chipmunk 4.1.0 → 5.2.0

data/ext/chipmunk/include/chipmunk/constraints/cpDampedRotarySpring.h

@@ -0,0 +1,46 @@
+/* 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.
+ */
+
+typedef cpFloat (*cpDampedRotarySpringTorqueFunc)(struct cpConstraint *spring, cpFloat relativeAngle);
+
+const cpConstraintClass *cpDampedRotarySpringGetClass();
+
+typedef struct cpDampedRotarySpring {
+	cpConstraint constraint;
+	cpFloat restAngle;
+	cpFloat stiffness;
+	cpFloat damping;
+	cpDampedRotarySpringTorqueFunc springTorqueFunc;
+	
+	cpFloat dt;
+	cpFloat target_wrn;
+	
+	cpFloat iSum;
+} cpDampedRotarySpring;
+
+cpDampedRotarySpring *cpDampedRotarySpringAlloc(void);
+cpDampedRotarySpring *cpDampedRotarySpringInit(cpDampedRotarySpring *joint, cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping);
+cpConstraint *cpDampedRotarySpringNew(cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping);
+
+CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, restAngle, RestAngle);
+CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, stiffness, Stiffness);
+CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, damping, Damping);
+CP_DefineConstraintProperty(cpDampedRotarySpring, cpDampedRotarySpringTorqueFunc, springTorqueFunc, SpringTorqueFunc);

data/ext/chipmunk/include/chipmunk/constraints/cpDampedSpring.h

@@ -0,0 +1,53 @@
+/* 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.
+ */
+
+struct cpDampedSpring;
+
+typedef cpFloat (*cpDampedSpringForceFunc)(struct cpConstraint *spring, cpFloat dist);
+
+const cpConstraintClass *cpDampedSpringGetClass();
+
+typedef struct cpDampedSpring {
+	cpConstraint constraint;
+	cpVect anchr1, anchr2;
+	cpFloat restLength;
+	cpFloat stiffness;
+	cpFloat damping;
+	cpDampedSpringForceFunc springForceFunc;
+	
+	cpFloat dt;
+	cpFloat target_vrn;
+	
+	cpVect r1, r2;
+	cpFloat nMass;
+	cpVect n;
+} cpDampedSpring;
+
+cpDampedSpring *cpDampedSpringAlloc(void);
+cpDampedSpring *cpDampedSpringInit(cpDampedSpring *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping);
+cpConstraint *cpDampedSpringNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping);
+
+CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr1, Anchr1);
+CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr2, Anchr2);
+CP_DefineConstraintProperty(cpDampedSpring, cpFloat, restLength, RestLength);
+CP_DefineConstraintProperty(cpDampedSpring, cpFloat, stiffness, Stiffness);
+CP_DefineConstraintProperty(cpDampedSpring, cpFloat, damping, Damping);
+CP_DefineConstraintProperty(cpDampedSpring, cpDampedSpringForceFunc, springForceFunc, SpringForceFunc);

data/ext/chipmunk/include/chipmunk/constraints/cpGearJoint.h

@@ -0,0 +1,41 @@
+/* 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.
+ */
+
+const cpConstraintClass *cpGearJointGetClass();
+
+typedef struct cpGearJoint {
+	cpConstraint constraint;
+	cpFloat phase, ratio;
+	cpFloat ratio_inv;
+	
+	cpFloat iSum;
+		
+	cpFloat bias;
+	cpFloat jAcc, jMax;
+} cpGearJoint;
+
+cpGearJoint *cpGearJointAlloc(void);
+cpGearJoint *cpGearJointInit(cpGearJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio);
+cpConstraint *cpGearJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio);
+
+CP_DefineConstraintProperty(cpGearJoint, cpFloat, phase, Phase);
+CP_DefineConstraintGetter(cpGearJoint, cpFloat, ratio, Ratio);
+void cpGearJointSetRatio(cpConstraint *constraint, cpFloat value);

data/ext/chipmunk/include/chipmunk/constraints/cpGrooveJoint.h

@@ -0,0 +1,44 @@
+/* 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.
+ */
+
+const cpConstraintClass *cpGrooveJointGetClass();
+
+typedef struct cpGrooveJoint {
+	cpConstraint constraint;
+	cpVect grv_n, grv_a, grv_b;
+	cpVect  anchr2;
+	
+	cpVect grv_tn;
+	cpFloat clamp;
+	cpVect r1, r2;
+	cpVect k1, k2;
+	
+	cpVect jAcc;
+	cpFloat jMaxLen;
+	cpVect bias;
+} cpGrooveJoint;
+
+cpGrooveJoint *cpGrooveJointAlloc(void);
+cpGrooveJoint *cpGrooveJointInit(cpGrooveJoint *joint, cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2);
+cpConstraint *cpGrooveJointNew(cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2);
+
+// TODO setters for the groove.
+CP_DefineConstraintProperty(cpGrooveJoint, cpVect, anchr2, Anchr2);

data/ext/chipmunk/include/chipmunk/constraints/cpPinJoint.h

@@ -0,0 +1,43 @@
+/* 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.
+ */
+ 
+const cpConstraintClass *cpPinJointGetClass();
+
+typedef struct cpPinJoint {
+	cpConstraint constraint;
+	cpVect anchr1, anchr2;
+	cpFloat dist;
+	
+	cpVect r1, r2;
+	cpVect n;
+	cpFloat nMass;
+	
+	cpFloat jnAcc, jnMax;
+	cpFloat bias;
+} cpPinJoint;
+
+cpPinJoint *cpPinJointAlloc(void);
+cpPinJoint *cpPinJointInit(cpPinJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2);
+cpConstraint *cpPinJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2);
+
+CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr1, Anchr1);
+CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr2, Anchr2);
+CP_DefineConstraintProperty(cpPinJoint, cpFloat, dist, Dist);

data/ext/chipmunk/include/chipmunk/constraints/cpPivotJoint.h

@@ -0,0 +1,42 @@
+/* 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.
+ */
+
+const cpConstraintClass *cpPivotJointGetClass();
+
+typedef struct cpPivotJoint {
+	cpConstraint constraint;
+	cpVect anchr1, anchr2;
+	
+	cpVect r1, r2;
+	cpVect k1, k2;
+	
+	cpVect jAcc;
+	cpFloat jMaxLen;
+	cpVect bias;
+} cpPivotJoint;
+
+cpPivotJoint *cpPivotJointAlloc(void);
+cpPivotJoint *cpPivotJointInit(cpPivotJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2);
+cpConstraint *cpPivotJointNew(cpBody *a, cpBody *b, cpVect pivot);
+cpConstraint *cpPivotJointNew2(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2);
+
+CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr1, Anchr1);
+CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr2, Anchr2);

data/ext/chipmunk/include/chipmunk/constraints/cpRatchetJoint.h

@@ -0,0 +1,40 @@
+/* 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.
+ */
+
+const cpConstraintClass *cpRatchetJointGetClass();
+
+typedef struct cpRatchetJoint {
+	cpConstraint constraint;
+	cpFloat angle, phase, ratchet;
+	
+	cpFloat iSum;
+		
+	cpFloat bias;
+	cpFloat jAcc, jMax;
+} cpRatchetJoint;
+
+cpRatchetJoint *cpRatchetJointAlloc(void);
+cpRatchetJoint *cpRatchetJointInit(cpRatchetJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet);
+cpConstraint *cpRatchetJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet);
+
+CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, angle, Angle);
+CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, phase, Phase);
+CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, ratchet, Ratchet);

data/ext/chipmunk/include/chipmunk/constraints/cpRotaryLimitJoint.h

@@ -0,0 +1,39 @@
+/* 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.
+ */
+
+const cpConstraintClass *cpRotaryLimitJointGetClass();
+
+typedef struct cpRotaryLimitJoint {
+	cpConstraint constraint;
+	cpFloat min, max;
+	
+	cpFloat iSum;
+		
+	cpFloat bias;
+	cpFloat jAcc, jMax;
+} cpRotaryLimitJoint;
+
+cpRotaryLimitJoint *cpRotaryLimitJointAlloc(void);
+cpRotaryLimitJoint *cpRotaryLimitJointInit(cpRotaryLimitJoint *joint, cpBody *a, cpBody *b, cpFloat min, cpFloat max);
+cpConstraint *cpRotaryLimitJointNew(cpBody *a, cpBody *b, cpFloat min, cpFloat max);
+
+CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, min, Min);
+CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, max, Max);

data/ext/chipmunk/include/chipmunk/constraints/cpSimpleMotor.h

@@ -0,0 +1,37 @@
+/* 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.
+ */
+
+const cpConstraintClass *cpSimpleMotorGetClass();
+
+typedef struct cpSimpleMotor {
+	cpConstraint constraint;
+	cpFloat rate;
+	
+	cpFloat iSum;
+		
+	cpFloat jAcc, jMax;
+} cpSimpleMotor;
+
+cpSimpleMotor *cpSimpleMotorAlloc(void);
+cpSimpleMotor *cpSimpleMotorInit(cpSimpleMotor *joint, cpBody *a, cpBody *b, cpFloat rate);
+cpConstraint *cpSimpleMotorNew(cpBody *a, cpBody *b, cpFloat rate);
+
+CP_DefineConstraintProperty(cpSimpleMotor, cpFloat, rate, Rate);

data/ext/chipmunk/include/chipmunk/constraints/cpSlideJoint.h

@@ -0,0 +1,44 @@
+/* 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.
+ */
+
+const cpConstraintClass *cpSlideJointGetClass();
+
+typedef struct cpSlideJoint {
+	cpConstraint constraint;
+	cpVect anchr1, anchr2;
+	cpFloat min, max;
+	
+	cpVect r1, r2;
+	cpVect n;
+	cpFloat nMass;
+	
+	cpFloat jnAcc, jnMax;
+	cpFloat bias;
+} cpSlideJoint;
+
+cpSlideJoint *cpSlideJointAlloc(void);
+cpSlideJoint *cpSlideJointInit(cpSlideJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max);
+cpConstraint *cpSlideJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max);
+
+CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr1, Anchr1);
+CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr2, Anchr2);
+CP_DefineConstraintProperty(cpSlideJoint, cpFloat, min, Min);
+CP_DefineConstraintProperty(cpSlideJoint, cpFloat, max, Max);

data/ext/chipmunk/include/chipmunk/constraints/util.h

@@ -0,0 +1,116 @@
+/* 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.
+ */
+
+#define CP_DefineClassGetter(t) const cpConstraintClass * t##GetClass(){return (cpConstraintClass *)&klass;}
+
+void cpConstraintInit(cpConstraint *constraint, const cpConstraintClass *klass, cpBody *a, cpBody *b);
+
+#define J_MAX(constraint, dt) (((cpConstraint *)constraint)->maxForce*(dt))
+
+static inline cpVect
+relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2){
+	cpVect v1_sum = cpvadd(a->v, cpvmult(cpvperp(r1), a->w));
+	cpVect v2_sum = cpvadd(b->v, cpvmult(cpvperp(r2), b->w));
+	
+	return cpvsub(v2_sum, v1_sum);
+}
+
+static inline cpFloat
+normal_relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n){
+	return cpvdot(relative_velocity(a, b, r1, r2), n);
+}
+
+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 inline cpVect
+clamp_vect(cpVect v, cpFloat len)
+{
+	return cpvclamp(v, len);
+//	return (cpvdot(v,v) > len*len) ? cpvmult(cpvnormalize(v), len) : v;
+}
+
+static inline cpFloat
+k_scalar(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);
+	
+	cpFloat value = mass_sum + a->i_inv*r1cn*r1cn + b->i_inv*r2cn*r2cn;
+	cpAssert(value != 0.0, "Unsolvable collision or constraint.");
+	
+	return value;
+}
+
+static inline void
+k_tensor(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect *k1, cpVect *k2)
+{
+	// 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 a_i_inv = a->i_inv;
+	cpFloat r1xsq =  r1.x * r1.x * a_i_inv;
+	cpFloat r1ysq =  r1.y * r1.y * a_i_inv;
+	cpFloat r1nxy = -r1.x * r1.y * a_i_inv;
+	k11 += r1ysq; k12 += r1nxy;
+	k21 += r1nxy; k22 += r1xsq;
+	
+	// add the influnce from r2
+	cpFloat b_i_inv = b->i_inv;
+	cpFloat r2xsq =  r2.x * r2.x * b_i_inv;
+	cpFloat r2ysq =  r2.y * r2.y * b_i_inv;
+	cpFloat r2nxy = -r2.x * r2.y * b_i_inv;
+	k11 += r2ysq; k12 += r2nxy;
+	k21 += r2nxy; k22 += r2xsq;
+	
+	// invert
+	cpFloat determinant = k11*k22 - k12*k21;
+	cpAssert(determinant != 0.0, "Unsolvable constraint.");
+	
+	cpFloat det_inv = 1.0f/determinant;
+	*k1 = cpv( k22*det_inv, -k12*det_inv);
+	*k2 = cpv(-k21*det_inv,  k11*det_inv);
+}
+
+static inline cpVect
+mult_k(cpVect vr, cpVect k1, cpVect k2)
+{
+	return cpv(cpvdot(vr, k1), cpvdot(vr, k2));
+}