chipmunk 4.1.0 → 5.2.0
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- data/LICENSE +20 -0
- data/README +60 -0
- data/Rakefile +47 -40
- data/ext/chipmunk/chipmunk.c +39 -3
- data/ext/chipmunk/cpArbiter.c +91 -80
- data/ext/chipmunk/cpArray.c +24 -10
- data/ext/chipmunk/cpBB.c +5 -4
- data/ext/chipmunk/cpBody.c +30 -22
- data/ext/chipmunk/cpCollision.c +54 -53
- data/ext/chipmunk/cpConstraint.c +54 -0
- data/ext/chipmunk/cpDampedRotarySpring.c +106 -0
- data/ext/chipmunk/cpDampedSpring.c +117 -0
- data/ext/chipmunk/cpGearJoint.c +114 -0
- data/ext/chipmunk/cpGrooveJoint.c +138 -0
- data/ext/chipmunk/cpHashSet.c +74 -40
- data/ext/chipmunk/cpPinJoint.c +117 -0
- data/ext/chipmunk/cpPivotJoint.c +114 -0
- data/ext/chipmunk/cpPolyShape.c +117 -15
- data/ext/chipmunk/cpRatchetJoint.c +128 -0
- data/ext/chipmunk/cpRotaryLimitJoint.c +122 -0
- data/ext/chipmunk/cpShape.c +174 -18
- data/ext/chipmunk/cpSimpleMotor.c +99 -0
- data/ext/chipmunk/cpSlideJoint.c +131 -0
- data/ext/chipmunk/cpSpace.c +584 -215
- data/ext/chipmunk/cpSpaceHash.c +191 -105
- data/ext/chipmunk/cpVect.c +18 -10
- data/ext/chipmunk/extconf.rb +34 -4
- data/ext/chipmunk/{chipmunk.h → include/chipmunk/chipmunk.h} +63 -6
- data/ext/chipmunk/include/chipmunk/chipmunk_ffi.h +42 -0
- data/ext/chipmunk/include/chipmunk/chipmunk_types.h +80 -0
- data/ext/chipmunk/include/chipmunk/chipmunk_unsafe.h +54 -0
- data/ext/chipmunk/include/chipmunk/constraints/cpConstraint.h +92 -0
- data/ext/chipmunk/include/chipmunk/constraints/cpDampedRotarySpring.h +46 -0
- data/ext/chipmunk/include/chipmunk/constraints/cpDampedSpring.h +53 -0
- data/ext/chipmunk/include/chipmunk/constraints/cpGearJoint.h +41 -0
- data/ext/chipmunk/include/chipmunk/constraints/cpGrooveJoint.h +44 -0
- data/ext/chipmunk/include/chipmunk/constraints/cpPinJoint.h +43 -0
- data/ext/chipmunk/include/chipmunk/constraints/cpPivotJoint.h +42 -0
- data/ext/chipmunk/include/chipmunk/constraints/cpRatchetJoint.h +40 -0
- data/ext/chipmunk/include/chipmunk/constraints/cpRotaryLimitJoint.h +39 -0
- data/ext/chipmunk/include/chipmunk/constraints/cpSimpleMotor.h +37 -0
- data/ext/chipmunk/include/chipmunk/constraints/cpSlideJoint.h +44 -0
- data/ext/chipmunk/include/chipmunk/constraints/util.h +116 -0
- data/ext/chipmunk/{cpArbiter.h → include/chipmunk/cpArbiter.h} +66 -15
- data/ext/chipmunk/{cpArray.h → include/chipmunk/cpArray.h} +2 -1
- data/ext/chipmunk/{cpBB.h → include/chipmunk/cpBB.h} +21 -0
- data/ext/chipmunk/{cpBody.h → include/chipmunk/cpBody.h} +37 -9
- data/ext/chipmunk/{cpCollision.h → include/chipmunk/cpCollision.h} +1 -1
- data/ext/chipmunk/{cpHashSet.h → include/chipmunk/cpHashSet.h} +12 -9
- data/ext/chipmunk/{cpPolyShape.h → include/chipmunk/cpPolyShape.h} +13 -2
- data/ext/chipmunk/{cpShape.h → include/chipmunk/cpShape.h} +51 -18
- data/ext/chipmunk/include/chipmunk/cpSpace.h +180 -0
- data/ext/chipmunk/{cpSpaceHash.h → include/chipmunk/cpSpaceHash.h} +18 -9
- data/ext/chipmunk/{cpVect.h → include/chipmunk/cpVect.h} +61 -10
- data/ext/chipmunk/prime.h +32 -32
- data/ext/chipmunk/rb_chipmunk.c +125 -109
- data/ext/chipmunk/rb_chipmunk.h +96 -77
- data/ext/chipmunk/rb_cpArbiter.c +225 -0
- data/ext/chipmunk/rb_cpBB.c +174 -154
- data/ext/chipmunk/rb_cpBody.c +347 -239
- data/ext/chipmunk/rb_cpConstraint.c +346 -0
- data/ext/chipmunk/rb_cpShape.c +455 -292
- data/ext/chipmunk/rb_cpSpace.c +544 -330
- data/ext/chipmunk/rb_cpVect.c +321 -250
- data/lib/chipmunk.rb +28 -15
- data/lib/chipmunk/version.rb +3 -0
- metadata +74 -34
- data/ext/chipmunk/cpJoint.c +0 -553
- data/ext/chipmunk/cpJoint.h +0 -122
- data/ext/chipmunk/cpSpace.h +0 -120
- data/ext/chipmunk/rb_cpJoint.c +0 -136
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/* Copyright (c) 2007 Scott Lembcke
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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typedef cpFloat (*cpDampedRotarySpringTorqueFunc)(struct cpConstraint *spring, cpFloat relativeAngle);
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const cpConstraintClass *cpDampedRotarySpringGetClass();
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typedef struct cpDampedRotarySpring {
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cpConstraint constraint;
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cpFloat restAngle;
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cpFloat stiffness;
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cpFloat damping;
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cpDampedRotarySpringTorqueFunc springTorqueFunc;
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cpFloat dt;
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cpFloat target_wrn;
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cpFloat iSum;
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} cpDampedRotarySpring;
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cpDampedRotarySpring *cpDampedRotarySpringAlloc(void);
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cpDampedRotarySpring *cpDampedRotarySpringInit(cpDampedRotarySpring *joint, cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping);
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cpConstraint *cpDampedRotarySpringNew(cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping);
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CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, restAngle, RestAngle);
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CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, stiffness, Stiffness);
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CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, damping, Damping);
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CP_DefineConstraintProperty(cpDampedRotarySpring, cpDampedRotarySpringTorqueFunc, springTorqueFunc, SpringTorqueFunc);
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/* Copyright (c) 2007 Scott Lembcke
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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struct cpDampedSpring;
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typedef cpFloat (*cpDampedSpringForceFunc)(struct cpConstraint *spring, cpFloat dist);
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const cpConstraintClass *cpDampedSpringGetClass();
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typedef struct cpDampedSpring {
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cpConstraint constraint;
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cpVect anchr1, anchr2;
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cpFloat restLength;
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cpFloat stiffness;
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cpFloat damping;
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cpDampedSpringForceFunc springForceFunc;
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cpFloat dt;
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cpFloat target_vrn;
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cpVect r1, r2;
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cpFloat nMass;
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cpVect n;
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} cpDampedSpring;
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cpDampedSpring *cpDampedSpringAlloc(void);
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cpDampedSpring *cpDampedSpringInit(cpDampedSpring *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping);
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cpConstraint *cpDampedSpringNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping);
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CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr1, Anchr1);
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CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr2, Anchr2);
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CP_DefineConstraintProperty(cpDampedSpring, cpFloat, restLength, RestLength);
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CP_DefineConstraintProperty(cpDampedSpring, cpFloat, stiffness, Stiffness);
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CP_DefineConstraintProperty(cpDampedSpring, cpFloat, damping, Damping);
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CP_DefineConstraintProperty(cpDampedSpring, cpDampedSpringForceFunc, springForceFunc, SpringForceFunc);
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/* Copyright (c) 2007 Scott Lembcke
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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const cpConstraintClass *cpGearJointGetClass();
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typedef struct cpGearJoint {
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cpConstraint constraint;
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cpFloat phase, ratio;
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cpFloat ratio_inv;
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cpFloat iSum;
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cpFloat bias;
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cpFloat jAcc, jMax;
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} cpGearJoint;
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cpGearJoint *cpGearJointAlloc(void);
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cpGearJoint *cpGearJointInit(cpGearJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio);
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cpConstraint *cpGearJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio);
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CP_DefineConstraintProperty(cpGearJoint, cpFloat, phase, Phase);
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CP_DefineConstraintGetter(cpGearJoint, cpFloat, ratio, Ratio);
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void cpGearJointSetRatio(cpConstraint *constraint, cpFloat value);
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/* Copyright (c) 2007 Scott Lembcke
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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const cpConstraintClass *cpGrooveJointGetClass();
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typedef struct cpGrooveJoint {
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cpConstraint constraint;
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cpVect grv_n, grv_a, grv_b;
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cpVect anchr2;
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cpVect grv_tn;
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cpFloat clamp;
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cpVect r1, r2;
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cpVect k1, k2;
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cpVect jAcc;
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cpFloat jMaxLen;
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cpVect bias;
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} cpGrooveJoint;
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cpGrooveJoint *cpGrooveJointAlloc(void);
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cpGrooveJoint *cpGrooveJointInit(cpGrooveJoint *joint, cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2);
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cpConstraint *cpGrooveJointNew(cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2);
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// TODO setters for the groove.
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CP_DefineConstraintProperty(cpGrooveJoint, cpVect, anchr2, Anchr2);
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/* Copyright (c) 2007 Scott Lembcke
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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const cpConstraintClass *cpPinJointGetClass();
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typedef struct cpPinJoint {
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cpConstraint constraint;
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cpVect anchr1, anchr2;
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cpFloat dist;
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cpVect r1, r2;
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cpVect n;
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cpFloat nMass;
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cpFloat jnAcc, jnMax;
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cpFloat bias;
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} cpPinJoint;
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cpPinJoint *cpPinJointAlloc(void);
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cpPinJoint *cpPinJointInit(cpPinJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2);
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cpConstraint *cpPinJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2);
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CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr1, Anchr1);
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CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr2, Anchr2);
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CP_DefineConstraintProperty(cpPinJoint, cpFloat, dist, Dist);
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/* Copyright (c) 2007 Scott Lembcke
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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const cpConstraintClass *cpPivotJointGetClass();
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typedef struct cpPivotJoint {
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cpConstraint constraint;
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cpVect anchr1, anchr2;
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cpVect r1, r2;
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cpVect k1, k2;
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cpVect jAcc;
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cpFloat jMaxLen;
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cpVect bias;
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} cpPivotJoint;
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35
|
+
|
36
|
+
cpPivotJoint *cpPivotJointAlloc(void);
|
37
|
+
cpPivotJoint *cpPivotJointInit(cpPivotJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2);
|
38
|
+
cpConstraint *cpPivotJointNew(cpBody *a, cpBody *b, cpVect pivot);
|
39
|
+
cpConstraint *cpPivotJointNew2(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2);
|
40
|
+
|
41
|
+
CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr1, Anchr1);
|
42
|
+
CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr2, Anchr2);
|
@@ -0,0 +1,40 @@
|
|
1
|
+
/* Copyright (c) 2007 Scott Lembcke
|
2
|
+
*
|
3
|
+
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
4
|
+
* of this software and associated documentation files (the "Software"), to deal
|
5
|
+
* in the Software without restriction, including without limitation the rights
|
6
|
+
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
7
|
+
* copies of the Software, and to permit persons to whom the Software is
|
8
|
+
* furnished to do so, subject to the following conditions:
|
9
|
+
*
|
10
|
+
* The above copyright notice and this permission notice shall be included in
|
11
|
+
* all copies or substantial portions of the Software.
|
12
|
+
*
|
13
|
+
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
14
|
+
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
15
|
+
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
16
|
+
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
17
|
+
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
18
|
+
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
19
|
+
* SOFTWARE.
|
20
|
+
*/
|
21
|
+
|
22
|
+
const cpConstraintClass *cpRatchetJointGetClass();
|
23
|
+
|
24
|
+
typedef struct cpRatchetJoint {
|
25
|
+
cpConstraint constraint;
|
26
|
+
cpFloat angle, phase, ratchet;
|
27
|
+
|
28
|
+
cpFloat iSum;
|
29
|
+
|
30
|
+
cpFloat bias;
|
31
|
+
cpFloat jAcc, jMax;
|
32
|
+
} cpRatchetJoint;
|
33
|
+
|
34
|
+
cpRatchetJoint *cpRatchetJointAlloc(void);
|
35
|
+
cpRatchetJoint *cpRatchetJointInit(cpRatchetJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet);
|
36
|
+
cpConstraint *cpRatchetJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet);
|
37
|
+
|
38
|
+
CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, angle, Angle);
|
39
|
+
CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, phase, Phase);
|
40
|
+
CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, ratchet, Ratchet);
|
@@ -0,0 +1,39 @@
|
|
1
|
+
/* Copyright (c) 2007 Scott Lembcke
|
2
|
+
*
|
3
|
+
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
4
|
+
* of this software and associated documentation files (the "Software"), to deal
|
5
|
+
* in the Software without restriction, including without limitation the rights
|
6
|
+
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
7
|
+
* copies of the Software, and to permit persons to whom the Software is
|
8
|
+
* furnished to do so, subject to the following conditions:
|
9
|
+
*
|
10
|
+
* The above copyright notice and this permission notice shall be included in
|
11
|
+
* all copies or substantial portions of the Software.
|
12
|
+
*
|
13
|
+
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
14
|
+
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
15
|
+
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
16
|
+
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
17
|
+
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
18
|
+
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
19
|
+
* SOFTWARE.
|
20
|
+
*/
|
21
|
+
|
22
|
+
const cpConstraintClass *cpRotaryLimitJointGetClass();
|
23
|
+
|
24
|
+
typedef struct cpRotaryLimitJoint {
|
25
|
+
cpConstraint constraint;
|
26
|
+
cpFloat min, max;
|
27
|
+
|
28
|
+
cpFloat iSum;
|
29
|
+
|
30
|
+
cpFloat bias;
|
31
|
+
cpFloat jAcc, jMax;
|
32
|
+
} cpRotaryLimitJoint;
|
33
|
+
|
34
|
+
cpRotaryLimitJoint *cpRotaryLimitJointAlloc(void);
|
35
|
+
cpRotaryLimitJoint *cpRotaryLimitJointInit(cpRotaryLimitJoint *joint, cpBody *a, cpBody *b, cpFloat min, cpFloat max);
|
36
|
+
cpConstraint *cpRotaryLimitJointNew(cpBody *a, cpBody *b, cpFloat min, cpFloat max);
|
37
|
+
|
38
|
+
CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, min, Min);
|
39
|
+
CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, max, Max);
|
@@ -0,0 +1,37 @@
|
|
1
|
+
/* Copyright (c) 2007 Scott Lembcke
|
2
|
+
*
|
3
|
+
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
4
|
+
* of this software and associated documentation files (the "Software"), to deal
|
5
|
+
* in the Software without restriction, including without limitation the rights
|
6
|
+
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
7
|
+
* copies of the Software, and to permit persons to whom the Software is
|
8
|
+
* furnished to do so, subject to the following conditions:
|
9
|
+
*
|
10
|
+
* The above copyright notice and this permission notice shall be included in
|
11
|
+
* all copies or substantial portions of the Software.
|
12
|
+
*
|
13
|
+
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
14
|
+
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
15
|
+
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
16
|
+
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
17
|
+
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
18
|
+
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
19
|
+
* SOFTWARE.
|
20
|
+
*/
|
21
|
+
|
22
|
+
const cpConstraintClass *cpSimpleMotorGetClass();
|
23
|
+
|
24
|
+
typedef struct cpSimpleMotor {
|
25
|
+
cpConstraint constraint;
|
26
|
+
cpFloat rate;
|
27
|
+
|
28
|
+
cpFloat iSum;
|
29
|
+
|
30
|
+
cpFloat jAcc, jMax;
|
31
|
+
} cpSimpleMotor;
|
32
|
+
|
33
|
+
cpSimpleMotor *cpSimpleMotorAlloc(void);
|
34
|
+
cpSimpleMotor *cpSimpleMotorInit(cpSimpleMotor *joint, cpBody *a, cpBody *b, cpFloat rate);
|
35
|
+
cpConstraint *cpSimpleMotorNew(cpBody *a, cpBody *b, cpFloat rate);
|
36
|
+
|
37
|
+
CP_DefineConstraintProperty(cpSimpleMotor, cpFloat, rate, Rate);
|
@@ -0,0 +1,44 @@
|
|
1
|
+
/* Copyright (c) 2007 Scott Lembcke
|
2
|
+
*
|
3
|
+
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
4
|
+
* of this software and associated documentation files (the "Software"), to deal
|
5
|
+
* in the Software without restriction, including without limitation the rights
|
6
|
+
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
7
|
+
* copies of the Software, and to permit persons to whom the Software is
|
8
|
+
* furnished to do so, subject to the following conditions:
|
9
|
+
*
|
10
|
+
* The above copyright notice and this permission notice shall be included in
|
11
|
+
* all copies or substantial portions of the Software.
|
12
|
+
*
|
13
|
+
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
14
|
+
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
15
|
+
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
16
|
+
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
17
|
+
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
18
|
+
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
19
|
+
* SOFTWARE.
|
20
|
+
*/
|
21
|
+
|
22
|
+
const cpConstraintClass *cpSlideJointGetClass();
|
23
|
+
|
24
|
+
typedef struct cpSlideJoint {
|
25
|
+
cpConstraint constraint;
|
26
|
+
cpVect anchr1, anchr2;
|
27
|
+
cpFloat min, max;
|
28
|
+
|
29
|
+
cpVect r1, r2;
|
30
|
+
cpVect n;
|
31
|
+
cpFloat nMass;
|
32
|
+
|
33
|
+
cpFloat jnAcc, jnMax;
|
34
|
+
cpFloat bias;
|
35
|
+
} cpSlideJoint;
|
36
|
+
|
37
|
+
cpSlideJoint *cpSlideJointAlloc(void);
|
38
|
+
cpSlideJoint *cpSlideJointInit(cpSlideJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max);
|
39
|
+
cpConstraint *cpSlideJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max);
|
40
|
+
|
41
|
+
CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr1, Anchr1);
|
42
|
+
CP_DefineConstraintProperty(cpSlideJoint, cpVect, anchr2, Anchr2);
|
43
|
+
CP_DefineConstraintProperty(cpSlideJoint, cpFloat, min, Min);
|
44
|
+
CP_DefineConstraintProperty(cpSlideJoint, cpFloat, max, Max);
|
@@ -0,0 +1,116 @@
|
|
1
|
+
/* Copyright (c) 2007 Scott Lembcke
|
2
|
+
*
|
3
|
+
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
4
|
+
* of this software and associated documentation files (the "Software"), to deal
|
5
|
+
* in the Software without restriction, including without limitation the rights
|
6
|
+
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
7
|
+
* copies of the Software, and to permit persons to whom the Software is
|
8
|
+
* furnished to do so, subject to the following conditions:
|
9
|
+
*
|
10
|
+
* The above copyright notice and this permission notice shall be included in
|
11
|
+
* all copies or substantial portions of the Software.
|
12
|
+
*
|
13
|
+
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
14
|
+
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
15
|
+
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
16
|
+
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
17
|
+
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
18
|
+
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
19
|
+
* SOFTWARE.
|
20
|
+
*/
|
21
|
+
|
22
|
+
#define CP_DefineClassGetter(t) const cpConstraintClass * t##GetClass(){return (cpConstraintClass *)&klass;}
|
23
|
+
|
24
|
+
void cpConstraintInit(cpConstraint *constraint, const cpConstraintClass *klass, cpBody *a, cpBody *b);
|
25
|
+
|
26
|
+
#define J_MAX(constraint, dt) (((cpConstraint *)constraint)->maxForce*(dt))
|
27
|
+
|
28
|
+
static inline cpVect
|
29
|
+
relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2){
|
30
|
+
cpVect v1_sum = cpvadd(a->v, cpvmult(cpvperp(r1), a->w));
|
31
|
+
cpVect v2_sum = cpvadd(b->v, cpvmult(cpvperp(r2), b->w));
|
32
|
+
|
33
|
+
return cpvsub(v2_sum, v1_sum);
|
34
|
+
}
|
35
|
+
|
36
|
+
static inline cpFloat
|
37
|
+
normal_relative_velocity(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n){
|
38
|
+
return cpvdot(relative_velocity(a, b, r1, r2), n);
|
39
|
+
}
|
40
|
+
|
41
|
+
static inline void
|
42
|
+
apply_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j)
|
43
|
+
{
|
44
|
+
cpBodyApplyImpulse(a, cpvneg(j), r1);
|
45
|
+
cpBodyApplyImpulse(b, j, r2);
|
46
|
+
}
|
47
|
+
|
48
|
+
static inline void
|
49
|
+
apply_bias_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j)
|
50
|
+
{
|
51
|
+
cpBodyApplyBiasImpulse(a, cpvneg(j), r1);
|
52
|
+
cpBodyApplyBiasImpulse(b, j, r2);
|
53
|
+
}
|
54
|
+
|
55
|
+
static inline cpVect
|
56
|
+
clamp_vect(cpVect v, cpFloat len)
|
57
|
+
{
|
58
|
+
return cpvclamp(v, len);
|
59
|
+
// return (cpvdot(v,v) > len*len) ? cpvmult(cpvnormalize(v), len) : v;
|
60
|
+
}
|
61
|
+
|
62
|
+
static inline cpFloat
|
63
|
+
k_scalar(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n)
|
64
|
+
{
|
65
|
+
cpFloat mass_sum = a->m_inv + b->m_inv;
|
66
|
+
cpFloat r1cn = cpvcross(r1, n);
|
67
|
+
cpFloat r2cn = cpvcross(r2, n);
|
68
|
+
|
69
|
+
cpFloat value = mass_sum + a->i_inv*r1cn*r1cn + b->i_inv*r2cn*r2cn;
|
70
|
+
cpAssert(value != 0.0, "Unsolvable collision or constraint.");
|
71
|
+
|
72
|
+
return value;
|
73
|
+
}
|
74
|
+
|
75
|
+
static inline void
|
76
|
+
k_tensor(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect *k1, cpVect *k2)
|
77
|
+
{
|
78
|
+
// calculate mass matrix
|
79
|
+
// If I wasn't lazy and wrote a proper matrix class, this wouldn't be so gross...
|
80
|
+
cpFloat k11, k12, k21, k22;
|
81
|
+
cpFloat m_sum = a->m_inv + b->m_inv;
|
82
|
+
|
83
|
+
// start with I*m_sum
|
84
|
+
k11 = m_sum; k12 = 0.0f;
|
85
|
+
k21 = 0.0f; k22 = m_sum;
|
86
|
+
|
87
|
+
// add the influence from r1
|
88
|
+
cpFloat a_i_inv = a->i_inv;
|
89
|
+
cpFloat r1xsq = r1.x * r1.x * a_i_inv;
|
90
|
+
cpFloat r1ysq = r1.y * r1.y * a_i_inv;
|
91
|
+
cpFloat r1nxy = -r1.x * r1.y * a_i_inv;
|
92
|
+
k11 += r1ysq; k12 += r1nxy;
|
93
|
+
k21 += r1nxy; k22 += r1xsq;
|
94
|
+
|
95
|
+
// add the influnce from r2
|
96
|
+
cpFloat b_i_inv = b->i_inv;
|
97
|
+
cpFloat r2xsq = r2.x * r2.x * b_i_inv;
|
98
|
+
cpFloat r2ysq = r2.y * r2.y * b_i_inv;
|
99
|
+
cpFloat r2nxy = -r2.x * r2.y * b_i_inv;
|
100
|
+
k11 += r2ysq; k12 += r2nxy;
|
101
|
+
k21 += r2nxy; k22 += r2xsq;
|
102
|
+
|
103
|
+
// invert
|
104
|
+
cpFloat determinant = k11*k22 - k12*k21;
|
105
|
+
cpAssert(determinant != 0.0, "Unsolvable constraint.");
|
106
|
+
|
107
|
+
cpFloat det_inv = 1.0f/determinant;
|
108
|
+
*k1 = cpv( k22*det_inv, -k12*det_inv);
|
109
|
+
*k2 = cpv(-k21*det_inv, k11*det_inv);
|
110
|
+
}
|
111
|
+
|
112
|
+
static inline cpVect
|
113
|
+
mult_k(cpVect vr, cpVect k1, cpVect k2)
|
114
|
+
{
|
115
|
+
return cpv(cpvdot(vr, k1), cpvdot(vr, k2));
|
116
|
+
}
|