, (b, size) {
 381     b.setPosition(VFloatNum!1, VFloatNum!6);
 382     b.rotation = VFloatNum!(0.3);
 383   });
 384
 385   auto b2 = PolyBody.Box(world, Vec2(VFloatNum!(0.5), VFloatNum!3), VFloat.max, (b, size) {
 386     b.setPosition(-VFloatNum!7, VFloatNum!4);
 387   });
 388
 389   auto b3 = PolyBody.Box(world, Vec2(VFloatNum!12, VFloatNum!(0.25)), VFloatNum!20, (b, size) {
 390     b.setPosition(-VFloatNum!(0.9), VFloatNum!1);
 391   });
 392
 393   new Joint(world, b1, b3, Vec2(-VFloatNum!2, VFloatNum!1));
 394
 395   auto b4 = PolyBody.Box(world, Vec2(VFloatNum!(0.5), VFloatNum!(0.5)), VFloatNum!10, (b, size) {
 396     b.setPosition(-VFloatNum!10, VFloatNum!15);
 397   });
 398
 399   new Joint(world, b2, b4, Vec2(-VFloatNum!7, VFloatNum!15));
 400
 401   auto b5 = PolyBody.Box(world, Vec2(VFloatNum!2, VFloatNum!2), VFloatNum!12, (b, size) {
 402     b.setPosition(VFloatNum!6, VFloatNum!(2.5));
 403     b.friction = VFloatNum!(0.1);
 404   });
 405
 406   new Joint(world, b1, b5, Vec2(VFloatNum!6, VFloatNum!(2.6)));
 407
 408   // box cap
 409   auto b6 = PolyBody.Box(world, Vec2(VFloatNum!2, VFloatNum!(0.2)), VFloatNum!10, (b, size) {
 410     b.setPosition(VFloatNum!6, VFloatNum!(3.6));
 411   });
 412
 413   new Joint(world, b5, b6, Vec2(VFloatNum!7, VFloatNum!(3.5)));
 414 }
 415
 416
 417 // a multi-pendulum
 418 @DemoInfo("Multi-pendulum") void demo9 () {
 419   import std.math : PI;
 420
 421   auto b1 = PolyBody.Box(world, Vec2(BoxW, BoxH), VFloat.max, (b, size) {
 422     b.friction = VFloatNum!(0.2);
 423     b.setPosition(VFloatNum!0, -VFloatNum!(0.5)*size.y);
 424     b.rotation = VFloatNum!0;
 425   });
 426
 427   enum VFloat mass = VFloatNum!10;
 428
 429   // tuning
 430   enum VFloat frequencyHz = VFloatNum!4;
 431   enum VFloat dampingRatio = VFloatNum!(0.7);
 432   // frequency in radians
 433   enum VFloat omega = VFloatNum!2*PI*frequencyHz;
 434   // damping coefficient
 435   enum VFloat d = VFloatNum!2*mass*dampingRatio*omega;
 436   // spring stiffness
 437   enum VFloat k = mass*omega*omega;
 438   // magic formulas
 439   VFloat softnesss = VFloatNum!1/(d+timeStep*k);
 440   VFloat biasFactorr = timeStep*k/(d+timeStep*k);
 441
 442   enum VFloat y = VFloatNum!12;
 443   foreach (int idx; 0..15) {
 444     auto x = Vec2(VFloatNum!(0.5)+idx, y);
 445     auto b = PolyBody.Box(world, Vec2(VFloatNum!(0.75), VFloatNum!(0.25)), mass, (b, size) {
 446       b.friction = VFloatNum!(0.2);
 447       b.position = x;
 448       b.rotation = VFloatNum!0;
 449     });
 450
 451     new Joint(world, b1, b, Vec2(idx, y), (j) {
 452       j.softness = softnesss;
 453       j.biasFactor = biasFactorr;
 454     });
 455
 456     b1 = b;
 457   }
 458 }
 459
 460
 461 // ////////////////////////////////////////////////////////////////////////// //
 462 __gshared bool paused = false;
 463 __gshared bool doOneStep = false;
 464 __gshared bool slowmo = false;
 465 __gshared int slowmocount = 0;
 466
 467
 468 bool setupDemo (int index, SimpleWindow w) {
 469   import std.traits;
 470   alias sms = getSymbolsByUDA!(mixin(__MODULE__), DemoInfo);
 471   foreach (immutable idx, const memb; sms) {
 472     if (index == idx) {
 473       demoTitle = getUDAs!(memb, DemoInfo)[0].dsc;
 474       w.title = demoTitle;
 475       world.clear();
 476       bomb = null;
 477       memb();
 478       demoIndex = index;
 479       return true;
 480     }
 481   }
 482   return false;
 483 }
 484
 485
 486 // ////////////////////////////////////////////////////////////////////////// //
 487 void simulationStep (SimpleWindow sdwin) {
 488   if (launchesLeft > 0) {
 489     --launchesLeft;
 490     auto oob = onlyOneBomb;
 491     onlyOneBomb = false;
 492     scope(exit) onlyOneBomb = oob;
 493     launchBomb(sdwin);
 494   }
 495
 496   glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
 497
 498   glMatrixMode(GL_MODELVIEW);
 499   glLoadIdentity();
 500   glTranslatef(VFloatNum!0, -VFloatNum!7, -VFloatNum!25);
 501
 502   contacts.length = 0;
 503   contacts.assumeSafeAppend;
 504
 505   import core.time;
 506   MonoTime stt;
 507   if (optShowTimes) stt = MonoTime.currTime;
 508   world.step(timeStep);
 509   if (optShowTimes) {
 510     auto tm = (MonoTime.currTime-stt).total!"msecs";
 511     { import core.stdc.stdio; printf("step: %d msecs\n", cast(int)tm); }
 512   }
 513   sdwin.redrawOpenGlSceneNow();
 514 }
 515
 516
 517 // ////////////////////////////////////////////////////////////////////////// //
 518 void showOpts () {
 519   import std.stdio;
 520   writeln("simulation options:");
 521   writeln("  accumutate impulses: ", World.accumulateImpulses);
 522   writeln("  position correction: ", World.positionCorrection);
 523   writeln("  warm starting      : ", World.warmStarting);
 524 }
 525
 526
 527 // ////////////////////////////////////////////////////////////////////////// //
 528 void main () {
 529   //setOpenGLContextVersion(3, 2); // up to GLSL 150
 530   //openGLContextCompatible = false;
 531
 532   b2dlDrawContactsCB = delegate (in ref BodyContact ctx) {
 533     contacts ~= ctx;
 534   };
 535
 536   auto sdwin = new SimpleWindow(GWidth, GHeight, "Box2DLite Physics", OpenGlOptions.yes, Resizablity.fixedSize);
 537   //sdwin.hideCursor();
 538
 539   sdwin.redrawOpenGlScene = delegate () {
 540     glClear(GL_COLOR_BUFFER_BIT);
 541     drawWorld();
 542   };
 543
 544   sdwin.visibleForTheFirstTime = delegate () {
 545     showOpts();
 546     setupDemo(0, sdwin);
 547     sdwin.setAsCurrentOpenGlContext(); // make this window active
 548     glViewport(0, 0, GWidth, GHeight);
 549     glMatrixMode(GL_PROJECTION);
 550     glLoadIdentity();
 551     oglPerspective(45.0, cast(VFloat)GWidth/cast(VFloat)GHeight, 0.1, 100.0);
 552     sdwin.redrawOpenGlScene();
 553   };
 554
 555   sdwin.eventLoop(1000/60,
 556     delegate () {
 557       if (sdwin.closed || world is null) return;
 558       if (!paused) {
 559         doOneStep = false;
 560         if (slowmo) {
 561           if (--slowmocount < 0) {
 562             simulationStep(sdwin);
 563             slowmocount = 10;
 564           }
 565         } else {
 566           simulationStep(sdwin);
 567           slowmocount = 0;
 568         }
 569       } else if (doOneStep) {
 570         doOneStep = false;
 571         simulationStep(sdwin);
 572       }
 573     },
 574     delegate (KeyEvent event) {
 575       if (sdwin.closed) return;
 576       if (!event.pressed) return;
 577       switch (event.key) {
 578         case Key.Escape: sdwin.close(); break;
 579         default:
 580       }
 581     },
 582     delegate (MouseEvent event) {
 583     },
 584     delegate (dchar ch) {
 585       if (ch == 'q') { sdwin.close(); return; }
 586       if (ch == 'r') { setupDemo(demoIndex, sdwin); return; }
 587       if (ch == ' ') { paused = !paused; return; }
 588       if (ch == 's') { slowmo = !slowmo; return; }
 589       if (ch >= '1' && ch <= '9') { setupDemo(ch-'1', sdwin); return; }
 590       if (ch == '0') { setupDemo(10, sdwin); return; }
 591       if (ch == 'a') { World.accumulateImpulses = !World.accumulateImpulses; showOpts(); return; }
 592       if (ch == 'p') { World.positionCorrection = !World.positionCorrection; showOpts(); return; }
 593       if (ch == 'w') { World.warmStarting = !World.warmStarting; showOpts(); return; }
 594       if (ch == '\n' || ch == '\r') { launchBomb(sdwin); return; }
 595       if (ch == '+') { setupDemo(demoIndex+1, sdwin); return; }
 596       if (ch == '-') { if (demoIndex > 0) setupDemo(demoIndex-1, sdwin); return; }
 597       if (ch == 'z') { doOneStep = true; return; }
 598       if (ch == 'T') { optShowTimes = !optShowTimes; return; }
 599       if (ch == 'A') { optDrawBVH = !optDrawBVH; return; }
 600       if (ch == 'O') { onlyOneBomb = !onlyOneBomb; return; }
 601       if (ch == '!') { launchesLeft = 1100; return; }
 602     },
 603   );
 604 }