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setvirtualresolution(800,600)
SetSyncRate( 60, 0 )
setphysicsgravity(0,0)


createsprite(1,loadimage("tgclogo.png"))
setspritephysicson(1,2)
setspritescale(1,3,5)
setspriteoffset(1,getspritewidth(1)/2,getspriteheight(1)/2)
setspritepositionbyoffset(1,400,300)

createsprite(2,loadimage("tgclogo.png"))
setspritephysicson(2,2)
setspritescale(2,1,1.25)
setspriteoffset(2,getspritewidth(2)/2,getspriteheight(2)/2)
setspritepositionbyoffset(2,getspritex(1),getspritey(1)+40)

createsprite(3,loadimage("tgclogo.png"))
setspritephysicson(3,2)
setspritescale(3,1,1.25)
setspriteoffset(3,getspritewidth(3)/2,getspriteheight(3)/2)
setspritepositionbyoffset(3,getspritex(1)+getspritewidth(1),getspritey(1)+40)

//create joints
createrevolutejoint(1,1,2,getspritexbyoffset(2),getspriteybyoffset(3),0)
createrevolutejoint(2,1,3,getspritexbyoffset(3),getspriteybyoffset(3),0)

toRad#=0.0174532925

/*
SetJointLimitOn(1,-45.0*0.0174532925,45.0*0.0174532925)
SetJointLimitOn(2,-45.0*0.0174532925,45.0*0.0174532925)
*/

SetJointLimitOn(1,-0.5,0.5)
SetJointLimitOn(2,-0.5,0.5)

done=0

while done=0
    print("Use cursors to turn the side objects")
    print("Use ESC to exit")

	if getrawkeystate(37)=1
		setspriteangle(2,getspriteangle(2)-3)
		setspriteangle(3,getspriteangle(3)-3)
	endif
	if getrawkeystate(39)=1
		setspriteangle(2,getspriteangle(2)+3)
		setspriteangle(3,getspriteangle(3)+3)
	endif

    if getrawkeystate(27)=1
        done=1
    endif

	sync()
endwhile
end

rem
rem AGK Application
rem

rem Landscape App
#constant VW 640
#constant VH 480
setVirtualResolution(VW,VH)

rem set physics world up
setPhysicsScale(0.15)
setPhysicsGravity(0,0)
setPhysicsDebugOn()

rem create UDT
type vehicleType
	body as integer
	wheelFL as integer
	wheelFR as integer
	wheelBL as integer
	wheelBR as integer
	maxturn as float
endtype
global car as vehicleType
car.maxturn = 30.0

rem create car body
carl# = 100
carw# = 60
car.body = createObject(carl#,carw#,VW/2,VH/2)
setSpritePhysicsDamping(car.body,0.9)
setSpritePhysicsAngularDamping(car.body,0.9)

rem create wheels
l# = 20
w# = 12
car.wheelFL = createObject(l#,w#,VW*0.5+carl#*0.3,VH*0.5-carw#*0.5)
car.wheelFR = createObject(l#,w#,VW*0.5+carl#*0.3,VH*0.5+carw#*0.5)
car.wheelBL = createObject(l#,w#,VW*0.5-carl#*0.3,VH*0.5-carw#*0.5)
car.wheelBR = createObject(l#,w#,VW*0.5-carl#*0.3,VH*0.5+carw#*0.5)
j1 = createRevoluteJoint(car.wheelFL,car.body,getSpriteXbyOffset(car.wheelFL),getSpriteYbyOffset(car.wheelFL),0)
j2 = createRevoluteJoint(car.wheelFR,car.body,getSpriteXbyOffset(car.wheelFR),getSpriteYbyOffset(car.wheelFR),0)
j3 = createWeldJoint(car.wheelBL,car.body,getSpriteXbyOffset(car.wheelBL),getSpriteYbyOffset(car.wheelBL),0)
j4 = createWeldJoint(car.wheelBR,car.body,getSpriteXbyOffset(car.wheelBR),getSpriteYbyOffset(car.wheelBR),0)

rem A baxslash Did It!
do
    rem get input
	Print("Use arrowkeys to drive and shift to skid")
	ACC# = getRawKeyState(38)-getRawKeyState(40)
	TURN# = getRawKeyState(39)-getRawKeyState(37)
	ANGLE# = ANGLE# + TURN#*2.0
	if TURN#=0
		ANGLE# = ANGLE#*0.9
	endif
	if ANGLE#>car.maxturn then ANGLE# = car.maxturn
	if ANGLE#<-car.maxturn then ANGLE# = -car.maxturn

	rem control vehicle
	`restrict lateral movement
	restrictLateralMovement(car.wheelFL,0.9)
	restrictLateralMovement(car.wheelFR,0.9)
	`back wheels can skid
	if getRawKeyState(16)>0
		restrictLateralMovement(car.wheelBL,0.1)
		restrictLateralMovement(car.wheelBR,0.1)
	else
		restrictLateralMovement(car.wheelBL,0.7)
		restrictLateralMovement(car.wheelBR,0.7)
	endif
	`apply acceleration
	a# = getSpriteAngle(car.wheelFL)
	vx# = cos(a#)*ACC#*500
	vy# = sin(a#)*ACC#*500
	x# = getSpriteXbyOffset(car.wheelFL)
	y# = getSpriteYbyOffset(car.wheelFL)
	setSpritePhysicsImpulse(car.wheelFL,x#,y#,vx#,vy#)
	x# = getSpriteXbyOffset(car.wheelFR)
	y# = getSpriteYbyOffset(car.wheelFR)
	setSpritePhysicsImpulse(car.wheelFR,x#,y#,vx#,vy#)

	`turn wheels
	a# = getSpriteAngle(car.body)
	setSpriteAngle(car.wheelFL,a#+ANGLE#)
	setSpriteAngle(car.wheelFR,a#+ANGLE#)

    sync()
loop

function restrictLateralMovement(spr,amount#)
	vx# = getSpritePhysicsVelocityX(spr)
	vy# = getSpritePhysicsVelocityY(spr)
	v# = sqrt(vx#*vx#+vy#*vy#)
	ta# = atanfull(vx#,vy#)
	a# = getSpriteAngle(spr)
	da# = ta#-a#
	lv# = v#*sin(da#)
	newvx# = cos(a#)*lv#
	newvy# = sin(a#)*lv#
	vx# = vx#-(vx#-newvx#)*amount#
	vy# = vy#-(vy#-newvy#)*amount#
	setSpritePhysicsVelocity(spr,vx#,vy#)
endfunction

function createObject(lx#,ly#,x#,y#)
	spr = createSprite(0)
	setSpriteSize(spr,lx#,ly#)
	setSpritePositionByOffset(spr,x#,y#)
	setSpritePhysicsOn(spr,2)
	setSpriteVisible(spr,0)
endfunction spr