chipmunk 4.1.0 → 5.2.0

data/ext/chipmunk/cpPolyShape.c

@@ -21,14 +21,14 @@
  
 #include <stdlib.h>
 #include <stdio.h>
-#include <math.h>
 
 #include "chipmunk.h"
+#include "chipmunk_unsafe.h"
 
 cpPolyShape *
 cpPolyShapeAlloc(void)
 {
-	return (cpPolyShape *)calloc(1, sizeof(cpPolyShape));
+	return (cpPolyShape *)cpcalloc(1, sizeof(cpPolyShape));
 }
 
 static void
@@ -87,17 +87,46 @@ cpPolyShapeDestroy(cpShape *shape)
 {
 	cpPolyShape *poly = (cpPolyShape *)shape;
 	
-	free(poly->verts);
-	free(poly->tVerts);
+	cpfree(poly->verts);
+	cpfree(poly->tVerts);
 	
-	free(poly->axes);
-	free(poly->tAxes);
+	cpfree(poly->axes);
+	cpfree(poly->tAxes);
 }
 
 static int
 cpPolyShapePointQuery(cpShape *shape, cpVect p){
-	// TODO Check against BB first?
-	return cpPolyShapeContainsVert((cpPolyShape *)shape, p);
+	return cpBBcontainsVect(shape->bb, p) && cpPolyShapeContainsVert((cpPolyShape *)shape, p);
+}
+
+static void
+cpPolyShapeSegmentQuery(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info)
+{
+	cpPolyShape *poly = (cpPolyShape *)shape;
+	cpPolyShapeAxis *axes = poly->tAxes;
+	cpVect *verts = poly->tVerts;
+	int numVerts = poly->numVerts;
+	
+	for(int i=0; i<numVerts; i++){
+		cpVect n = axes[i].n;
+		cpFloat an = cpvdot(a, n);
+		if(axes[i].d > an) continue;
+		
+		cpFloat bn = cpvdot(b, n);
+		cpFloat t = (axes[i].d - an)/(bn - an);
+		if(t < 0.0f || 1.0f < t) continue;
+		
+		cpVect point = cpvlerp(a, b, t);
+		cpFloat dt = -cpvcross(n, point);
+		cpFloat dtMin = -cpvcross(n, verts[i]);
+		cpFloat dtMax = -cpvcross(n, verts[(i+1)%numVerts]);
+		
+		if(dtMin <= dt && dt <= dtMax){
+			info->shape = shape;
+			info->t = t;
+			info->n = n;
+		}
+	}
 }
 
 static const cpShapeClass polyClass = {
@@ -105,17 +134,50 @@ static const cpShapeClass polyClass = {
 	cpPolyShapeCacheData,
 	cpPolyShapeDestroy,
 	cpPolyShapePointQuery,
+	cpPolyShapeSegmentQuery,
 };
 
-cpPolyShape *
-cpPolyShapeInit(cpPolyShape *poly, cpBody *body, int numVerts, cpVect *verts, cpVect offset)
-{	
+int
+cpPolyValidate(cpVect *verts, int numVerts)
+{
+	for(int i=0; i<numVerts; i++){
+		cpVect a = verts[i];
+		cpVect b = verts[(i+1)%numVerts];
+		cpVect c = verts[(i+2)%numVerts];
+		
+		if(cpvcross(cpvsub(b, a), cpvsub(c, b)) > 0.0f)
+			return 0;
+	}
+	
+	return 1;
+}
+
+int
+cpPolyShapeGetNumVerts(cpShape *shape)
+{
+	cpAssert(shape->klass == &polyClass, "Shape is not a poly shape.");
+	return ((cpPolyShape *)shape)->numVerts;
+}
+
+cpVect
+cpPolyShapeGetVert(cpShape *shape, int idx)
+{
+	cpAssert(shape->klass == &polyClass, "Shape is not a poly shape.");
+	cpAssert(0 <= idx && idx < cpPolyShapeGetNumVerts(shape), "Index out of range.");
+	
+	return ((cpPolyShape *)shape)->verts[idx];
+}
+
+
+static void
+setUpVerts(cpPolyShape *poly, int numVerts, cpVect *verts, cpVect offset)
+{
 	poly->numVerts = numVerts;
 
-	poly->verts = (cpVect *)calloc(numVerts, sizeof(cpVect));
-	poly->tVerts = (cpVect *)calloc(numVerts, sizeof(cpVect));
-	poly->axes = (cpPolyShapeAxis *)calloc(numVerts, sizeof(cpPolyShapeAxis));
-	poly->tAxes = (cpPolyShapeAxis *)calloc(numVerts, sizeof(cpPolyShapeAxis));
+	poly->verts = (cpVect *)cpcalloc(numVerts, sizeof(cpVect));
+	poly->tVerts = (cpVect *)cpcalloc(numVerts, sizeof(cpVect));
+	poly->axes = (cpPolyShapeAxis *)cpcalloc(numVerts, sizeof(cpPolyShapeAxis));
+	poly->tAxes = (cpPolyShapeAxis *)cpcalloc(numVerts, sizeof(cpPolyShapeAxis));
 	
 	for(int i=0; i<numVerts; i++){
 		cpVect a = cpvadd(offset, verts[i]);
@@ -126,7 +188,15 @@ cpPolyShapeInit(cpPolyShape *poly, cpBody *body, int numVerts, cpVect *verts, cp
 		poly->axes[i].n = n;
 		poly->axes[i].d = cpvdot(n, a);
 	}
+}
+
+cpPolyShape *
+cpPolyShapeInit(cpPolyShape *poly, cpBody *body, int numVerts, cpVect *verts, cpVect offset)
+{
+	// Fail if the user attempts to pass a concave poly, or a bad winding.
+	cpAssert(cpPolyValidate(verts, numVerts), "Polygon is concave or has a reversed winding.");
 	
+	setUpVerts(poly, numVerts, verts, offset);
 	cpShapeInit((cpShape *)poly, &polyClass, body);
 
 	return poly;
@@ -137,3 +207,35 @@ cpPolyShapeNew(cpBody *body, int numVerts, cpVect *verts, cpVect offset)
 {
 	return (cpShape *)cpPolyShapeInit(cpPolyShapeAlloc(), body, numVerts, verts, offset);
 }
+
+cpPolyShape *
+cpBoxShapeInit(cpPolyShape *poly, cpBody *body, cpFloat width, cpFloat height)
+{
+	cpFloat hw = width/2.0;
+	cpFloat hh = height/2.0;
+	
+	cpVect verts[] = {
+		cpv(-hw,-hh),
+		cpv(-hw, hh),
+		cpv( hw, hh),
+		cpv( hw,-hh),
+	};
+	
+	return cpPolyShapeInit(poly, body, 4, verts, cpvzero);
+}
+
+cpShape *
+cpBoxShapeNew(cpBody *body, cpFloat width, cpFloat height)
+{
+	return (cpShape *)cpBoxShapeInit(cpPolyShapeAlloc(), body, width, height);
+}
+
+// Unsafe API (chipmunk_unsafe.h)
+
+void
+cpPolyShapeSetVerts(cpShape *shape, int numVerts, cpVect *verts, cpVect offset)
+{
+	cpAssert(shape->klass == &polyClass, "Shape is not a poly shape.");
+	cpPolyShapeDestroy(shape);
+	setUpVerts((cpPolyShape *)shape, numVerts, verts, offset);
+}

data/ext/chipmunk/cpRatchetJoint.c

@@ -0,0 +1,128 @@
+/* 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 <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+
+#include "chipmunk.h"
+#include "constraints/util.h"
+
+static void
+preStep(cpRatchetJoint *joint, cpFloat dt, cpFloat dt_inv)
+{
+	cpBody *a = joint->constraint.a;
+	cpBody *b = joint->constraint.b;
+	
+	cpFloat angle = joint->angle;
+	cpFloat phase = joint->phase;
+	cpFloat ratchet = joint->ratchet;
+	
+	cpFloat delta = b->a - a->a;
+	cpFloat diff = angle - delta;
+	cpFloat pdist = 0.0f;
+	
+	if(diff*ratchet > 0.0f){
+		pdist = diff;
+	} else {
+		joint->angle = cpffloor((delta - phase)/ratchet)*ratchet + phase;
+	}
+	
+	// calculate moment of inertia coefficient.
+	joint->iSum = 1.0f/(a->i_inv + b->i_inv);
+	
+	// calculate bias velocity
+	cpFloat maxBias = joint->constraint.maxBias;
+	joint->bias = cpfclamp(-joint->constraint.biasCoef*dt_inv*pdist, -maxBias, maxBias);
+	
+	// compute max impulse
+	joint->jMax = J_MAX(joint, dt);
+
+	// If the bias is 0, the joint is not at a limit. Reset the impulse.
+	if(!joint->bias)
+		joint->jAcc = 0.0f;
+
+	// apply joint torque
+	a->w -= joint->jAcc*a->i_inv;
+	b->w += joint->jAcc*b->i_inv;
+}
+
+static void
+applyImpulse(cpRatchetJoint *joint)
+{
+	if(!joint->bias) return; // early exit
+
+	cpBody *a = joint->constraint.a;
+	cpBody *b = joint->constraint.b;
+	
+	// compute relative rotational velocity
+	cpFloat wr = b->w - a->w;
+	cpFloat ratchet = joint->ratchet;
+	
+	// compute normal impulse	
+	cpFloat j = -(joint->bias + wr)*joint->iSum;
+	cpFloat jOld = joint->jAcc;
+	joint->jAcc = cpfclamp((jOld + j)*ratchet, 0.0f, joint->jMax*cpfabs(ratchet))/ratchet;
+	j = joint->jAcc - jOld;
+	
+	// apply impulse
+	a->w -= j*a->i_inv;
+	b->w += j*b->i_inv;
+}
+
+static cpFloat
+getImpulse(cpRatchetJoint *joint)
+{
+	return cpfabs(joint->jAcc);
+}
+
+static const cpConstraintClass klass = {
+	(cpConstraintPreStepFunction)preStep,
+	(cpConstraintApplyImpulseFunction)applyImpulse,
+	(cpConstraintGetImpulseFunction)getImpulse,
+};
+CP_DefineClassGetter(cpRatchetJoint)
+
+cpRatchetJoint *
+cpRatchetJointAlloc(void)
+{
+	return (cpRatchetJoint *)cpmalloc(sizeof(cpRatchetJoint));
+}
+
+cpRatchetJoint *
+cpRatchetJointInit(cpRatchetJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet)
+{
+	cpConstraintInit((cpConstraint *)joint, &klass, a, b);
+	
+	joint->angle = 0.0f;
+	joint->phase = phase;
+	joint->ratchet = ratchet;
+	
+	joint->angle = b->a - a->a;
+	
+	return joint;
+}
+
+cpConstraint *
+cpRatchetJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet)
+{
+	return (cpConstraint *)cpRatchetJointInit(cpRatchetJointAlloc(), a, b, phase, ratchet);
+}

data/ext/chipmunk/cpRotaryLimitJoint.c

@@ -0,0 +1,122 @@
+/* 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 "constraints/util.h"
+
+static void
+preStep(cpRotaryLimitJoint *joint, cpFloat dt, cpFloat dt_inv)
+{
+	cpBody *a = joint->constraint.a;
+	cpBody *b = joint->constraint.b;
+	
+	cpFloat dist = b->a - a->a;
+	cpFloat pdist = 0.0f;
+	if(dist > joint->max) {
+		pdist = joint->max - dist;
+	} else if(dist < joint->min) {
+		pdist = joint->min - dist;
+	}
+	
+	// calculate moment of inertia coefficient.
+	joint->iSum = 1.0f/(a->i_inv + b->i_inv);
+	
+	// calculate bias velocity
+	cpFloat maxBias = joint->constraint.maxBias;
+	joint->bias = cpfclamp(-joint->constraint.biasCoef*dt_inv*(pdist), -maxBias, maxBias);
+	
+	// compute max impulse
+	joint->jMax = J_MAX(joint, dt);
+
+	// If the bias is 0, the joint is not at a limit. Reset the impulse.
+	if(!joint->bias)
+		joint->jAcc = 0.0f;
+
+	// apply joint torque
+	a->w -= joint->jAcc*a->i_inv;
+	b->w += joint->jAcc*b->i_inv;
+}
+
+static void
+applyImpulse(cpRotaryLimitJoint *joint)
+{
+	if(!joint->bias) return; // early exit
+
+	cpBody *a = joint->constraint.a;
+	cpBody *b = joint->constraint.b;
+	
+	// compute relative rotational velocity
+	cpFloat wr = b->w - a->w;
+	
+	// compute normal impulse	
+	cpFloat j = -(joint->bias + wr)*joint->iSum;
+	cpFloat jOld = joint->jAcc;
+	if(joint->bias < 0.0f){
+		joint->jAcc = cpfclamp(jOld + j, 0.0f, joint->jMax);
+	} else {
+		joint->jAcc = cpfclamp(jOld + j, -joint->jMax, 0.0f);
+	}
+	j = joint->jAcc - jOld;
+	
+	// apply impulse
+	a->w -= j*a->i_inv;
+	b->w += j*b->i_inv;
+}
+
+static cpFloat
+getImpulse(cpRotaryLimitJoint *joint)
+{
+	return cpfabs(joint->jAcc);
+}
+
+static const cpConstraintClass klass = {
+	(cpConstraintPreStepFunction)preStep,
+	(cpConstraintApplyImpulseFunction)applyImpulse,
+	(cpConstraintGetImpulseFunction)getImpulse,
+};
+CP_DefineClassGetter(cpRotaryLimitJoint)
+
+cpRotaryLimitJoint *
+cpRotaryLimitJointAlloc(void)
+{
+	return (cpRotaryLimitJoint *)cpmalloc(sizeof(cpRotaryLimitJoint));
+}
+
+cpRotaryLimitJoint *
+cpRotaryLimitJointInit(cpRotaryLimitJoint *joint, cpBody *a, cpBody *b, cpFloat min, cpFloat max)
+{
+	cpConstraintInit((cpConstraint *)joint, &klass, a, b);
+	
+	joint->min = min;
+	joint->max  = max;
+	
+	joint->jAcc = 0.0f;
+	
+	return joint;
+}
+
+cpConstraint *
+cpRotaryLimitJointNew(cpBody *a, cpBody *b, cpFloat min, cpFloat max)
+{
+	return (cpConstraint *)cpRotaryLimitJointInit(cpRotaryLimitJointAlloc(), a, b, min, max);
+}

data/ext/chipmunk/cpShape.c

@@ -20,13 +20,18 @@
  */
  
 #include <stdlib.h>
-#include <assert.h>
 #include <stdio.h>
+#include <math.h>
 
 #include "chipmunk.h"
-#include "math.h"
+#include "chipmunk_unsafe.h"
 
-unsigned int SHAPE_ID_COUNTER = 0;
+#define CP_DefineShapeGetter(struct, type, member, name) \
+CP_DeclareShapeGetter(struct, type, name){ \
+	cpAssert(shape->klass == &struct##Class, "shape is not a "#struct); \
+	return ((struct *)shape)->member; \
+}
+cpHashValue SHAPE_ID_COUNTER = 0;
 
 void
 cpResetShapeIdCounter(void)
@@ -40,19 +45,19 @@ cpShapeInit(cpShape *shape, const cpShapeClass *klass, cpBody *body)
 {
 	shape->klass = klass;
 	
-	shape->id = SHAPE_ID_COUNTER;
+	shape->hashid = SHAPE_ID_COUNTER;
 	SHAPE_ID_COUNTER++;
 	
-	assert(body != NULL);
 	shape->body = body;
+	shape->sensor = 0;
 	
 	shape->e = 0.0f;
 	shape->u = 0.0f;
 	shape->surface_v = cpvzero;
 	
 	shape->collision_type = 0;
-	shape->group = 0;
-	shape->layers = 0xFFFF;
+	shape->group = CP_NO_GROUP;
+	shape->layers = CP_ALL_LAYERS;
 	
 	shape->data = NULL;
 	
@@ -70,8 +75,10 @@ cpShapeDestroy(cpShape *shape)
 void
 cpShapeFree(cpShape *shape)
 {
-	if(shape) cpShapeDestroy(shape);
-	free(shape);
+	if(shape){
+		cpShapeDestroy(shape);
+		cpfree(shape);
+	}
 }
 
 cpBB
@@ -88,12 +95,32 @@ cpShapePointQuery(cpShape *shape, cpVect p){
 	return shape->klass->pointQuery(shape, p);
 }
 
+int
+cpShapeSegmentQuery(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info){
+	cpSegmentQueryInfo blank = {NULL, 0.0f, cpvzero};
+	(*info) = blank;
+	
+	shape->klass->segmentQuery(shape, a, b, info);
+	return (info->shape != NULL);
+}
+
+void
+cpSegmentQueryInfoPrint(cpSegmentQueryInfo *info)
+{
+	printf("Segment Query:\n");
+	printf("\tt: %f\n", info->t);
+//	printf("\tdist: %f\n", info->dist);
+//	printf("\tpoint: %s\n", cpvstr(info->point));
+	printf("\tn: %s\n", cpvstr(info->n));
+}
+
+
 
 
 cpCircleShape *
 cpCircleShapeAlloc(void)
 {
-	return (cpCircleShape *)calloc(1, sizeof(cpCircleShape));
+	return (cpCircleShape *)cpcalloc(1, sizeof(cpCircleShape));
 }
 
 static inline cpBB
@@ -114,16 +141,45 @@ cpCircleShapeCacheData(cpShape *shape, cpVect p, cpVect rot)
 static int
 cpCircleShapePointQuery(cpShape *shape, cpVect p){
 	cpCircleShape *circle = (cpCircleShape *)shape;
+	return cpvnear(circle->tc, p, circle->r);
+}
+
+static void
+circleSegmentQuery(cpShape *shape, cpVect center, cpFloat r, cpVect a, cpVect b, cpSegmentQueryInfo *info)
+{
+	// umm... gross I normally frown upon such things
+	a = cpvsub(a, center);
+	b = cpvsub(b, center);
+	
+	cpFloat qa = cpvdot(a, a) - 2.0f*cpvdot(a, b) + cpvdot(b, b);
+	cpFloat qb = -2.0f*cpvdot(a, a) + 2.0f*cpvdot(a, b);
+	cpFloat qc = cpvdot(a, a) - r*r;
 	
-	cpFloat distSQ = cpvlengthsq(cpvsub(circle->tc, p));
-	return distSQ <= (circle->r*circle->r);
+	cpFloat det = qb*qb - 4.0f*qa*qc;
+	
+	if(det >= 0.0f){
+		cpFloat t = (-qb - cpfsqrt(det))/(2.0f*qa);
+		if(0.0f<= t && t <= 1.0f){
+			info->shape = shape;
+			info->t = t;
+			info->n = cpvnormalize(cpvlerp(a, b, t));
+		}
+	}
+}
+
+static void
+cpCircleShapeSegmentQuery(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info)
+{
+	cpCircleShape *circle = (cpCircleShape *)shape;
+	circleSegmentQuery(shape, circle->tc, circle->r, a, b, info);
 }
 
-static const cpShapeClass circleClass = {
+static const cpShapeClass cpCircleShapeClass = {
 	CP_CIRCLE_SHAPE,
 	cpCircleShapeCacheData,
 	NULL,
 	cpCircleShapePointQuery,
+	cpCircleShapeSegmentQuery,
 };
 
 cpCircleShape *
@@ -132,7 +188,7 @@ cpCircleShapeInit(cpCircleShape *circle, cpBody *body, cpFloat radius, cpVect of
 	circle->c = offset;
 	circle->r = radius;
 	
-	cpShapeInit((cpShape *)circle, &circleClass, body);
+	cpShapeInit((cpShape *)circle, &cpCircleShapeClass, body);
 	
 	return circle;
 }
@@ -143,10 +199,13 @@ cpCircleShapeNew(cpBody *body, cpFloat radius, cpVect offset)
 	return (cpShape *)cpCircleShapeInit(cpCircleShapeAlloc(), body, radius, offset);
 }
 
+CP_DefineShapeGetter(cpCircleShape, cpVect, c, Offset)
+CP_DefineShapeGetter(cpCircleShape, cpFloat, r, Radius)
+
 cpSegmentShape *
 cpSegmentShapeAlloc(void)
 {
-	return (cpSegmentShape *)calloc(1, sizeof(cpSegmentShape));
+	return (cpSegmentShape *)cpcalloc(1, sizeof(cpSegmentShape));
 }
 
 static cpBB
@@ -182,11 +241,13 @@ cpSegmentShapeCacheData(cpShape *shape, cpVect p, cpVect rot)
 
 static int
 cpSegmentShapePointQuery(cpShape *shape, cpVect p){
+	if(!cpBBcontainsVect(shape->bb, p)) return 0;
+	
 	cpSegmentShape *seg = (cpSegmentShape *)shape;
 	
 	// Calculate normal distance from segment.
 	cpFloat dn = cpvdot(seg->tn, p) - cpvdot(seg->ta, seg->tn);
-	cpFloat dist = fabs(dn) - seg->r;
+	cpFloat dist = cpfabs(dn) - seg->r;
 	if(dist > 0.0f) return 0;
 	
 	// Calculate tangential distance along segment.
@@ -216,11 +277,61 @@ cpSegmentShapePointQuery(cpShape *shape, cpVect p){
 	return 1;	
 }
 
-static const cpShapeClass segmentClass = {
+static void
+cpSegmentShapeSegmentQuery(cpShape *shape, cpVect a, cpVect b, cpSegmentQueryInfo *info)
+{
+	cpSegmentShape *seg = (cpSegmentShape *)shape;
+	cpVect n = seg->tn;
+	// flip n if a is behind the axis
+	if(cpvdot(a, n) < cpvdot(seg->ta, n))
+		n = cpvneg(n);
+	
+	cpFloat an = cpvdot(a, n);
+	cpFloat bn = cpvdot(b, n);
+	cpFloat d = cpvdot(seg->ta, n) + seg->r;
+	
+	cpFloat t = (d - an)/(bn - an);
+	if(0.0f < t && t < 1.0f){
+		cpVect point = cpvlerp(a, b, t);
+		cpFloat dt = -cpvcross(seg->tn, point);
+		cpFloat dtMin = -cpvcross(seg->tn, seg->ta);
+		cpFloat dtMax = -cpvcross(seg->tn, seg->tb);
+		
+		if(dtMin < dt && dt < dtMax){
+			info->shape = shape;
+			info->t = t;
+			info->n = n;
+			
+			return; // don't continue on and check endcaps
+		}
+	}
+	
+	if(seg->r) {
+		cpSegmentQueryInfo info1; info1.shape = NULL;
+		cpSegmentQueryInfo info2; info2.shape = NULL;
+		circleSegmentQuery(shape, seg->ta, seg->r, a, b, &info1);
+		circleSegmentQuery(shape, seg->tb, seg->r, a, b, &info2);
+		
+		if(info1.shape && !info2.shape){
+			(*info) = info1;
+		} else if(info2.shape && !info1.shape){
+			(*info) = info2;
+		} else if(info1.shape && info2.shape){
+			if(info1.t < info2.t){
+				(*info) = info1;
+			} else {
+				(*info) = info2;
+			}
+		}
+	}
+}
+
+static const cpShapeClass cpSegmentShapeClass = {
 	CP_SEGMENT_SHAPE,
 	cpSegmentShapeCacheData,
 	NULL,
 	cpSegmentShapePointQuery,
+	cpSegmentShapeSegmentQuery,
 };
 
 cpSegmentShape *
@@ -232,7 +343,7 @@ cpSegmentShapeInit(cpSegmentShape *seg, cpBody *body, cpVect a, cpVect b, cpFloa
 	
 	seg->r = r;
 	
-	cpShapeInit((cpShape *)seg, &segmentClass, body);
+	cpShapeInit((cpShape *)seg, &cpSegmentShapeClass, body);
 	
 	return seg;
 }
@@ -242,3 +353,48 @@ cpSegmentShapeNew(cpBody *body, cpVect a, cpVect b, cpFloat r)
 {
 	return (cpShape *)cpSegmentShapeInit(cpSegmentShapeAlloc(), body, a, b, r);
 }
+
+CP_DefineShapeGetter(cpSegmentShape, cpVect, a, A)
+CP_DefineShapeGetter(cpSegmentShape, cpVect, b, B)
+CP_DefineShapeGetter(cpSegmentShape, cpVect, n, Normal)
+CP_DefineShapeGetter(cpSegmentShape, cpFloat, r, Radius)
+
+// Unsafe API (chipmunk_unsafe.h)
+
+void
+cpCircleShapeSetRadius(cpShape *shape, cpFloat radius)
+{
+	cpAssert(shape->klass == &cpCircleShapeClass, "Shape is not a circle shape.");
+	cpCircleShape *circle = (cpCircleShape *)shape;
+	
+	circle->r = radius;
+}
+
+void
+cpCircleShapeSetOffset(cpShape *shape, cpVect offset)
+{
+	cpAssert(shape->klass == &cpCircleShapeClass, "Shape is not a circle shape.");
+	cpCircleShape *circle = (cpCircleShape *)shape;
+	
+	circle->c = offset;
+}
+
+void
+cpSegmentShapeSetEndpoints(cpShape *shape, cpVect a, cpVect b)
+{
+	cpAssert(shape->klass == &cpSegmentShapeClass, "Shape is not a segment shape.");
+	cpSegmentShape *seg = (cpSegmentShape *)shape;
+	
+	seg->a = a;
+	seg->b = b;
+	seg->n = cpvperp(cpvnormalize(cpvsub(b, a)));
+}
+
+void
+cpSegmentShapeSetRadius(cpShape *shape, cpFloat radius)
+{
+	cpAssert(shape->klass == &cpSegmentShapeClass, "Shape is not a segment shape.");
+	cpSegmentShape *seg = (cpSegmentShape *)shape;
+	
+	seg->r = radius;
+}