chipmunk 4.1.0 → 5.2.0

data/ext/chipmunk/rb_cpBody.c

@@ -1,239 +1,347 @@
-/* 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 "chipmunk.h"
-
-#include "ruby.h"
-#include "rb_chipmunk.h"
-
-VALUE c_cpBody;
-
-static VALUE
-rb_cpBodyAlloc(VALUE klass)
-{
-	cpBody *body = cpBodyNew(1.0f, 1.0f);
-	return Data_Wrap_Struct(klass, NULL, cpBodyFree, body);
-}
-
-static VALUE
-rb_cpBodyInitialize(VALUE self, VALUE m, VALUE i)
-{
-	cpBody *body = BODY(self);
-	cpBodyInit(body, NUM2DBL(m), NUM2DBL(i));
-	
-	return self;
-}
-
-static VALUE
-rb_cpBodyGetMass(VALUE self)
-{
-	return rb_float_new(BODY(self)->m);
-}
-
-static VALUE
-rb_cpBodyGetMoment(VALUE self)
-{
-	return rb_float_new(BODY(self)->i);
-}
-
-static VALUE
-rb_cpBodyGetPos(VALUE self)
-{
-	return VWRAP(self, &BODY(self)->p);
-}
-
-static VALUE
-rb_cpBodyGetVel(VALUE self)
-{
-	return VWRAP(self, &BODY(self)->v);
-}
-
-static VALUE
-rb_cpBodyGetForce(VALUE self)
-{
-	return VWRAP(self, &BODY(self)->f);
-}
-
-static VALUE
-rb_cpBodyGetAngle(VALUE self)
-{
-	return rb_float_new(BODY(self)->a);
-}
-
-static VALUE
-rb_cpBodyGetAVel(VALUE self)
-{
-	return rb_float_new(BODY(self)->w);
-}
-
-static VALUE
-rb_cpBodyGetTorque(VALUE self)
-{
-	return rb_float_new(BODY(self)->t);
-}
-
-static VALUE
-rb_cpBodyGetRot(VALUE self)
-{
-	return VWRAP(self, &BODY(self)->rot);
-}
-
-
-static VALUE
-rb_cpBodySetMass(VALUE self, VALUE val)
-{
-	cpBodySetMass(BODY(self), NUM2DBL(val));
-	return val;
-}
-
-static VALUE
-rb_cpBodySetMoment(VALUE self, VALUE val)
-{
-	cpBodySetMoment(BODY(self), NUM2DBL(val));
-	return val;
-}
-
-static VALUE
-rb_cpBodySetPos(VALUE self, VALUE val)
-{
-	BODY(self)->p = *VGET(val);
-	return val;
-}
-
-static VALUE
-rb_cpBodySetVel(VALUE self, VALUE val)
-{
-	BODY(self)->v = *VGET(val);
-	return val;
-}
-
-static VALUE
-rb_cpBodySetForce(VALUE self, VALUE val)
-{
-	BODY(self)->f = *VGET(val);
-	return val;
-}
-
-static VALUE
-rb_cpBodySetAngle(VALUE self, VALUE val)
-{
-	cpBodySetAngle(BODY(self), NUM2DBL(val));
-	return val;
-}
-
-static VALUE
-rb_cpBodySetAVel(VALUE self, VALUE val)
-{
-	BODY(self)->w = NUM2DBL(val);
-	return val;
-}
-
-static VALUE
-rb_cpBodySetTorque(VALUE self, VALUE val)
-{
-	BODY(self)->t = NUM2DBL(val);
-	return val;
-}
-
-static VALUE
-rb_cpBodyLocal2World(VALUE self, VALUE v)
-{
-	return VNEW(cpBodyLocal2World(BODY(self), *VGET(v)));
-}
-
-static VALUE
-rb_cpBodyWorld2Local(VALUE self, VALUE v)
-{
-	return VNEW(cpBodyWorld2Local(BODY(self), *VGET(v)));
-}
-
-static VALUE
-rb_cpBodyResetForces(VALUE self)
-{
-	cpBodyResetForces(BODY(self));
-	return Qnil;
-}
-
-static VALUE
-rb_cpBodyApplyForce(VALUE self, VALUE f, VALUE r)
-{
-	cpBodyApplyForce(BODY(self), *VGET(f), *VGET(r));
-	return Qnil;
-}
-
-static VALUE
-rb_cpBodyApplyImpulse(VALUE self, VALUE j, VALUE r)
-{
-	cpBodyApplyImpulse(BODY(self), *VGET(j), *VGET(r));
-	return Qnil;
-}
-
-static VALUE
-rb_cpBodyUpdateVelocity(VALUE self, VALUE g, VALUE dmp, VALUE dt)
-{
-	cpBodyUpdateVelocity(BODY(self), *VGET(g), NUM2DBL(dmp), NUM2DBL(dt));
-	return Qnil;
-}
-
-static VALUE
-rb_cpBodyUpdatePosition(VALUE self, VALUE dt)
-{
-	cpBodyUpdatePosition(BODY(self), NUM2DBL(dt));
-	return Qnil;
-}
-
-
-void
-Init_cpBody(void)
-{
-	c_cpBody = rb_define_class_under(m_Chipmunk, "Body", rb_cObject);
-	rb_define_alloc_func(c_cpBody, rb_cpBodyAlloc);
-	rb_define_method(c_cpBody, "initialize", rb_cpBodyInitialize, 2);
-
-	rb_define_method(c_cpBody, "m" , rb_cpBodyGetMass, 0);
-	rb_define_method(c_cpBody, "i" , rb_cpBodyGetMoment, 0);	
-	rb_define_method(c_cpBody, "p" , rb_cpBodyGetPos, 0);
-	rb_define_method(c_cpBody, "v" , rb_cpBodyGetVel, 0);
-	rb_define_method(c_cpBody, "f" , rb_cpBodyGetForce, 0);
-	rb_define_method(c_cpBody, "a" , rb_cpBodyGetAngle, 0);
-	rb_define_method(c_cpBody, "w" , rb_cpBodyGetAVel, 0);
-	rb_define_method(c_cpBody, "t" , rb_cpBodyGetTorque, 0);
-	rb_define_method(c_cpBody, "rot", rb_cpBodyGetRot, 0);
-	
-	rb_define_method(c_cpBody, "m=", rb_cpBodySetMass, 1);
-	rb_define_method(c_cpBody, "i=", rb_cpBodySetMoment, 1);
-	rb_define_method(c_cpBody, "p=", rb_cpBodySetPos, 1);
-	rb_define_method(c_cpBody, "v=", rb_cpBodySetVel, 1);
-	rb_define_method(c_cpBody, "f=", rb_cpBodySetForce, 1);
-	rb_define_method(c_cpBody, "a=", rb_cpBodySetAngle, 1);
-	rb_define_method(c_cpBody, "w=", rb_cpBodySetAVel, 1);
-	rb_define_method(c_cpBody, "t=", rb_cpBodySetTorque, 1);
-	
-	rb_define_method(c_cpBody, "local2world", rb_cpBodyLocal2World, 1);
-	rb_define_method(c_cpBody, "world2local", rb_cpBodyWorld2Local, 1);
-
-	rb_define_method(c_cpBody, "reset_forces", rb_cpBodyResetForces, 0);
-	rb_define_method(c_cpBody, "apply_force", rb_cpBodyApplyForce, 2);
-	rb_define_method(c_cpBody, "apply_impulse", rb_cpBodyApplyImpulse, 2);
-	
-	rb_define_method(c_cpBody, "update_velocity", rb_cpBodyUpdateVelocity, 3);
-	rb_define_method(c_cpBody, "update_position", rb_cpBodyUpdatePosition, 1);
-}
+/* 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 "chipmunk.h"
+
+#include "ruby.h"
+#include "rb_chipmunk.h"
+
+VALUE c_cpBody;
+
+static VALUE
+rb_cpBodyAlloc(VALUE klass)
+{
+	cpBody *body = cpBodyNew(1.0f, 1.0f);
+	return Data_Wrap_Struct(klass, NULL, cpBodyFree, body);
+}
+
+static VALUE
+rb_cpBodyInitialize(VALUE self, VALUE m, VALUE i)
+{
+	cpBody *body = BODY(self);
+	cpBodyInit(body, NUM2DBL(m), NUM2DBL(i));
+	
+	return self;
+}
+
+static VALUE
+rb_cpBodyGetMass(VALUE self)
+{
+	return rb_float_new(BODY(self)->m);
+}
+
+static VALUE
+rb_cpBodyGetMassInv(VALUE self)
+{
+  return rb_float_new(BODY(self)->m_inv);
+}
+
+static VALUE
+rb_cpBodyGetMoment(VALUE self)
+{
+	return rb_float_new(BODY(self)->i);
+}
+
+static VALUE
+rb_cpBodyGetMomentInv(VALUE self)
+{
+  return rb_float_new(BODY(self)->i_inv);
+}
+
+static VALUE
+rb_cpBodyGetPos(VALUE self)
+{
+	return VWRAP(self, &BODY(self)->p);
+}
+
+static VALUE
+rb_cpBodyGetVel(VALUE self)
+{
+	return VWRAP(self, &BODY(self)->v);
+}
+
+static VALUE
+rb_cpBodyGetForce(VALUE self)
+{
+	return VWRAP(self, &BODY(self)->f);
+}
+
+static VALUE
+rb_cpBodyGetAngle(VALUE self)
+{
+	return rb_float_new(BODY(self)->a);
+}
+
+static VALUE
+rb_cpBodyGetAVel(VALUE self)
+{
+	return rb_float_new(BODY(self)->w);
+}
+
+static VALUE
+rb_cpBodyGetTorque(VALUE self)
+{
+	return rb_float_new(BODY(self)->t);
+}
+
+static VALUE
+rb_cpBodyGetRot(VALUE self)
+{
+	return VWRAP(self, &BODY(self)->rot);
+}
+
+static VALUE
+rb_cpBodyGetVelLimit(VALUE self)
+{
+  return rb_float_new(BODY(self)->v_limit);
+}
+
+static VALUE
+rb_cpBodyGetAVelLimit(VALUE self)
+{
+  return rb_float_new(BODY(self)->w_limit);
+}
+
+
+static VALUE
+rb_cpBodySetMass(VALUE self, VALUE val)
+{
+	cpBodySetMass(BODY(self), NUM2DBL(val));
+	return val;
+}
+
+static VALUE
+rb_cpBodySetMoment(VALUE self, VALUE val)
+{
+	cpBodySetMoment(BODY(self), NUM2DBL(val));
+	return val;
+}
+
+static VALUE
+rb_cpBodySetMomentInv(VALUE self, VALUE val)
+{
+  cpBodySetMoment(BODY(self), 1.0 / NUM2DBL(val));
+  return val;
+}
+
+static VALUE
+rb_cpBodySetPos(VALUE self, VALUE val)
+{
+	BODY(self)->p = *VGET(val);
+	return val;
+}
+
+static VALUE
+rb_cpBodySetVel(VALUE self, VALUE val)
+{
+	BODY(self)->v = *VGET(val);
+	return val;
+}
+
+static VALUE
+rb_cpBodySetForce(VALUE self, VALUE val)
+{
+	BODY(self)->f = *VGET(val);
+	return val;
+}
+
+static VALUE
+rb_cpBodySetAngle(VALUE self, VALUE val)
+{
+	cpBodySetAngle(BODY(self), NUM2DBL(val));
+	return val;
+}
+
+static VALUE
+rb_cpBodySetAVel(VALUE self, VALUE val)
+{
+	BODY(self)->w = NUM2DBL(val);
+	return val;
+}
+
+static VALUE
+rb_cpBodySetTorque(VALUE self, VALUE val)
+{
+	BODY(self)->t = NUM2DBL(val);
+	return val;
+}
+
+static VALUE 
+rb_cpBodySetVelLimit(VALUE self, VALUE val)
+{
+  BODY(self)->v_limit = NUM2DBL(val);
+  return val;
+}
+  
+static VALUE 
+rb_cpBodySetAVelLimit(VALUE self, VALUE val)
+{
+  BODY(self)->w_limit = NUM2DBL(val);
+  return val;
+}
+
+
+static VALUE
+rb_cpBodyLocal2World(VALUE self, VALUE v)
+{
+	return VNEW(cpBodyLocal2World(BODY(self), *VGET(v)));
+}
+
+static VALUE
+rb_cpBodyWorld2Local(VALUE self, VALUE v)
+{
+	return VNEW(cpBodyWorld2Local(BODY(self), *VGET(v)));
+}
+
+static VALUE
+rb_cpBodyResetForces(VALUE self)
+{
+	cpBodyResetForces(BODY(self));
+	return self;
+}
+
+static VALUE
+rb_cpBodyApplyForce(VALUE self, VALUE f, VALUE r)
+{
+	cpBodyApplyForce(BODY(self), *VGET(f), *VGET(r));
+	return self;
+}
+
+static VALUE
+rb_cpBodyApplyImpulse(VALUE self, VALUE j, VALUE r)
+{
+	cpBodyApplyImpulse(BODY(self), *VGET(j), *VGET(r));
+	return self;
+}
+
+static VALUE
+rb_cpBodyUpdateVelocity(VALUE self, VALUE g, VALUE dmp, VALUE dt)
+{
+	cpBodyUpdateVelocity(BODY(self), *VGET(g), NUM2DBL(dmp), NUM2DBL(dt));
+	return self;
+}
+
+static VALUE
+rb_cpBodyUpdatePosition(VALUE self, VALUE dt)
+{
+	cpBodyUpdatePosition(BODY(self), NUM2DBL(dt));
+	return self;
+}
+
+// Intended for objects that are moved manually with a custom velocity integration function.
+static VALUE 
+rb_cpBodySlew(VALUE self, VALUE pos, VALUE dt) 
+{
+  cpBodySlew(BODY(self), *VGET(pos), NUM2DBL(dt));
+  return self;
+}
+
+static VALUE 
+rb_cpApplyDampedSpring(VALUE klass, VALUE a, VALUE b, 
+  VALUE anchr1, VALUE anchr2, VALUE rlen, VALUE k, VALUE dmp, VALUE dt)
+{
+  cpApplyDampedSpring(BODY(a), BODY(b), *VGET(anchr1), *VGET(anchr2), 
+  NUM2DBL(rlen), NUM2DBL(k), NUM2DBL(dmp), NUM2DBL(dt));
+  return klass;
+} 
+   
+
+void cpApplyDampedSpring(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat rlen, cpFloat k, cpFloat dmp, cpFloat dt);
+
+void
+Init_cpBody(void)
+{
+	c_cpBody = rb_define_class_under(m_Chipmunk, "Body", rb_cObject);
+	rb_define_alloc_func(c_cpBody, rb_cpBodyAlloc);
+	rb_define_method(c_cpBody, "initialize", rb_cpBodyInitialize, 2);
+
+	rb_define_method(c_cpBody, "m"     , rb_cpBodyGetMass, 0);
+  rb_define_method(c_cpBody, "m_inv" , rb_cpBodyGetMassInv, 0); 
+	rb_define_method(c_cpBody, "i"     , rb_cpBodyGetMoment, 0);
+  rb_define_method(c_cpBody, "i_inv" , rb_cpBodyGetMomentInv, 0);
+	rb_define_method(c_cpBody, "p"     , rb_cpBodyGetPos, 0);
+	rb_define_method(c_cpBody, "v"     , rb_cpBodyGetVel, 0);
+	rb_define_method(c_cpBody, "f"     , rb_cpBodyGetForce, 0);
+	rb_define_method(c_cpBody, "a"     , rb_cpBodyGetAngle, 0);
+	rb_define_method(c_cpBody, "w"     , rb_cpBodyGetAVel, 0);
+	rb_define_method(c_cpBody, "t"     , rb_cpBodyGetTorque, 0);
+	rb_define_method(c_cpBody, "rot"   , rb_cpBodyGetRot, 0);
+	
+	rb_define_method(c_cpBody, "m="    , rb_cpBodySetMass, 1);
+	rb_define_method(c_cpBody, "i="    , rb_cpBodySetMoment, 1);
+	rb_define_method(c_cpBody, "p="    , rb_cpBodySetPos, 1);
+	rb_define_method(c_cpBody, "v="    , rb_cpBodySetVel, 1);
+	rb_define_method(c_cpBody, "f="    , rb_cpBodySetForce, 1);
+	rb_define_method(c_cpBody, "a="    , rb_cpBodySetAngle, 1);
+	rb_define_method(c_cpBody, "w="    , rb_cpBodySetAVel, 1);
+	rb_define_method(c_cpBody, "t="    , rb_cpBodySetTorque, 1);
+	
+	rb_define_method(c_cpBody, "mass"    , rb_cpBodyGetMass, 0);
+	rb_define_method(c_cpBody, "moment"  , rb_cpBodyGetMoment, 0);	
+	rb_define_method(c_cpBody, "pos"     , rb_cpBodyGetPos, 0);
+	rb_define_method(c_cpBody, "vel"     , rb_cpBodyGetVel, 0);
+	rb_define_method(c_cpBody, "force"   , rb_cpBodyGetForce, 0);
+	rb_define_method(c_cpBody, "angle"   , rb_cpBodyGetAngle, 0);
+	rb_define_method(c_cpBody, "ang_vel" , rb_cpBodyGetAVel, 0);
+	rb_define_method(c_cpBody, "torque"  , rb_cpBodyGetTorque, 0);
+	rb_define_method(c_cpBody, "rot"     , rb_cpBodyGetRot, 0);
+  rb_define_method(c_cpBody, "v_limit" , rb_cpBodyGetVelLimit, 0);
+  rb_define_method(c_cpBody, "w_limit" , rb_cpBodyGetAVelLimit, 0);
+  	
+	rb_define_method(c_cpBody, "mass="   , rb_cpBodySetMass, 1);
+	rb_define_method(c_cpBody, "moment=" , rb_cpBodySetMoment, 1);   
+	rb_define_method(c_cpBody, "pos="    , rb_cpBodySetPos, 1);
+	rb_define_method(c_cpBody, "vel="    , rb_cpBodySetVel, 1);
+	rb_define_method(c_cpBody, "force="  , rb_cpBodySetForce, 1);
+	rb_define_method(c_cpBody, "angle="  , rb_cpBodySetAngle, 1);
+	rb_define_method(c_cpBody, "ang_vel=", rb_cpBodySetAVel, 1);
+	rb_define_method(c_cpBody, "torque=" , rb_cpBodySetTorque, 1);
+  rb_define_method(c_cpBody, "v_limit=", rb_cpBodySetVelLimit, 1);
+  rb_define_method(c_cpBody, "w_limit=", rb_cpBodySetAVelLimit, 1);
+ 
+   /* Some more aliases */
+  rb_define_method(c_cpBody, "moment_inv"     , rb_cpBodyGetMomentInv, 1);
+  rb_define_method(c_cpBody, "moment_inv="    , rb_cpBodySetMomentInv, 1);
+  rb_define_method(c_cpBody, "ang_vel_limit"  , rb_cpBodyGetAVelLimit, 0);  
+  rb_define_method(c_cpBody, "vel_limit"      , rb_cpBodyGetVelLimit, 0);
+  rb_define_method(c_cpBody, "ang_vel_limit=" , rb_cpBodySetAVelLimit, 1);
+  rb_define_method(c_cpBody, "vel_limit="     , rb_cpBodySetVelLimit, 1);
+
+	
+	rb_define_method(c_cpBody, "local2world", rb_cpBodyLocal2World, 1);
+	rb_define_method(c_cpBody, "world2local", rb_cpBodyWorld2Local, 1);
+
+	rb_define_method(c_cpBody, "reset_forces", rb_cpBodyResetForces, 0);
+	rb_define_method(c_cpBody, "apply_force", rb_cpBodyApplyForce, 2);
+	rb_define_method(c_cpBody, "apply_impulse", rb_cpBodyApplyImpulse, 2);
+	
+	rb_define_method(c_cpBody, "update_velocity", rb_cpBodyUpdateVelocity, 3);
+	rb_define_method(c_cpBody, "update_position", rb_cpBodyUpdatePosition, 1);  
+  
+  /* Manual integration function */
+  rb_define_method(c_cpBody, "slew", rb_cpBodySlew, 2);
+  
+  /* Damped spring function */
+  rb_define_singleton_method(c_cpBody, 
+    "apply_damped_spring", rb_cpApplyDampedSpring, 8);
+	
+}