chipmunk 4.1.0-x86-mswin32 → 5.3.4.0-x86-mswin32

data/ext/chipmunk/cpHashSet.h

@@ -1,79 +0,0 @@
-/* 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.
- */
- 
-// cpHashSet uses a chained hashtable implementation.
-// Other than the transformation functions, there is nothing fancy going on.
-
-// cpHashSetBin's form the linked lists in the chained hash table.
-typedef struct cpHashSetBin {
-	// Pointer to the element.
-	void *elt;
-	// Hash value of the element.
-	unsigned int hash;
-	// Next element in the chain.
-	struct cpHashSetBin *next;
-} cpHashSetBin;
-
-// Equality function. Returns true if ptr is equal to elt.
-typedef int (*cpHashSetEqlFunc)(void *ptr, void *elt);
-// Used by cpHashSetInsert(). Called to transform the ptr into an element.
-typedef void *(*cpHashSetTransFunc)(void *ptr, void *data);
-// Iterator function for a hashset.
-typedef void (*cpHashSetIterFunc)(void *elt, void *data);
-// Reject function. Returns true if elt should be dropped.
-typedef int (*cpHashSetRejectFunc)(void *elt, void *data);
-
-typedef struct cpHashSet {
-	// Number of elements stored in the table.
-	int entries;
-	// Number of cells in the table.
-	int size;
-	
-	cpHashSetEqlFunc eql;
-	cpHashSetTransFunc trans;
-	
-	// Default value returned by cpHashSetFind() when no element is found.
-	// Defaults to NULL.
-	void *default_value;
-	
-	cpHashSetBin **table;
-} cpHashSet;
-
-// Basic allocation/destruction functions.
-void cpHashSetDestroy(cpHashSet *set);
-void cpHashSetFree(cpHashSet *set);
-
-cpHashSet *cpHashSetAlloc(void);
-cpHashSet *cpHashSetInit(cpHashSet *set, int size, cpHashSetEqlFunc eqlFunc, cpHashSetTransFunc trans);
-cpHashSet *cpHashSetNew(int size, cpHashSetEqlFunc eqlFunc, cpHashSetTransFunc trans);
-
-// Insert an element into the set, returns the element.
-// If it doesn't already exist, the transformation function is applied.
-void *cpHashSetInsert(cpHashSet *set, unsigned int hash, void *ptr, void *data);
-// Remove and return an element from the set.
-void *cpHashSetRemove(cpHashSet *set, unsigned int hash, void *ptr);
-// Find an element in the set. Returns the default value if the element isn't found.
-void *cpHashSetFind(cpHashSet *set, unsigned int hash, void *ptr);
-
-// Iterate over a hashset.
-void cpHashSetEach(cpHashSet *set, cpHashSetIterFunc func, void *data);
-// Iterate over a hashset while rejecting certain elements.
-void cpHashSetReject(cpHashSet *set, cpHashSetRejectFunc func, void *data);

data/ext/chipmunk/cpJoint.c

@@ -1,553 +0,0 @@
-/* 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.
-*/
-
-#include <stdlib.h>
-#include <math.h>
-
-#include "chipmunk.h"
-
-// TODO: Comment me!
-
-cpFloat cp_joint_bias_coef = 0.1f;
-
-void cpJointDestroy(cpJoint *joint){}
-
-void
-cpJointFree(cpJoint *joint)
-{
-	if(joint) cpJointDestroy(joint);
-	free(joint);
-}
-
-static void
-cpJointInit(cpJoint *joint, const cpJointClass *klass, cpBody *a, cpBody *b)
-{
-	joint->klass = klass;
-	joint->a = a;
-	joint->b = b;
-}
-
-
-static inline cpVect
-relative_velocity(cpVect r1, cpVect v1, cpFloat w1, cpVect r2, cpVect v2, cpFloat w2){
-	cpVect v1_sum = cpvadd(v1, cpvmult(cpvperp(r1), w1));
-	cpVect v2_sum = cpvadd(v2, cpvmult(cpvperp(r2), w2));
-	
-	return cpvsub(v2_sum, v1_sum);
-}
-
-static inline cpFloat
-scalar_k(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n)
-{
-	cpFloat mass_sum = a->m_inv + b->m_inv;
-	cpFloat r1cn = cpvcross(r1, n);
-	cpFloat r2cn = cpvcross(r2, n);
-
-	return mass_sum + a->i_inv*r1cn*r1cn + b->i_inv*r2cn*r2cn;
-}
-
-static inline void
-apply_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j)
-{
-	cpBodyApplyImpulse(a, cpvneg(j), r1);
-	cpBodyApplyImpulse(b, j, r2);
-}
-
-static inline void
-apply_bias_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j)
-{
-	cpBodyApplyBiasImpulse(a, cpvneg(j), r1);
-	cpBodyApplyBiasImpulse(b, j, r2);
-}
-
-
-static void
-pinJointPreStep(cpJoint *joint, cpFloat dt_inv)
-{
-	cpBody *a = joint->a;
-	cpBody *b = joint->b;
-	cpPinJoint *jnt = (cpPinJoint *)joint;
-	
-	jnt->r1 = cpvrotate(jnt->anchr1, a->rot);
-	jnt->r2 = cpvrotate(jnt->anchr2, b->rot);
-	
-	cpVect delta = cpvsub(cpvadd(b->p, jnt->r2), cpvadd(a->p, jnt->r1));
-	cpFloat dist = cpvlength(delta);
-	jnt->n = cpvmult(delta, 1.0f/(dist ? dist : INFINITY));
-	
-	// calculate mass normal
-	jnt->nMass = 1.0f/scalar_k(a, b, jnt->r1, jnt->r2, jnt->n);
-	
-	// calculate bias velocity
-	jnt->bias = -cp_joint_bias_coef*dt_inv*(dist - jnt->dist);
-	jnt->jBias = 0.0f;
-	
-	// apply accumulated impulse
-	cpVect j = cpvmult(jnt->n, jnt->jnAcc);
-	apply_impulses(a, b, jnt->r1, jnt->r2, j);
-}
-
-static void
-pinJointApplyImpulse(cpJoint *joint)
-{
-	cpBody *a = joint->a;
-	cpBody *b = joint->b;
-	
-	cpPinJoint *jnt = (cpPinJoint *)joint;
-	cpVect n = jnt->n;
-	cpVect r1 = jnt->r1;
-	cpVect r2 = jnt->r2;
-
-	//calculate bias impulse
-	cpVect vbr = relative_velocity(r1, a->v_bias, a->w_bias, r2, b->v_bias, b->w_bias);
-	cpFloat vbn = cpvdot(vbr, n);
-	
-	cpFloat jbn = (jnt->bias - vbn)*jnt->nMass;
-	jnt->jBias += jbn;
-	
-	cpVect jb = cpvmult(n, jbn);
-	apply_bias_impulses(a, b, jnt->r1, jnt->r2, jb);
-	
-	// compute relative velocity
-	cpVect vr = relative_velocity(r1, a->v, a->w, r2, b->v, b->w);
-	cpFloat vrn = cpvdot(vr, n);
-	
-	// compute normal impulse
-	cpFloat jn = -vrn*jnt->nMass;
-	jnt->jnAcc =+ jn;
-	
-	// apply impulse
-	cpVect j = cpvmult(n, jn);
-	apply_impulses(a, b, jnt->r1, jnt->r2, j);
-}
-
-static const cpJointClass pinJointClass = {
-	CP_PIN_JOINT,
-	pinJointPreStep,
-	pinJointApplyImpulse,
-};
-
-cpPinJoint *
-cpPinJointAlloc(void)
-{
-	return (cpPinJoint *)malloc(sizeof(cpPinJoint));
-}
-
-cpPinJoint *
-cpPinJointInit(cpPinJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2)
-{
-	cpJointInit((cpJoint *)joint, &pinJointClass, a, b);
-	
-	joint->anchr1 = anchr1;
-	joint->anchr2 = anchr2;
-	
-	cpVect p1 = cpvadd(a->p, cpvrotate(anchr1, a->rot));
-	cpVect p2 = cpvadd(b->p, cpvrotate(anchr2, b->rot));
-	joint->dist = cpvlength(cpvsub(p2, p1));
-
-	joint->jnAcc = 0.0;
-	
-	return joint;
-}
-
-cpJoint *
-cpPinJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2)
-{
-	return (cpJoint *)cpPinJointInit(cpPinJointAlloc(), a, b, anchr1, anchr2);
-}
-
-
-
-
-static void
-slideJointPreStep(cpJoint *joint, cpFloat dt_inv)
-{
-	cpBody *a = joint->a;
-	cpBody *b = joint->b;
-	cpSlideJoint *jnt = (cpSlideJoint *)joint;
-	
-	jnt->r1 = cpvrotate(jnt->anchr1, a->rot);
-	jnt->r2 = cpvrotate(jnt->anchr2, b->rot);
-	
-	cpVect delta = cpvsub(cpvadd(b->p, jnt->r2), cpvadd(a->p, jnt->r1));
-	cpFloat dist = cpvlength(delta);
-	cpFloat pdist = 0.0;
-	if(dist > jnt->max) {
-		pdist = dist - jnt->max;
-	} else if(dist < jnt->min) {
-		pdist = jnt->min - dist;
-		dist = -dist;
-	}
-	jnt->n = cpvmult(delta, 1.0f/(dist ? dist : INFINITY));
-	
-	// calculate mass normal
-	jnt->nMass = 1.0f/scalar_k(a, b, jnt->r1, jnt->r2, jnt->n);
-	
-	// calculate bias velocity
-	jnt->bias = -cp_joint_bias_coef*dt_inv*(pdist);
-	jnt->jBias = 0.0f;
-	
-	// apply accumulated impulse
-	if(!jnt->bias) //{
-		// if bias is 0, then the joint is not at a limit.
-		jnt->jnAcc = 0.0f;
-//	} else {
-		cpVect j = cpvmult(jnt->n, jnt->jnAcc);
-		apply_impulses(a, b, jnt->r1, jnt->r2, j);
-//	}
-}
-
-static void
-slideJointApplyImpulse(cpJoint *joint)
-{
-	cpSlideJoint *jnt = (cpSlideJoint *)joint;
-	if(!jnt->bias) return;  // early exit
-
-	cpBody *a = joint->a;
-	cpBody *b = joint->b;
-	
-	cpVect n = jnt->n;
-	cpVect r1 = jnt->r1;
-	cpVect r2 = jnt->r2;
-	
-	//calculate bias impulse
-	cpVect vbr = relative_velocity(r1, a->v_bias, a->w_bias, r2, b->v_bias, b->w_bias);
-	cpFloat vbn = cpvdot(vbr, n);
-	
-	cpFloat jbn = (jnt->bias - vbn)*jnt->nMass;
-	cpFloat jbnOld = jnt->jBias;
-	jnt->jBias = cpfmin(jbnOld + jbn, 0.0f);
-	jbn = jnt->jBias - jbnOld;
-	
-	cpVect jb = cpvmult(n, jbn);
-	apply_bias_impulses(a, b, jnt->r1, jnt->r2, jb);
-	
-	// compute relative velocity
-	cpVect vr = relative_velocity(r1, a->v, a->w, r2, b->v, b->w);
-	cpFloat vrn = cpvdot(vr, n);
-	
-	// compute normal impulse
-	cpFloat jn = -vrn*jnt->nMass;
-	cpFloat jnOld = jnt->jnAcc;
-	jnt->jnAcc = cpfmin(jnOld + jn, 0.0f);
-	jn = jnt->jnAcc - jnOld;
-	
-	// apply impulse
-	cpVect j = cpvmult(n, jn);
-	apply_impulses(a, b, jnt->r1, jnt->r2, j);
-}
-
-static const cpJointClass slideJointClass = {
-	CP_SLIDE_JOINT,
-	slideJointPreStep,
-	slideJointApplyImpulse,
-};
-
-cpSlideJoint *
-cpSlideJointAlloc(void)
-{
-	return (cpSlideJoint *)malloc(sizeof(cpSlideJoint));
-}
-
-cpSlideJoint *
-cpSlideJointInit(cpSlideJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max)
-{
-	cpJointInit((cpJoint *)joint, &slideJointClass, a, b);
-	
-	joint->anchr1 = anchr1;
-	joint->anchr2 = anchr2;
-	joint->min = min;
-	joint->max = max;
-	
-	joint->jnAcc = 0.0;
-	
-	return joint;
-}
-
-cpJoint *
-cpSlideJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max)
-{
-	return (cpJoint *)cpSlideJointInit(cpSlideJointAlloc(), a, b, anchr1, anchr2, min, max);
-}
-
-
-
-
-static void
-pivotJointPreStep(cpJoint *joint, cpFloat dt_inv)
-{
-	cpBody *a = joint->a;
-	cpBody *b = joint->b;
-	cpPivotJoint *jnt = (cpPivotJoint *)joint;
-	
-	jnt->r1 = cpvrotate(jnt->anchr1, a->rot);
-	jnt->r2 = cpvrotate(jnt->anchr2, b->rot);
-	
-	// calculate mass matrix
-	// If I wasn't lazy, this wouldn't be so gross...
-	cpFloat k11, k12, k21, k22;
-	
-	cpFloat m_sum = a->m_inv + b->m_inv;
-	k11 = m_sum; k12 = 0.0f;
-	k21 = 0.0f;  k22 = m_sum;
-	
-	cpFloat r1xsq =  jnt->r1.x * jnt->r1.x * a->i_inv;
-	cpFloat r1ysq =  jnt->r1.y * jnt->r1.y * a->i_inv;
-	cpFloat r1nxy = -jnt->r1.x * jnt->r1.y * a->i_inv;
-	k11 += r1ysq; k12 += r1nxy;
-	k21 += r1nxy; k22 += r1xsq;
-	
-	cpFloat r2xsq =  jnt->r2.x * jnt->r2.x * b->i_inv;
-	cpFloat r2ysq =  jnt->r2.y * jnt->r2.y * b->i_inv;
-	cpFloat r2nxy = -jnt->r2.x * jnt->r2.y * b->i_inv;
-	k11 += r2ysq; k12 += r2nxy;
-	k21 += r2nxy; k22 += r2xsq;
-	
-	cpFloat det_inv = 1.0f/(k11*k22 - k12*k21);
-	jnt->k1 = cpv( k22*det_inv, -k12*det_inv);
-	jnt->k2 = cpv(-k21*det_inv,  k11*det_inv);
-	
-	
-	// calculate bias velocity
-	cpVect delta = cpvsub(cpvadd(b->p, jnt->r2), cpvadd(a->p, jnt->r1));
-	jnt->bias = cpvmult(delta, -cp_joint_bias_coef*dt_inv);
-	jnt->jBias = cpvzero;
-	
-	// apply accumulated impulse
-	apply_impulses(a, b, jnt->r1, jnt->r2, jnt->jAcc);
-}
-
-static void
-pivotJointApplyImpulse(cpJoint *joint)
-{
-	cpBody *a = joint->a;
-	cpBody *b = joint->b;
-	
-	cpPivotJoint *jnt = (cpPivotJoint *)joint;
-	cpVect r1 = jnt->r1;
-	cpVect r2 = jnt->r2;
-	cpVect k1 = jnt->k1;
-	cpVect k2 = jnt->k2;
-	
-	//calculate bias impulse
-	cpVect vbr = relative_velocity(r1, a->v_bias, a->w_bias, r2, b->v_bias, b->w_bias);
-	vbr = cpvsub(jnt->bias, vbr);
-	
-	cpVect jb = cpv(cpvdot(vbr, k1), cpvdot(vbr, k2));
-	jnt->jBias = cpvadd(jnt->jBias, jb);
-	
-	apply_bias_impulses(a, b, jnt->r1, jnt->r2, jb);
-	
-	// compute relative velocity
-	cpVect vr = relative_velocity(r1, a->v, a->w, r2, b->v, b->w);
-	
-	// compute normal impulse
-	cpVect j = cpv(-cpvdot(vr, k1), -cpvdot(vr, k2));
-	jnt->jAcc = cpvadd(jnt->jAcc, j);
-	
-	// apply impulse
-	apply_impulses(a, b, jnt->r1, jnt->r2, j);
-}
-
-static const cpJointClass pivotJointClass = {
-	CP_PIVOT_JOINT,
-	pivotJointPreStep,
-	pivotJointApplyImpulse,
-};
-
-cpPivotJoint *
-cpPivotJointAlloc(void)
-{
-	return (cpPivotJoint *)malloc(sizeof(cpPivotJoint));
-}
-
-cpPivotJoint *
-cpPivotJointInit(cpPivotJoint *joint, cpBody *a, cpBody *b, cpVect pivot)
-{
-	cpJointInit((cpJoint *)joint, &pivotJointClass, a, b);
-	
-	joint->anchr1 = cpvunrotate(cpvsub(pivot, a->p), a->rot);
-	joint->anchr2 = cpvunrotate(cpvsub(pivot, b->p), b->rot);
-	
-	joint->jAcc = cpvzero;
-	
-	return joint;
-}
-
-cpJoint *
-cpPivotJointNew(cpBody *a, cpBody *b, cpVect pivot)
-{
-	return (cpJoint *)cpPivotJointInit(cpPivotJointAlloc(), a, b, pivot);
-}
-
-
-
-
-static void
-grooveJointPreStep(cpJoint *joint, cpFloat dt_inv)
-{
-	cpBody *a = joint->a;
-	cpBody *b = joint->b;
-	cpGrooveJoint *jnt = (cpGrooveJoint *)joint;
-	
-	// calculate endpoints in worldspace
-	cpVect ta = cpBodyLocal2World(a, jnt->grv_a);
-	cpVect tb = cpBodyLocal2World(a, jnt->grv_b);
-
-	// calculate axis
-	cpVect n = cpvrotate(jnt->grv_n, a->rot);
-	cpFloat d = cpvdot(ta, n);
-	
-	jnt->grv_tn = n;
-	jnt->r2 = cpvrotate(jnt->anchr2, b->rot);
-	
-	// calculate tangential distance along the axis of r2
-	cpFloat td = cpvcross(cpvadd(b->p, jnt->r2), n);
-	// calculate clamping factor and r2
-	if(td <= cpvcross(ta, n)){
-		jnt->clamp = 1.0f;
-		jnt->r1 = cpvsub(ta, a->p);
-	} else if(td >= cpvcross(tb, n)){
-		jnt->clamp = -1.0f;
-		jnt->r1 = cpvsub(tb, a->p);
-	} else {
-		jnt->clamp = 0.0f;
-		jnt->r1 = cpvsub(cpvadd(cpvmult(cpvperp(n), -td), cpvmult(n, d)), a->p);
-	}
-		
-	// calculate mass matrix
-	// If I wasn't lazy and wrote a proper matrix class, this wouldn't be so gross...
-	cpFloat k11, k12, k21, k22;
-	cpFloat m_sum = a->m_inv + b->m_inv;
-	
-	// start with I*m_sum
-	k11 = m_sum; k12 = 0.0f;
-	k21 = 0.0f;  k22 = m_sum;
-	
-	// add the influence from r1
-	cpFloat r1xsq =  jnt->r1.x * jnt->r1.x * a->i_inv;
-	cpFloat r1ysq =  jnt->r1.y * jnt->r1.y * a->i_inv;
-	cpFloat r1nxy = -jnt->r1.x * jnt->r1.y * a->i_inv;
-	k11 += r1ysq; k12 += r1nxy;
-	k21 += r1nxy; k22 += r1xsq;
-	
-	// add the influnce from r2
-	cpFloat r2xsq =  jnt->r2.x * jnt->r2.x * b->i_inv;
-	cpFloat r2ysq =  jnt->r2.y * jnt->r2.y * b->i_inv;
-	cpFloat r2nxy = -jnt->r2.x * jnt->r2.y * b->i_inv;
-	k11 += r2ysq; k12 += r2nxy;
-	k21 += r2nxy; k22 += r2xsq;
-	
-	// invert
-	cpFloat det_inv = 1.0f/(k11*k22 - k12*k21);
-	jnt->k1 = cpv( k22*det_inv, -k12*det_inv);
-	jnt->k2 = cpv(-k21*det_inv,  k11*det_inv);
-	
-	
-	// calculate bias velocity
-	cpVect delta = cpvsub(cpvadd(b->p, jnt->r2), cpvadd(a->p, jnt->r1));
-	jnt->bias = cpvmult(delta, -cp_joint_bias_coef*dt_inv);
-	jnt->jBias = cpvzero;
-	
-	// apply accumulated impulse
-	apply_impulses(a, b, jnt->r1, jnt->r2, jnt->jAcc);
-}
-
-static inline cpVect
-grooveConstrain(cpGrooveJoint *jnt, cpVect j){
-	cpVect n = jnt->grv_tn;
-	cpVect jn = cpvmult(n, cpvdot(j, n));
-
-	cpVect t = cpvperp(n);
-	cpFloat coef = (jnt->clamp*cpvcross(j, n) > 0.0f) ? 1.0f : 0.0f;
-	cpVect jt = cpvmult(t, cpvdot(j, t)*coef);	
-	
-	return cpvadd(jn, jt);
-}
-
-static void
-grooveJointApplyImpulse(cpJoint *joint)
-{
-	cpBody *a = joint->a;
-	cpBody *b = joint->b;
-	
-	cpGrooveJoint *jnt = (cpGrooveJoint *)joint;
-	cpVect r1 = jnt->r1;
-	cpVect r2 = jnt->r2;
-	cpVect k1 = jnt->k1;
-	cpVect k2 = jnt->k2;
-	
-	//calculate bias impulse
-	cpVect vbr = relative_velocity(r1, a->v_bias, a->w_bias, r2, b->v_bias, b->w_bias);
-	vbr = cpvsub(jnt->bias, vbr);
-	
-	cpVect jb = cpv(cpvdot(vbr, k1), cpvdot(vbr, k2));
-	cpVect jbOld = jnt->jBias;
-	jnt->jBias = grooveConstrain(jnt, cpvadd(jbOld, jb));
-	jb = cpvsub(jnt->jBias, jbOld);
-	
-	apply_bias_impulses(a, b, jnt->r1, jnt->r2, jb);
-	
-	// compute impulse
-	cpVect vr = relative_velocity(r1, a->v, a->w, r2, b->v, b->w);
-
-	cpVect j = cpv(-cpvdot(vr, k1), -cpvdot(vr, k2));
-	cpVect jOld = jnt->jAcc;
-	jnt->jAcc = grooveConstrain(jnt, cpvadd(jOld, j));
-	j = cpvsub(jnt->jAcc, jOld);
-	
-	// apply impulse
-	apply_impulses(a, b, jnt->r1, jnt->r2, j);
-}
-
-static const cpJointClass grooveJointClass = {
-	CP_GROOVE_JOINT,
-	grooveJointPreStep,
-	grooveJointApplyImpulse,
-};
-
-cpGrooveJoint *
-cpGrooveJointAlloc(void)
-{
-	return (cpGrooveJoint *)malloc(sizeof(cpGrooveJoint));
-}
-
-cpGrooveJoint *
-cpGrooveJointInit(cpGrooveJoint *joint, cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2)
-{
-	cpJointInit((cpJoint *)joint, &grooveJointClass, a, b);
-	
-	joint->grv_a = groove_a;
-	joint->grv_b = groove_b;
-	joint->grv_n = cpvperp(cpvnormalize(cpvsub(groove_b, groove_a)));
-	joint->anchr2 = anchr2;
-	
-	joint->jAcc = cpvzero;
-	
-	return joint;
-}
-
-cpJoint *
-cpGrooveJointNew(cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2)
-{
-	return (cpJoint *)cpGrooveJointInit(cpGrooveJointAlloc(), a, b, groove_a, groove_b, anchr2);
-}
-