chipmunk 5.2.2 → 5.3.4.0

data/ext/chipmunk/rb_cpConstraint.c

@@ -1,346 +1,336 @@
-/* Copyright (c) 2007 Scott Lembcke
-* 
-* Permission is hereby granted, free of charge, to any person obtaining a copy
-* of this software and associated documentation files (the "Software"), to deal
-* in the Software without restriction, including without limitation the rights
-* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-* copies of the Software, and to permit persons to whom the Software is
-* furnished to do so, subject to the following conditions:
-* 
-* The above copyright notice and this permission notice shall be included in
-* all copies or substantial portions of the Software.
-* 
-* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-* SOFTWARE.
-*/
-
-#include <stdlib.h>
-#include "chipmunk.h"
-
-#include "ruby.h"
-#include "rb_chipmunk.h"
-
-VALUE m_cpConstraint;
-
-#define CONSTRAINT_GETSET_FUNCS(member) \
-static VALUE rb_cpConstraint_get_##member(VALUE self) \
-{return rb_float_new(CONSTRAINT(self)->member);} \
-static VALUE rb_cpConstraint_set_##member(VALUE self, VALUE value) \
-{CONSTRAINT(self)->member = NUM2DBL(value); return value;}
-
-CONSTRAINT_GETSET_FUNCS(maxForce)
-CONSTRAINT_GETSET_FUNCS(biasCoef)
-CONSTRAINT_GETSET_FUNCS(maxBias)
-
-
-#define MAKE_FLT_GETTER(func) \
-static VALUE rb_##func(VALUE self) \
-{return rb_float_new(func(CONSTRAINT(self)));}
-
-#define MAKE_FLT_SETTER(func) \
-static VALUE rb_##func(VALUE self, VALUE value) \
-{func(CONSTRAINT(self), NUM2DBL(value)); return value;} \
-
-#define MAKE_FLT_ACCESSORS(s, m) \
-MAKE_FLT_GETTER(s##Get##m) \
-MAKE_FLT_SETTER(s##Set##m)
-
-#define MAKE_VEC_GETTER(func) \
-static VALUE rb_##func(VALUE self) \
-{return VNEW(func(CONSTRAINT(self)));}
-
-#define MAKE_VEC_SETTER(func) \
-static VALUE rb_##func(VALUE self, VALUE value) \
-{func(CONSTRAINT(self), *VGET(value)); return value;} \
-
-#define MAKE_VEC_ACCESSORS(s, m) \
-MAKE_VEC_GETTER(s##Get##m) \
-MAKE_VEC_SETTER(s##Set##m)
-
-
-#define ALLOC_TEMPLATE(s, alloc) \
-static VALUE rb_##s##_alloc(VALUE klass) \
-{return Data_Wrap_Struct(klass, NULL, cpConstraintFree, alloc);}
-
-ALLOC_TEMPLATE(cpPinJoint, cpPinJointAlloc())
-
-static VALUE
-rb_cpPinJoint_init(VALUE self, VALUE a, VALUE b, VALUE anchr1, VALUE anchr2)
-{
-	cpPinJoint *joint = (cpPinJoint *)CONSTRAINT(self);
-	cpPinJointInit(joint, BODY(a), BODY(b), *VGET(anchr1), *VGET(anchr2));
-	rb_iv_set(self, "@body_a", a);
-	rb_iv_set(self, "@body_b", b);
-	
-	return self;
-}
-
-MAKE_FLT_ACCESSORS(cpPinJoint, Dist)
-MAKE_VEC_ACCESSORS(cpPinJoint, Anchr1)
-MAKE_VEC_ACCESSORS(cpPinJoint, Anchr2)
-
-
-ALLOC_TEMPLATE(cpDampedRotarySpring, cpDampedRotarySpringAlloc())
-
-static VALUE
-rb_cpDampedRotarySpring_init(VALUE self, VALUE a, VALUE b, VALUE restAngle, VALUE stiffness, VALUE damping)
-{
-	cpDampedRotarySpring *spring = (cpDampedRotarySpring *)CONSTRAINT(self);
-	cpDampedRotarySpringInit(spring, BODY(a), BODY(b), NUM2DBL(restAngle), NUM2DBL(stiffness), NUM2DBL(damping));
-	rb_iv_set(self, "@body_a", a);
-	rb_iv_set(self, "@body_b", b);
-	
-	return self;
-}
-
-MAKE_FLT_ACCESSORS(cpDampedRotarySpring, RestAngle);
-MAKE_FLT_ACCESSORS(cpDampedRotarySpring, Stiffness);
-MAKE_FLT_ACCESSORS(cpDampedRotarySpring, Damping);
-
-
-ALLOC_TEMPLATE(cpDampedSpring, cpDampedSpringAlloc())
-
-static VALUE
-rb_cpDampedSpring_init(VALUE self, VALUE a, VALUE b, VALUE anchr1, VALUE anchr2, VALUE restLength, VALUE stiffness, VALUE damping)
-{
-	cpDampedSpring *spring = (cpDampedSpring *)CONSTRAINT(self);
-	cpDampedSpringInit(spring, BODY(a), BODY(b), *VGET(anchr1), *VGET(anchr2), NUM2DBL(restLength), NUM2DBL(stiffness), NUM2DBL(damping));
-	rb_iv_set(self, "@body_a", a);
-	rb_iv_set(self, "@body_b", b);
-	
-	return self;
-}
-
-MAKE_VEC_ACCESSORS(cpDampedSpring, Anchr1)
-MAKE_VEC_ACCESSORS(cpDampedSpring, Anchr2)
-MAKE_FLT_ACCESSORS(cpDampedSpring, RestLength);
-MAKE_FLT_ACCESSORS(cpDampedSpring, Stiffness);
-MAKE_FLT_ACCESSORS(cpDampedSpring, Damping);
-
-
-ALLOC_TEMPLATE(cpGearJoint, cpGearJointAlloc())
-
-static VALUE
-rb_cpGearJoint_init(VALUE self, VALUE a, VALUE b, VALUE phase, VALUE ratio)
-{
-	cpGearJoint *joint = (cpGearJoint *)CONSTRAINT(self);
-	cpGearJointInit(joint, BODY(a), BODY(b), NUM2DBL(phase), NUM2DBL(ratio));
-	rb_iv_set(self, "@body_a", a);
-	rb_iv_set(self, "@body_b", b);
-	
-	return self;
-}
-
-MAKE_FLT_ACCESSORS(cpGearJoint, Phase);
-MAKE_FLT_ACCESSORS(cpGearJoint, Ratio);
-
-
-ALLOC_TEMPLATE(cpPivotJoint, cpPivotJointAlloc())
-
-static VALUE
-rb_cpPivotJoint_init(VALUE self, VALUE a, VALUE b, VALUE anchr1, VALUE anchr2)
-{
-	cpPivotJoint *joint = (cpPivotJoint *)CONSTRAINT(self);
-	cpPivotJointInit(joint, BODY(a), BODY(b), *VGET(anchr1), *VGET(anchr2));
-	rb_iv_set(self, "@body_a", a);
-	rb_iv_set(self, "@body_b", b);
-	
-	return self;
-}
-
-MAKE_VEC_ACCESSORS(cpPivotJoint, Anchr1);
-MAKE_VEC_ACCESSORS(cpPivotJoint, Anchr2);
-
-
-ALLOC_TEMPLATE(cpRotaryLimitJoint, cpRotaryLimitJointAlloc())
-
-static VALUE
-rb_cpRotaryLimitJoint_init(VALUE self, VALUE a, VALUE b, VALUE min, VALUE max)
-{
-	cpRotaryLimitJoint *joint = (cpRotaryLimitJoint *)CONSTRAINT(self);
-	cpRotaryLimitJointInit(joint, BODY(a), BODY(b), NUM2DBL(min), NUM2DBL(max));
-	rb_iv_set(self, "@body_a", a);
-	rb_iv_set(self, "@body_b", b);
-	
-	return self;
-}
-
-MAKE_FLT_ACCESSORS(cpRotaryLimitJoint, Min);
-MAKE_FLT_ACCESSORS(cpRotaryLimitJoint, Max);
-
-
-ALLOC_TEMPLATE(cpSimpleMotor, cpSimpleMotorAlloc())
-
-static VALUE
-rb_cpSimpleMotor_init(VALUE self, VALUE a, VALUE b, VALUE rate)
-{
-	cpSimpleMotor *motor = (cpSimpleMotor *)CONSTRAINT(self);
-	cpSimpleMotorInit(motor, BODY(a), BODY(b), NUM2DBL(rate));
-	rb_iv_set(self, "@body_a", a);
-	rb_iv_set(self, "@body_b", b);
-	
-	return self;
-}
-
-MAKE_FLT_ACCESSORS(cpSimpleMotor, Rate);
-
-
-ALLOC_TEMPLATE(cpSlideJoint, cpSlideJointAlloc())
-
-static VALUE
-rb_cpSlideJoint_init(VALUE self, VALUE a, VALUE b, VALUE anchr1, VALUE anchr2, VALUE min, VALUE max)
-{
-	cpSlideJoint *joint = (cpSlideJoint *)CONSTRAINT(self);
-	cpSlideJointInit(joint, BODY(a), BODY(b), *VGET(anchr1), *VGET(anchr2), NUM2DBL(min), NUM2DBL(max));
-	rb_iv_set(self, "@body_a", a);
-	rb_iv_set(self, "@body_b", b);
-	
-	return self;
-}
-
-MAKE_VEC_ACCESSORS(cpSlideJoint, Anchr1)
-MAKE_VEC_ACCESSORS(cpSlideJoint, Anchr2)
-MAKE_FLT_ACCESSORS(cpSlideJoint, Min);
-MAKE_FLT_ACCESSORS(cpSlideJoint, Max);
-
-
-ALLOC_TEMPLATE(cpGrooveJoint, cpGrooveJointAlloc())
-
-static VALUE
-rb_cpGrooveJoint_init(VALUE self, VALUE a, VALUE b, VALUE grv_a, VALUE grv_b, VALUE anchr2)
-{
-	cpGrooveJoint *joint = (cpGrooveJoint *)CONSTRAINT(self);
-	cpGrooveJointInit(joint, BODY(a), BODY(b), *VGET(grv_a), *VGET(grv_b), *VGET(anchr2));
-	rb_iv_set(self, "@body_a", a);
-	rb_iv_set(self, "@body_b", b);
-	
-	return self;
-}
-
-MAKE_VEC_ACCESSORS(cpGrooveJoint, Anchr2)
-
-/*
-These are for later, when Chipmunk C supports them. 
-MAKE_VEC_ACCESSORS(cpGrooveJoint, Grv_a)
-MAKE_VEC_ACCESSORS(cpGrooveJoint, Grv_b)
-MAKE_VEC_ACCESSORS(cpGrooveJoint, Grv_n)
-MAKE_VEC_ACCESSORS(cpGrooveJoint, R1)
-MAKE_VEC_ACCESSORS(cpGrooveJoint, R2)
-MAKE_VEC_ACCESSORS(cpGrooveJoint, K1)
-MAKE_VEC_ACCESSORS(cpGrooveJoint, K2)
-MAKE_VEC_ACCESSORS(cpGrooveJoint, Bias)
-MAKE_VEC_ACCESSORS(cpGrooveJoint, JAcc)
-MAKE_FLT_ACCESSORS(cpGrooveJoint, Clamp)
-MAKE_FLT_ACCESSORS(cpGrooveJoint, JMaxLen)
-*/
-
-ALLOC_TEMPLATE(cpRatchetJoint, cpRatchetJointAlloc())
-
-static VALUE
-rb_cpRatchetJoint_init(VALUE self, VALUE a, VALUE b, VALUE phase, VALUE ratchet)
-{
-  cpRatchetJoint *joint = (cpRatchetJoint *)CONSTRAINT(self);
-  cpRatchetJointInit(joint, BODY(a), BODY(b), NUM2DBL(phase), NUM2DBL(ratchet));
-  rb_iv_set(self, "@body_a", a);
-  rb_iv_set(self, "@body_b", b);  
-  
-  return self;
-}
-
-MAKE_FLT_ACCESSORS(cpRatchetJoint, Angle)
-MAKE_FLT_ACCESSORS(cpRatchetJoint, Phase)
-MAKE_FLT_ACCESSORS(cpRatchetJoint, Ratchet)
-
-
-#define STRINGIFY(v) #v
-#define ACCESSOR_METHODS(s, m, name) \
-rb_define_method(c_##s, STRINGIFY(name), rb_##s##Get##m, 0); \
-rb_define_method(c_##s, STRINGIFY(name=), rb_##s##Set##m, 1);
-
-static VALUE
-make_class(char *name, void *alloc_func, void *init_func, int init_params)
-{
-	VALUE klass = rb_define_class_under(m_cpConstraint, name, rb_cObject);
-	rb_include_module(klass, m_cpConstraint);
-	rb_define_alloc_func(klass, alloc_func);
-	rb_define_method(klass, "initialize", init_func, init_params);
-	
-	return klass;
-}
-
-void
-Init_cpConstraint(void)
-{
-	m_cpConstraint = rb_define_module_under(m_Chipmunk, "Constraint");
-	rb_define_attr(m_cpConstraint, "body_a", 1, 0);
-	rb_define_attr(m_cpConstraint, "body_b", 1, 0);
-	rb_define_method(m_cpConstraint, "max_force", rb_cpConstraint_get_maxForce, 0);
-	rb_define_method(m_cpConstraint, "max_force=", rb_cpConstraint_set_maxForce, 1);
-	rb_define_method(m_cpConstraint, "bias_coef", rb_cpConstraint_get_biasCoef, 0);
-	rb_define_method(m_cpConstraint, "bias_coef=", rb_cpConstraint_set_biasCoef, 1);
-	rb_define_method(m_cpConstraint, "max_bias", rb_cpConstraint_get_maxBias, 0);
-	rb_define_method(m_cpConstraint, "max_bias=", rb_cpConstraint_set_maxBias, 1);
-	
-	VALUE c_cpPinJoint = make_class("PinJoint", rb_cpPinJoint_alloc, rb_cpPinJoint_init, 4);
-	ACCESSOR_METHODS(cpPinJoint, Anchr1, anchr1)
-	ACCESSOR_METHODS(cpPinJoint, Anchr2, anchr2)
-	ACCESSOR_METHODS(cpPinJoint, Dist, dist)
-	
-	VALUE c_cpDampedRotarySpring = make_class("DampedRotarySpring", rb_cpDampedRotarySpring_alloc, rb_cpDampedRotarySpring_init, 5);
-	ACCESSOR_METHODS(cpDampedRotarySpring, RestAngle, rest_angle)
-	ACCESSOR_METHODS(cpDampedRotarySpring, Stiffness, stiffness)
-	ACCESSOR_METHODS(cpDampedRotarySpring, Damping, damping)
-	
-	VALUE c_cpDampedSpring = make_class("DampedSpring", rb_cpDampedSpring_alloc, rb_cpDampedSpring_init, 7);
-	ACCESSOR_METHODS(cpDampedSpring, Anchr1, anchr1)
-	ACCESSOR_METHODS(cpDampedSpring, Anchr2, anchr2)
-	ACCESSOR_METHODS(cpDampedSpring, RestLength, rest_length)
-	ACCESSOR_METHODS(cpDampedSpring, Stiffness, stiffness)
-	ACCESSOR_METHODS(cpDampedSpring, Damping, damping)
-	
-	VALUE c_cpGearJoint = make_class("GearJoint", rb_cpGearJoint_alloc, rb_cpGearJoint_init, 4);
-	ACCESSOR_METHODS(cpGearJoint, Phase, phase)
-	ACCESSOR_METHODS(cpGearJoint, Ratio, ratio)
-	
-	VALUE c_cpPivotJoint = make_class("PivotJoint", rb_cpPivotJoint_alloc, rb_cpPivotJoint_init, 4);
-	ACCESSOR_METHODS(cpPivotJoint, Anchr1, anchr1)
-	ACCESSOR_METHODS(cpPivotJoint, Anchr2, anchr2)
-	
-	VALUE c_cpRotaryLimitJoint = make_class("RotaryLimitJoint", rb_cpRotaryLimitJoint_alloc, rb_cpRotaryLimitJoint_init, 4);
-	ACCESSOR_METHODS(cpRotaryLimitJoint, Min, min)
-	ACCESSOR_METHODS(cpRotaryLimitJoint, Max, max)
-	
-	VALUE c_cpSimpleMotor = make_class("SimpleMotor", rb_cpSimpleMotor_alloc, rb_cpSimpleMotor_init, 3);
-	ACCESSOR_METHODS(cpSimpleMotor, Rate, rate);
-	
-	VALUE c_cpSlideJoint = make_class("SlideJoint", rb_cpSlideJoint_alloc, rb_cpSlideJoint_init, 6);
-	ACCESSOR_METHODS(cpSlideJoint, Anchr1, anchr1)
-	ACCESSOR_METHODS(cpSlideJoint, Anchr2, anchr2)
-	ACCESSOR_METHODS(cpSlideJoint, Min, min)
-	ACCESSOR_METHODS(cpSlideJoint, Max, max)
-	
-	VALUE c_cpGrooveJoint = make_class("GrooveJoint", rb_cpGrooveJoint_alloc, rb_cpGrooveJoint_init, 5);
-	ACCESSOR_METHODS(cpGrooveJoint, Anchr2, anchr2)
-  
- /* 
-  ACCESSOR_METHODS(cpGrooveJoint, Clamp, clamp)
-  ACCESSOR_METHODS(cpGrooveJoint, JMaxLen, max) 
- */
-  
-  VALUE c_cpRatchetJoint = 
-  make_class("RatchetJoint", rb_cpRatchetJoint_alloc, rb_cpRatchetJoint_init, 4);
-  ACCESSOR_METHODS(cpRatchetJoint, Angle, angle)
-  ACCESSOR_METHODS(cpRatchetJoint, Phase, phase)
-  ACCESSOR_METHODS(cpRatchetJoint, Ratchet, ratchet) 
-  
-  
-  
-// TODO groove joint accessors
-	
-	// TODO breakable joint
-}
+/* Copyright (c) 2007 Scott Lembcke
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+* SOFTWARE.
+*/
+
+#include <stdlib.h>
+#include "chipmunk.h"
+
+#include "ruby.h"
+#include "rb_chipmunk.h"
+
+VALUE m_cpConstraint;
+
+#define CONSTRAINT_GETSET_FUNCS(member) \
+static VALUE rb_cpConstraint_get_##member(VALUE self) \
+{return rb_float_new(CONSTRAINT(self)->member);} \
+static VALUE rb_cpConstraint_set_##member(VALUE self, VALUE value) \
+{CONSTRAINT(self)->member = NUM2DBL(value); return value;}
+
+CONSTRAINT_GETSET_FUNCS(maxForce)
+CONSTRAINT_GETSET_FUNCS(biasCoef)
+CONSTRAINT_GETSET_FUNCS(maxBias)
+
+
+#define MAKE_FLT_GETTER(func) \
+static VALUE rb_##func(VALUE self) \
+{return rb_float_new(func(CONSTRAINT(self)));}
+
+#define MAKE_FLT_SETTER(func) \
+static VALUE rb_##func(VALUE self, VALUE value) \
+{func(CONSTRAINT(self), NUM2DBL(value)); return value;} \
+
+#define MAKE_FLT_ACCESSORS(s, m) \
+MAKE_FLT_GETTER(s##Get##m) \
+MAKE_FLT_SETTER(s##Set##m)
+
+#define MAKE_VEC_GETTER(func) \
+static VALUE rb_##func(VALUE self) \
+{return VNEW(func(CONSTRAINT(self)));}
+
+#define MAKE_VEC_SETTER(func) \
+static VALUE rb_##func(VALUE self, VALUE value) \
+{func(CONSTRAINT(self), *VGET(value)); return value;} \
+
+#define MAKE_VEC_ACCESSORS(s, m) \
+MAKE_VEC_GETTER(s##Get##m) \
+MAKE_VEC_SETTER(s##Set##m)
+
+
+#define ALLOC_TEMPLATE(s, alloc) \
+static VALUE rb_##s##_alloc(VALUE klass) \
+{return Data_Wrap_Struct(klass, NULL, cpConstraintFree, alloc);}
+
+ALLOC_TEMPLATE(cpPinJoint, cpPinJointAlloc())
+
+static VALUE
+rb_cpPinJoint_init(VALUE self, VALUE a, VALUE b, VALUE anchr1, VALUE anchr2)
+{
+	cpPinJoint *joint = (cpPinJoint *)CONSTRAINT(self);
+	cpPinJointInit(joint, BODY(a), BODY(b), *VGET(anchr1), *VGET(anchr2));
+	rb_iv_set(self, "@body_a", a);
+	rb_iv_set(self, "@body_b", b);
+	
+	return self;
+}
+
+MAKE_FLT_ACCESSORS(cpPinJoint, Dist)
+MAKE_VEC_ACCESSORS(cpPinJoint, Anchr1)
+MAKE_VEC_ACCESSORS(cpPinJoint, Anchr2)
+
+
+ALLOC_TEMPLATE(cpDampedRotarySpring, cpDampedRotarySpringAlloc())
+
+static VALUE
+rb_cpDampedRotarySpring_init(VALUE self, VALUE a, VALUE b, VALUE restAngle, VALUE stiffness, VALUE damping)
+{
+	cpDampedRotarySpring *spring = (cpDampedRotarySpring *)CONSTRAINT(self);
+	cpDampedRotarySpringInit(spring, BODY(a), BODY(b), NUM2DBL(restAngle), NUM2DBL(stiffness), NUM2DBL(damping));
+	rb_iv_set(self, "@body_a", a);
+	rb_iv_set(self, "@body_b", b);
+	
+	return self;
+}
+
+MAKE_FLT_ACCESSORS(cpDampedRotarySpring, RestAngle);
+MAKE_FLT_ACCESSORS(cpDampedRotarySpring, Stiffness);
+MAKE_FLT_ACCESSORS(cpDampedRotarySpring, Damping);
+
+
+ALLOC_TEMPLATE(cpDampedSpring, cpDampedSpringAlloc())
+
+static VALUE
+rb_cpDampedSpring_init(VALUE self, VALUE a, VALUE b, VALUE anchr1, VALUE anchr2, VALUE restLength, VALUE stiffness, VALUE damping)
+{
+	cpDampedSpring *spring = (cpDampedSpring *)CONSTRAINT(self);
+	cpDampedSpringInit(spring, BODY(a), BODY(b), *VGET(anchr1), *VGET(anchr2), NUM2DBL(restLength), NUM2DBL(stiffness), NUM2DBL(damping));
+	rb_iv_set(self, "@body_a", a);
+	rb_iv_set(self, "@body_b", b);
+	
+	return self;
+}
+
+MAKE_VEC_ACCESSORS(cpDampedSpring, Anchr1)
+MAKE_VEC_ACCESSORS(cpDampedSpring, Anchr2)
+MAKE_FLT_ACCESSORS(cpDampedSpring, RestLength);
+MAKE_FLT_ACCESSORS(cpDampedSpring, Stiffness);
+MAKE_FLT_ACCESSORS(cpDampedSpring, Damping);
+
+
+ALLOC_TEMPLATE(cpGearJoint, cpGearJointAlloc())
+
+static VALUE
+rb_cpGearJoint_init(VALUE self, VALUE a, VALUE b, VALUE phase, VALUE ratio)
+{
+	cpGearJoint *joint = (cpGearJoint *)CONSTRAINT(self);
+	cpGearJointInit(joint, BODY(a), BODY(b), NUM2DBL(phase), NUM2DBL(ratio));
+	rb_iv_set(self, "@body_a", a);
+	rb_iv_set(self, "@body_b", b);
+	
+	return self;
+}
+
+MAKE_FLT_ACCESSORS(cpGearJoint, Phase);
+MAKE_FLT_ACCESSORS(cpGearJoint, Ratio);
+
+
+ALLOC_TEMPLATE(cpPivotJoint, cpPivotJointAlloc())
+
+static VALUE
+rb_cpPivotJoint_init(VALUE self, VALUE a, VALUE b, VALUE anchr1, VALUE anchr2)
+{
+	cpPivotJoint *joint = (cpPivotJoint *)CONSTRAINT(self);
+	cpPivotJointInit(joint, BODY(a), BODY(b), *VGET(anchr1), *VGET(anchr2));
+	rb_iv_set(self, "@body_a", a);
+	rb_iv_set(self, "@body_b", b);
+	
+	return self;
+}
+
+MAKE_VEC_ACCESSORS(cpPivotJoint, Anchr1);
+MAKE_VEC_ACCESSORS(cpPivotJoint, Anchr2);
+
+
+ALLOC_TEMPLATE(cpRotaryLimitJoint, cpRotaryLimitJointAlloc())
+
+static VALUE
+rb_cpRotaryLimitJoint_init(VALUE self, VALUE a, VALUE b, VALUE min, VALUE max)
+{
+	cpRotaryLimitJoint *joint = (cpRotaryLimitJoint *)CONSTRAINT(self);
+	cpRotaryLimitJointInit(joint, BODY(a), BODY(b), NUM2DBL(min), NUM2DBL(max));
+	rb_iv_set(self, "@body_a", a);
+	rb_iv_set(self, "@body_b", b);
+	
+	return self;
+}
+
+MAKE_FLT_ACCESSORS(cpRotaryLimitJoint, Min);
+MAKE_FLT_ACCESSORS(cpRotaryLimitJoint, Max);
+
+
+ALLOC_TEMPLATE(cpSimpleMotor, cpSimpleMotorAlloc())
+
+static VALUE
+rb_cpSimpleMotor_init(VALUE self, VALUE a, VALUE b, VALUE rate)
+{
+	cpSimpleMotor *motor = (cpSimpleMotor *)CONSTRAINT(self);
+	cpSimpleMotorInit(motor, BODY(a), BODY(b), NUM2DBL(rate));
+	rb_iv_set(self, "@body_a", a);
+	rb_iv_set(self, "@body_b", b);
+	
+	return self;
+}
+
+MAKE_FLT_ACCESSORS(cpSimpleMotor, Rate);
+
+
+ALLOC_TEMPLATE(cpSlideJoint, cpSlideJointAlloc())
+
+static VALUE
+rb_cpSlideJoint_init(VALUE self, VALUE a, VALUE b, VALUE anchr1, VALUE anchr2, VALUE min, VALUE max)
+{
+	cpSlideJoint *joint = (cpSlideJoint *)CONSTRAINT(self);
+	cpSlideJointInit(joint, BODY(a), BODY(b), *VGET(anchr1), *VGET(anchr2), NUM2DBL(min), NUM2DBL(max));
+	rb_iv_set(self, "@body_a", a);
+	rb_iv_set(self, "@body_b", b);
+	
+	return self;
+}
+
+MAKE_VEC_ACCESSORS(cpSlideJoint, Anchr1)
+MAKE_VEC_ACCESSORS(cpSlideJoint, Anchr2)
+MAKE_FLT_ACCESSORS(cpSlideJoint, Min);
+MAKE_FLT_ACCESSORS(cpSlideJoint, Max);
+
+
+ALLOC_TEMPLATE(cpGrooveJoint, cpGrooveJointAlloc())
+
+static VALUE
+rb_cpGrooveJoint_init(VALUE self, VALUE a, VALUE b, VALUE grv_a, VALUE grv_b, VALUE anchr2)
+{
+	cpGrooveJoint *joint = (cpGrooveJoint *)CONSTRAINT(self);
+	cpGrooveJointInit(joint, BODY(a), BODY(b), *VGET(grv_a), *VGET(grv_b), *VGET(anchr2));
+	rb_iv_set(self, "@body_a", a);
+	rb_iv_set(self, "@body_b", b);
+	
+	return self;
+}
+
+MAKE_VEC_ACCESSORS(cpGrooveJoint, GrooveA)
+MAKE_VEC_ACCESSORS(cpGrooveJoint, GrooveB)
+MAKE_VEC_ACCESSORS(cpGrooveJoint, Anchr2)
+
+
+ALLOC_TEMPLATE(cpRatchetJoint, cpRatchetJointAlloc())
+
+static VALUE
+rb_cpRatchetJoint_init(VALUE self, VALUE a, VALUE b, VALUE phase, VALUE ratchet)
+{
+  cpRatchetJoint * joint = (cpRatchetJoint *)CONSTRAINT(self);
+  cpRatchetJointInit(joint, BODY(a), BODY(b), NUM2DBL(phase), NUM2DBL(ratchet));
+  rb_iv_set(self, "@body_a", a);
+  rb_iv_set(self, "@body_b", b);
+  
+  return self;
+}
+
+MAKE_FLT_ACCESSORS(cpRatchetJoint, Angle);
+MAKE_FLT_ACCESSORS(cpRatchetJoint, Phase);
+MAKE_FLT_ACCESSORS(cpRatchetJoint, Ratchet);
+
+static VALUE
+rb_cpConstraintGetImpulse(VALUE self) {
+  return rb_float_new(cpConstraintGetImpulse(CONSTRAINT(self)));
+} 
+
+
+#define STRINGIFY(v) #v
+#define ACCESSOR_METHODS(s, m, name) \
+rb_define_method(c_##s, STRINGIFY(name), rb_##s##Get##m, 0); \
+rb_define_method(c_##s, STRINGIFY(name=), rb_##s##Set##m, 1);
+
+static VALUE
+make_class(const char *name, void *alloc_func, void *init_func, int init_params)
+{
+	VALUE klass = rb_define_class_under(m_cpConstraint, name, rb_cObject);
+	rb_include_module(klass, m_cpConstraint);
+	rb_define_alloc_func(klass, alloc_func);
+	rb_define_method(klass, "initialize", init_func, init_params);
+  	
+	return klass;
+}
+
+void
+Init_cpConstraint(void)
+{
+	m_cpConstraint = rb_define_module_under(m_Chipmunk, "Constraint");
+	rb_define_attr(m_cpConstraint, "body_a", 1, 0);
+	rb_define_attr(m_cpConstraint, "body_b", 1, 0);
+	rb_define_method(m_cpConstraint, "max_force", rb_cpConstraint_get_maxForce, 0);
+	rb_define_method(m_cpConstraint, "max_force=", rb_cpConstraint_set_maxForce, 1);
+	rb_define_method(m_cpConstraint, "bias_coef", rb_cpConstraint_get_biasCoef, 0);
+	rb_define_method(m_cpConstraint, "bias_coef=", rb_cpConstraint_set_biasCoef, 1);
+	rb_define_method(m_cpConstraint, "max_bias", rb_cpConstraint_get_maxBias, 0);
+	rb_define_method(m_cpConstraint, "max_bias=" , rb_cpConstraint_set_maxBias, 1);
+	rb_define_method(m_cpConstraint, "impulse"   , rb_cpConstraintGetImpulse, 0);
+  
+	
+	VALUE c_cpDampedRotarySpring = make_class("DampedRotarySpring", rb_cpDampedRotarySpring_alloc, rb_cpDampedRotarySpring_init, 5);
+	ACCESSOR_METHODS(cpDampedRotarySpring, RestAngle, rest_angle)
+	ACCESSOR_METHODS(cpDampedRotarySpring, Stiffness, stiffness)
+	ACCESSOR_METHODS(cpDampedRotarySpring, Damping, damping)
+	
+	VALUE c_cpDampedSpring = make_class("DampedSpring", rb_cpDampedSpring_alloc, rb_cpDampedSpring_init, 7);
+	ACCESSOR_METHODS(cpDampedSpring, Anchr1, anchr1)
+	ACCESSOR_METHODS(cpDampedSpring, Anchr2, anchr2)
+	ACCESSOR_METHODS(cpDampedSpring, RestLength, rest_length)
+	ACCESSOR_METHODS(cpDampedSpring, Stiffness, stiffness)
+	ACCESSOR_METHODS(cpDampedSpring, Damping, damping)
+  
+  VALUE c_cpGearJoint = make_class("GearJoint", rb_cpGearJoint_alloc, rb_cpGearJoint_init, 4);
+  ACCESSOR_METHODS(cpGearJoint, Phase, phase)
+  ACCESSOR_METHODS(cpGearJoint, Ratio, ratio)
+  
+  VALUE c_cpGrooveJoint = make_class("GrooveJoint", rb_cpGrooveJoint_alloc, rb_cpGrooveJoint_init, 5);
+  ACCESSOR_METHODS(cpGrooveJoint, Anchr2, anchr2)
+  
+
+  VALUE c_cpPinJoint = make_class("PinJoint", rb_cpPinJoint_alloc, rb_cpPinJoint_init, 4);
+  ACCESSOR_METHODS(cpPinJoint, Anchr1, anchr1)
+  ACCESSOR_METHODS(cpPinJoint, Anchr2, anchr2)
+  ACCESSOR_METHODS(cpPinJoint, Dist, dist)
+
+	
+	VALUE c_cpPivotJoint = make_class("PivotJoint", rb_cpPivotJoint_alloc, rb_cpPivotJoint_init, 4);
+	ACCESSOR_METHODS(cpPivotJoint, Anchr1, anchr1)
+	ACCESSOR_METHODS(cpPivotJoint, Anchr2, anchr2)
+	
+	VALUE c_cpRotaryLimitJoint = make_class("RotaryLimitJoint", rb_cpRotaryLimitJoint_alloc, rb_cpRotaryLimitJoint_init, 4);
+	ACCESSOR_METHODS(cpRotaryLimitJoint, Min, min)
+	ACCESSOR_METHODS(cpRotaryLimitJoint, Max, max)
+	
+	VALUE c_cpSimpleMotor = make_class("SimpleMotor", rb_cpSimpleMotor_alloc, rb_cpSimpleMotor_init, 3);
+	ACCESSOR_METHODS(cpSimpleMotor, Rate, rate);
+	
+	VALUE c_cpSlideJoint = make_class("SlideJoint", rb_cpSlideJoint_alloc, rb_cpSlideJoint_init, 6);
+	ACCESSOR_METHODS(cpSlideJoint, Anchr1, anchr1)
+	ACCESSOR_METHODS(cpSlideJoint, Anchr2, anchr2)
+	ACCESSOR_METHODS(cpSlideJoint, Min, min)
+	ACCESSOR_METHODS(cpSlideJoint, Max, max)
+  
+  
+  VALUE c_cpRatchetJoint = make_class("RatchetJoint", rb_cpRatchetJoint_alloc, rb_cpRatchetJoint_init, 4);
+  ACCESSOR_METHODS(cpRatchetJoint, Angle, angle)
+  ACCESSOR_METHODS(cpRatchetJoint, Phase, phase)
+  ACCESSOR_METHODS(cpRatchetJoint, Ratchet, ratchet)
+  
+	
+  // TODO: breakable joints. Seems to be missing in chipmunk 5.4.3.
+  
+}