chipmunk 4.1.0

data/ext/chipmunk/cpJoint.c

@@ -0,0 +1,553 @@
+/* Copyright (c) 2007 Scott Lembcke
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+* SOFTWARE.
+*/
+
+#include <stdlib.h>
+#include <math.h>
+
+#include "chipmunk.h"
+
+// TODO: Comment me!
+
+cpFloat cp_joint_bias_coef = 0.1f;
+
+void cpJointDestroy(cpJoint *joint){}
+
+void
+cpJointFree(cpJoint *joint)
+{
+	if(joint) cpJointDestroy(joint);
+	free(joint);
+}
+
+static void
+cpJointInit(cpJoint *joint, const cpJointClass *klass, cpBody *a, cpBody *b)
+{
+	joint->klass = klass;
+	joint->a = a;
+	joint->b = b;
+}
+
+
+static inline cpVect
+relative_velocity(cpVect r1, cpVect v1, cpFloat w1, cpVect r2, cpVect v2, cpFloat w2){
+	cpVect v1_sum = cpvadd(v1, cpvmult(cpvperp(r1), w1));
+	cpVect v2_sum = cpvadd(v2, cpvmult(cpvperp(r2), w2));
+	
+	return cpvsub(v2_sum, v1_sum);
+}
+
+static inline cpFloat
+scalar_k(cpBody *a, cpBody *b, cpVect r1, cpVect r2, cpVect n)
+{
+	cpFloat mass_sum = a->m_inv + b->m_inv;
+	cpFloat r1cn = cpvcross(r1, n);
+	cpFloat r2cn = cpvcross(r2, n);
+
+	return mass_sum + a->i_inv*r1cn*r1cn + b->i_inv*r2cn*r2cn;
+}
+
+static inline void
+apply_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j)
+{
+	cpBodyApplyImpulse(a, cpvneg(j), r1);
+	cpBodyApplyImpulse(b, j, r2);
+}
+
+static inline void
+apply_bias_impulses(cpBody *a , cpBody *b, cpVect r1, cpVect r2, cpVect j)
+{
+	cpBodyApplyBiasImpulse(a, cpvneg(j), r1);
+	cpBodyApplyBiasImpulse(b, j, r2);
+}
+
+
+static void
+pinJointPreStep(cpJoint *joint, cpFloat dt_inv)
+{
+	cpBody *a = joint->a;
+	cpBody *b = joint->b;
+	cpPinJoint *jnt = (cpPinJoint *)joint;
+	
+	jnt->r1 = cpvrotate(jnt->anchr1, a->rot);
+	jnt->r2 = cpvrotate(jnt->anchr2, b->rot);
+	
+	cpVect delta = cpvsub(cpvadd(b->p, jnt->r2), cpvadd(a->p, jnt->r1));
+	cpFloat dist = cpvlength(delta);
+	jnt->n = cpvmult(delta, 1.0f/(dist ? dist : INFINITY));
+	
+	// calculate mass normal
+	jnt->nMass = 1.0f/scalar_k(a, b, jnt->r1, jnt->r2, jnt->n);
+	
+	// calculate bias velocity
+	jnt->bias = -cp_joint_bias_coef*dt_inv*(dist - jnt->dist);
+	jnt->jBias = 0.0f;
+	
+	// apply accumulated impulse
+	cpVect j = cpvmult(jnt->n, jnt->jnAcc);
+	apply_impulses(a, b, jnt->r1, jnt->r2, j);
+}
+
+static void
+pinJointApplyImpulse(cpJoint *joint)
+{
+	cpBody *a = joint->a;
+	cpBody *b = joint->b;
+	
+	cpPinJoint *jnt = (cpPinJoint *)joint;
+	cpVect n = jnt->n;
+	cpVect r1 = jnt->r1;
+	cpVect r2 = jnt->r2;
+
+	//calculate bias impulse
+	cpVect vbr = relative_velocity(r1, a->v_bias, a->w_bias, r2, b->v_bias, b->w_bias);
+	cpFloat vbn = cpvdot(vbr, n);
+	
+	cpFloat jbn = (jnt->bias - vbn)*jnt->nMass;
+	jnt->jBias += jbn;
+	
+	cpVect jb = cpvmult(n, jbn);
+	apply_bias_impulses(a, b, jnt->r1, jnt->r2, jb);
+	
+	// compute relative velocity
+	cpVect vr = relative_velocity(r1, a->v, a->w, r2, b->v, b->w);
+	cpFloat vrn = cpvdot(vr, n);
+	
+	// compute normal impulse
+	cpFloat jn = -vrn*jnt->nMass;
+	jnt->jnAcc =+ jn;
+	
+	// apply impulse
+	cpVect j = cpvmult(n, jn);
+	apply_impulses(a, b, jnt->r1, jnt->r2, j);
+}
+
+static const cpJointClass pinJointClass = {
+	CP_PIN_JOINT,
+	pinJointPreStep,
+	pinJointApplyImpulse,
+};
+
+cpPinJoint *
+cpPinJointAlloc(void)
+{
+	return (cpPinJoint *)malloc(sizeof(cpPinJoint));
+}
+
+cpPinJoint *
+cpPinJointInit(cpPinJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2)
+{
+	cpJointInit((cpJoint *)joint, &pinJointClass, a, b);
+	
+	joint->anchr1 = anchr1;
+	joint->anchr2 = anchr2;
+	
+	cpVect p1 = cpvadd(a->p, cpvrotate(anchr1, a->rot));
+	cpVect p2 = cpvadd(b->p, cpvrotate(anchr2, b->rot));
+	joint->dist = cpvlength(cpvsub(p2, p1));
+
+	joint->jnAcc = 0.0;
+	
+	return joint;
+}
+
+cpJoint *
+cpPinJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2)
+{
+	return (cpJoint *)cpPinJointInit(cpPinJointAlloc(), a, b, anchr1, anchr2);
+}
+
+
+
+
+static void
+slideJointPreStep(cpJoint *joint, cpFloat dt_inv)
+{
+	cpBody *a = joint->a;
+	cpBody *b = joint->b;
+	cpSlideJoint *jnt = (cpSlideJoint *)joint;
+	
+	jnt->r1 = cpvrotate(jnt->anchr1, a->rot);
+	jnt->r2 = cpvrotate(jnt->anchr2, b->rot);
+	
+	cpVect delta = cpvsub(cpvadd(b->p, jnt->r2), cpvadd(a->p, jnt->r1));
+	cpFloat dist = cpvlength(delta);
+	cpFloat pdist = 0.0;
+	if(dist > jnt->max) {
+		pdist = dist - jnt->max;
+	} else if(dist < jnt->min) {
+		pdist = jnt->min - dist;
+		dist = -dist;
+	}
+	jnt->n = cpvmult(delta, 1.0f/(dist ? dist : INFINITY));
+	
+	// calculate mass normal
+	jnt->nMass = 1.0f/scalar_k(a, b, jnt->r1, jnt->r2, jnt->n);
+	
+	// calculate bias velocity
+	jnt->bias = -cp_joint_bias_coef*dt_inv*(pdist);
+	jnt->jBias = 0.0f;
+	
+	// apply accumulated impulse
+	if(!jnt->bias) //{
+		// if bias is 0, then the joint is not at a limit.
+		jnt->jnAcc = 0.0f;
+//	} else {
+		cpVect j = cpvmult(jnt->n, jnt->jnAcc);
+		apply_impulses(a, b, jnt->r1, jnt->r2, j);
+//	}
+}
+
+static void
+slideJointApplyImpulse(cpJoint *joint)
+{
+	cpSlideJoint *jnt = (cpSlideJoint *)joint;
+	if(!jnt->bias) return;  // early exit
+
+	cpBody *a = joint->a;
+	cpBody *b = joint->b;
+	
+	cpVect n = jnt->n;
+	cpVect r1 = jnt->r1;
+	cpVect r2 = jnt->r2;
+	
+	//calculate bias impulse
+	cpVect vbr = relative_velocity(r1, a->v_bias, a->w_bias, r2, b->v_bias, b->w_bias);
+	cpFloat vbn = cpvdot(vbr, n);
+	
+	cpFloat jbn = (jnt->bias - vbn)*jnt->nMass;
+	cpFloat jbnOld = jnt->jBias;
+	jnt->jBias = cpfmin(jbnOld + jbn, 0.0f);
+	jbn = jnt->jBias - jbnOld;
+	
+	cpVect jb = cpvmult(n, jbn);
+	apply_bias_impulses(a, b, jnt->r1, jnt->r2, jb);
+	
+	// compute relative velocity
+	cpVect vr = relative_velocity(r1, a->v, a->w, r2, b->v, b->w);
+	cpFloat vrn = cpvdot(vr, n);
+	
+	// compute normal impulse
+	cpFloat jn = -vrn*jnt->nMass;
+	cpFloat jnOld = jnt->jnAcc;
+	jnt->jnAcc = cpfmin(jnOld + jn, 0.0f);
+	jn = jnt->jnAcc - jnOld;
+	
+	// apply impulse
+	cpVect j = cpvmult(n, jn);
+	apply_impulses(a, b, jnt->r1, jnt->r2, j);
+}
+
+static const cpJointClass slideJointClass = {
+	CP_SLIDE_JOINT,
+	slideJointPreStep,
+	slideJointApplyImpulse,
+};
+
+cpSlideJoint *
+cpSlideJointAlloc(void)
+{
+	return (cpSlideJoint *)malloc(sizeof(cpSlideJoint));
+}
+
+cpSlideJoint *
+cpSlideJointInit(cpSlideJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max)
+{
+	cpJointInit((cpJoint *)joint, &slideJointClass, a, b);
+	
+	joint->anchr1 = anchr1;
+	joint->anchr2 = anchr2;
+	joint->min = min;
+	joint->max = max;
+	
+	joint->jnAcc = 0.0;
+	
+	return joint;
+}
+
+cpJoint *
+cpSlideJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max)
+{
+	return (cpJoint *)cpSlideJointInit(cpSlideJointAlloc(), a, b, anchr1, anchr2, min, max);
+}
+
+
+
+
+static void
+pivotJointPreStep(cpJoint *joint, cpFloat dt_inv)
+{
+	cpBody *a = joint->a;
+	cpBody *b = joint->b;
+	cpPivotJoint *jnt = (cpPivotJoint *)joint;
+	
+	jnt->r1 = cpvrotate(jnt->anchr1, a->rot);
+	jnt->r2 = cpvrotate(jnt->anchr2, b->rot);
+	
+	// calculate mass matrix
+	// If I wasn't lazy, this wouldn't be so gross...
+	cpFloat k11, k12, k21, k22;
+	
+	cpFloat m_sum = a->m_inv + b->m_inv;
+	k11 = m_sum; k12 = 0.0f;
+	k21 = 0.0f;  k22 = m_sum;
+	
+	cpFloat r1xsq =  jnt->r1.x * jnt->r1.x * a->i_inv;
+	cpFloat r1ysq =  jnt->r1.y * jnt->r1.y * a->i_inv;
+	cpFloat r1nxy = -jnt->r1.x * jnt->r1.y * a->i_inv;
+	k11 += r1ysq; k12 += r1nxy;
+	k21 += r1nxy; k22 += r1xsq;
+	
+	cpFloat r2xsq =  jnt->r2.x * jnt->r2.x * b->i_inv;
+	cpFloat r2ysq =  jnt->r2.y * jnt->r2.y * b->i_inv;
+	cpFloat r2nxy = -jnt->r2.x * jnt->r2.y * b->i_inv;
+	k11 += r2ysq; k12 += r2nxy;
+	k21 += r2nxy; k22 += r2xsq;
+	
+	cpFloat det_inv = 1.0f/(k11*k22 - k12*k21);
+	jnt->k1 = cpv( k22*det_inv, -k12*det_inv);
+	jnt->k2 = cpv(-k21*det_inv,  k11*det_inv);
+	
+	
+	// calculate bias velocity
+	cpVect delta = cpvsub(cpvadd(b->p, jnt->r2), cpvadd(a->p, jnt->r1));
+	jnt->bias = cpvmult(delta, -cp_joint_bias_coef*dt_inv);
+	jnt->jBias = cpvzero;
+	
+	// apply accumulated impulse
+	apply_impulses(a, b, jnt->r1, jnt->r2, jnt->jAcc);
+}
+
+static void
+pivotJointApplyImpulse(cpJoint *joint)
+{
+	cpBody *a = joint->a;
+	cpBody *b = joint->b;
+	
+	cpPivotJoint *jnt = (cpPivotJoint *)joint;
+	cpVect r1 = jnt->r1;
+	cpVect r2 = jnt->r2;
+	cpVect k1 = jnt->k1;
+	cpVect k2 = jnt->k2;
+	
+	//calculate bias impulse
+	cpVect vbr = relative_velocity(r1, a->v_bias, a->w_bias, r2, b->v_bias, b->w_bias);
+	vbr = cpvsub(jnt->bias, vbr);
+	
+	cpVect jb = cpv(cpvdot(vbr, k1), cpvdot(vbr, k2));
+	jnt->jBias = cpvadd(jnt->jBias, jb);
+	
+	apply_bias_impulses(a, b, jnt->r1, jnt->r2, jb);
+	
+	// compute relative velocity
+	cpVect vr = relative_velocity(r1, a->v, a->w, r2, b->v, b->w);
+	
+	// compute normal impulse
+	cpVect j = cpv(-cpvdot(vr, k1), -cpvdot(vr, k2));
+	jnt->jAcc = cpvadd(jnt->jAcc, j);
+	
+	// apply impulse
+	apply_impulses(a, b, jnt->r1, jnt->r2, j);
+}
+
+static const cpJointClass pivotJointClass = {
+	CP_PIVOT_JOINT,
+	pivotJointPreStep,
+	pivotJointApplyImpulse,
+};
+
+cpPivotJoint *
+cpPivotJointAlloc(void)
+{
+	return (cpPivotJoint *)malloc(sizeof(cpPivotJoint));
+}
+
+cpPivotJoint *
+cpPivotJointInit(cpPivotJoint *joint, cpBody *a, cpBody *b, cpVect pivot)
+{
+	cpJointInit((cpJoint *)joint, &pivotJointClass, a, b);
+	
+	joint->anchr1 = cpvunrotate(cpvsub(pivot, a->p), a->rot);
+	joint->anchr2 = cpvunrotate(cpvsub(pivot, b->p), b->rot);
+	
+	joint->jAcc = cpvzero;
+	
+	return joint;
+}
+
+cpJoint *
+cpPivotJointNew(cpBody *a, cpBody *b, cpVect pivot)
+{
+	return (cpJoint *)cpPivotJointInit(cpPivotJointAlloc(), a, b, pivot);
+}
+
+
+
+
+static void
+grooveJointPreStep(cpJoint *joint, cpFloat dt_inv)
+{
+	cpBody *a = joint->a;
+	cpBody *b = joint->b;
+	cpGrooveJoint *jnt = (cpGrooveJoint *)joint;
+	
+	// calculate endpoints in worldspace
+	cpVect ta = cpBodyLocal2World(a, jnt->grv_a);
+	cpVect tb = cpBodyLocal2World(a, jnt->grv_b);
+
+	// calculate axis
+	cpVect n = cpvrotate(jnt->grv_n, a->rot);
+	cpFloat d = cpvdot(ta, n);
+	
+	jnt->grv_tn = n;
+	jnt->r2 = cpvrotate(jnt->anchr2, b->rot);
+	
+	// calculate tangential distance along the axis of r2
+	cpFloat td = cpvcross(cpvadd(b->p, jnt->r2), n);
+	// calculate clamping factor and r2
+	if(td <= cpvcross(ta, n)){
+		jnt->clamp = 1.0f;
+		jnt->r1 = cpvsub(ta, a->p);
+	} else if(td >= cpvcross(tb, n)){
+		jnt->clamp = -1.0f;
+		jnt->r1 = cpvsub(tb, a->p);
+	} else {
+		jnt->clamp = 0.0f;
+		jnt->r1 = cpvsub(cpvadd(cpvmult(cpvperp(n), -td), cpvmult(n, d)), a->p);
+	}
+		
+	// calculate mass matrix
+	// If I wasn't lazy and wrote a proper matrix class, this wouldn't be so gross...
+	cpFloat k11, k12, k21, k22;
+	cpFloat m_sum = a->m_inv + b->m_inv;
+	
+	// start with I*m_sum
+	k11 = m_sum; k12 = 0.0f;
+	k21 = 0.0f;  k22 = m_sum;
+	
+	// add the influence from r1
+	cpFloat r1xsq =  jnt->r1.x * jnt->r1.x * a->i_inv;
+	cpFloat r1ysq =  jnt->r1.y * jnt->r1.y * a->i_inv;
+	cpFloat r1nxy = -jnt->r1.x * jnt->r1.y * a->i_inv;
+	k11 += r1ysq; k12 += r1nxy;
+	k21 += r1nxy; k22 += r1xsq;
+	
+	// add the influnce from r2
+	cpFloat r2xsq =  jnt->r2.x * jnt->r2.x * b->i_inv;
+	cpFloat r2ysq =  jnt->r2.y * jnt->r2.y * b->i_inv;
+	cpFloat r2nxy = -jnt->r2.x * jnt->r2.y * b->i_inv;
+	k11 += r2ysq; k12 += r2nxy;
+	k21 += r2nxy; k22 += r2xsq;
+	
+	// invert
+	cpFloat det_inv = 1.0f/(k11*k22 - k12*k21);
+	jnt->k1 = cpv( k22*det_inv, -k12*det_inv);
+	jnt->k2 = cpv(-k21*det_inv,  k11*det_inv);
+	
+	
+	// calculate bias velocity
+	cpVect delta = cpvsub(cpvadd(b->p, jnt->r2), cpvadd(a->p, jnt->r1));
+	jnt->bias = cpvmult(delta, -cp_joint_bias_coef*dt_inv);
+	jnt->jBias = cpvzero;
+	
+	// apply accumulated impulse
+	apply_impulses(a, b, jnt->r1, jnt->r2, jnt->jAcc);
+}
+
+static inline cpVect
+grooveConstrain(cpGrooveJoint *jnt, cpVect j){
+	cpVect n = jnt->grv_tn;
+	cpVect jn = cpvmult(n, cpvdot(j, n));
+
+	cpVect t = cpvperp(n);
+	cpFloat coef = (jnt->clamp*cpvcross(j, n) > 0.0f) ? 1.0f : 0.0f;
+	cpVect jt = cpvmult(t, cpvdot(j, t)*coef);	
+	
+	return cpvadd(jn, jt);
+}
+
+static void
+grooveJointApplyImpulse(cpJoint *joint)
+{
+	cpBody *a = joint->a;
+	cpBody *b = joint->b;
+	
+	cpGrooveJoint *jnt = (cpGrooveJoint *)joint;
+	cpVect r1 = jnt->r1;
+	cpVect r2 = jnt->r2;
+	cpVect k1 = jnt->k1;
+	cpVect k2 = jnt->k2;
+	
+	//calculate bias impulse
+	cpVect vbr = relative_velocity(r1, a->v_bias, a->w_bias, r2, b->v_bias, b->w_bias);
+	vbr = cpvsub(jnt->bias, vbr);
+	
+	cpVect jb = cpv(cpvdot(vbr, k1), cpvdot(vbr, k2));
+	cpVect jbOld = jnt->jBias;
+	jnt->jBias = grooveConstrain(jnt, cpvadd(jbOld, jb));
+	jb = cpvsub(jnt->jBias, jbOld);
+	
+	apply_bias_impulses(a, b, jnt->r1, jnt->r2, jb);
+	
+	// compute impulse
+	cpVect vr = relative_velocity(r1, a->v, a->w, r2, b->v, b->w);
+
+	cpVect j = cpv(-cpvdot(vr, k1), -cpvdot(vr, k2));
+	cpVect jOld = jnt->jAcc;
+	jnt->jAcc = grooveConstrain(jnt, cpvadd(jOld, j));
+	j = cpvsub(jnt->jAcc, jOld);
+	
+	// apply impulse
+	apply_impulses(a, b, jnt->r1, jnt->r2, j);
+}
+
+static const cpJointClass grooveJointClass = {
+	CP_GROOVE_JOINT,
+	grooveJointPreStep,
+	grooveJointApplyImpulse,
+};
+
+cpGrooveJoint *
+cpGrooveJointAlloc(void)
+{
+	return (cpGrooveJoint *)malloc(sizeof(cpGrooveJoint));
+}
+
+cpGrooveJoint *
+cpGrooveJointInit(cpGrooveJoint *joint, cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2)
+{
+	cpJointInit((cpJoint *)joint, &grooveJointClass, a, b);
+	
+	joint->grv_a = groove_a;
+	joint->grv_b = groove_b;
+	joint->grv_n = cpvperp(cpvnormalize(cpvsub(groove_b, groove_a)));
+	joint->anchr2 = anchr2;
+	
+	joint->jAcc = cpvzero;
+	
+	return joint;
+}
+
+cpJoint *
+cpGrooveJointNew(cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2)
+{
+	return (cpJoint *)cpGrooveJointInit(cpGrooveJointAlloc(), a, b, groove_a, groove_b, anchr2);
+}
+

data/ext/chipmunk/cpJoint.h

@@ -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.
+*/
+
+// TODO: Comment me!
+	
+extern cpFloat cp_joint_bias_coef;
+
+typedef enum cpJointType {
+	CP_PIN_JOINT,
+	CP_PIVOT_JOINT,
+	CP_SLIDE_JOINT,
+	CP_GROOVE_JOINT,
+	CP_CUSTOM_JOINT, // For user definable joint types.
+} cpJointType;
+
+struct cpJoint;
+struct cpJointClass;
+
+typedef struct cpJointClass {
+	cpJointType type;
+	
+	void (*preStep)(struct cpJoint *joint, cpFloat dt_inv);
+	void (*applyImpulse)(struct cpJoint *joint);
+} cpJointClass;
+
+typedef struct cpJoint {
+	const cpJointClass *klass;
+	
+	cpBody *a, *b;
+} cpJoint;
+
+void cpJointDestroy(cpJoint *joint);
+void cpJointFree(cpJoint *joint);
+
+
+typedef struct cpPinJoint {
+	cpJoint joint;
+	cpVect anchr1, anchr2;
+	cpFloat dist;
+	
+	cpVect r1, r2;
+	cpVect n;
+	cpFloat nMass;
+	
+	cpFloat jnAcc, jBias;
+	cpFloat bias;
+} cpPinJoint;
+
+cpPinJoint *cpPinJointAlloc(void);
+cpPinJoint *cpPinJointInit(cpPinJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2);
+cpJoint *cpPinJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2);
+
+
+typedef struct cpSlideJoint {
+	cpJoint joint;
+	cpVect anchr1, anchr2;
+	cpFloat min, max;
+	
+	cpVect r1, r2;
+	cpVect n;
+	cpFloat nMass;
+	
+	cpFloat jnAcc, jBias;
+	cpFloat bias;
+} cpSlideJoint;
+
+cpSlideJoint *cpSlideJointAlloc(void);
+cpSlideJoint *cpSlideJointInit(cpSlideJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max);
+cpJoint *cpSlideJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max);
+
+
+typedef struct cpPivotJoint {
+	cpJoint joint;
+	cpVect anchr1, anchr2;
+	
+	cpVect r1, r2;
+	cpVect k1, k2;
+	
+	cpVect jAcc, jBias;
+	cpVect bias;
+} cpPivotJoint;
+
+cpPivotJoint *cpPivotJointAlloc(void);
+cpPivotJoint *cpPivotJointInit(cpPivotJoint *joint, cpBody *a, cpBody *b, cpVect pivot);
+cpJoint *cpPivotJointNew(cpBody *a, cpBody *b, cpVect pivot);
+
+
+typedef struct cpGrooveJoint {
+	cpJoint joint;
+	cpVect grv_n, grv_a, grv_b;
+	cpVect  anchr2;
+	
+	cpVect grv_tn;
+	cpFloat clamp;
+	cpVect r1, r2;
+	cpVect k1, k2;
+	
+	cpVect jAcc, jBias;
+	cpVect bias;
+} cpGrooveJoint;
+
+cpGrooveJoint *cpGrooveJointAlloc(void);
+cpGrooveJoint *cpGrooveJointInit(cpGrooveJoint *joint, cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2);
+cpJoint *cpGrooveJointNew(cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2);