chipmunk 5.2.2 → 5.3.4.0

data/lib/chipmunk.rb

@@ -1,30 +1,183 @@
-# this redirection script by John Mair (banisterfiend)
-
-direc = File.dirname(__FILE__)
-
-require 'rbconfig'
-require "#{direc}/chipmunk/version"
-
-dlext = Config::CONFIG['DLEXT']
-begin
-    if RUBY_VERSION && RUBY_VERSION =~ /1.9/
-        require "#{direc}/1.9/chipmunk.#{dlext}"
-    else
-        require "#{direc}/1.8/chipmunk.#{dlext}"
-    end
-rescue LoadError => e
-    require "#{direc}/chipmunk.#{dlext}"
-end
-
-# Add some constants to CP here, so we don't need 
-# to do it in the C code.
-# Let's cheat a bit here.. :p
-
-module CP
-  ZERO_VEC_2 = Vec2.new(0,0).freeze
-  ALL_ONES   = Vec2.new(1,1).freeze
-end  
- 
-
-
-
+# this redirection script by John Mair (banisterfiend)
+
+require 'rbconfig'
+
+direc = File.dirname(__FILE__)
+dlext = Config::CONFIG['DLEXT']
+begin
+    if RUBY_VERSION && RUBY_VERSION =~ /1.9/
+        require "#{direc}/1.9/chipmunk.#{dlext}"
+    else
+        require "#{direc}/1.8/chipmunk.#{dlext}"
+    end
+rescue LoadError => e
+    require "#{direc}/chipmunk.#{dlext}"
+end
+
+# Add some constants to CP here, so we don't need 
+# to do it in the C code.
+# Let's cheat a bit here.. :p
+
+module CP
+  VERSION    = '5.4.3' 
+  ZERO_VEC_2 = Vec2.new(0,0).freeze
+  ALL_ONES   = Vec2.new(1,1).freeze
+end  
+ 
+# Extra functionality added by Slembkce and Beoran.
+
+module CP
+  # Chipmunk Object
+  # Makes it easier to manage complex objects that reference many primitive Chipmunk objects such as bodies shapes and constraints.
+  # New composite objects simply need to include CP::Object and call #init_chipmunk_object(*objects) with the
+  # composite and primitive Chipmunk objects that make up itself.
+  module Object
+    # Returns the list of primitive Chipmunk objects (bodies, shapes and constraints)
+    # that this composite object references directly and indirectly.
+    def chipmunk_objects
+      if @chipmunk_objects
+        return @chipmunk_objects
+      else
+        raise "This CP::Object (#{self.class}) did not call #init_chipmunk_object."
+      end
+    end
+    
+    private
+    # Should be called during initialization of a CP::Object to set what primitive
+    # and composite Chipmunk objects this object references.
+    def init_chipmunk_object(*objs)
+      bad_objs = objs.reject{|obj| obj.is_a?(CP::Object)}
+      raise(ArgumentError, "The following objects: #{bad_objs.inspect} are not CP::Objects") unless bad_objs.empty?
+
+      @chipmunk_objects = objs.inject([]){|sum, obj| sum + obj.chipmunk_objects}.uniq
+    end
+  end
+  
+  class Body
+    include CP::Object
+
+    def chipmunk_objects
+      [self]
+    end
+    
+    def add_to_space(space)
+      space.add_body(self)
+    end
+    
+    def remove_from_space(space)
+      space.remove_body(self)
+    end
+    
+  end
+  
+  module Shape
+    include CP::Object
+    
+    def chipmunk_objects
+      [self]
+    end
+    
+    def add_to_space(space)
+      space.add_shape(self)
+    end
+    
+    def remove_from_space(space)
+      space.remove_shape(self)
+    end
+  end
+    
+  module Constraint
+    include CP::Object
+    
+    def chipmunk_objects
+      [self]
+    end
+    
+    def add_to_space(space)
+      space.add_constraint(self)
+    end
+    
+    def remove_from_space(space)
+      space.remove_constraint(self)
+    end
+  end
+  
+  class Space
+    def add_object(obj)
+      obj.chipmunk_objects.each{|elt| elt.add_to_space(self)}
+    end
+    
+    def add_objects(*objs)
+      objs.each{|obj| add_object(obj)}
+    end
+    
+    def remove_object(obj)
+      obj.chipmunk_objects.each{|elt| elt.remove_from_space(self)}
+    end
+    
+    def remove_objects(*objs)
+      objs.each{|obj| remove_object(obj)}
+    end
+    
+  end
+  
+  class Vec2
+    ZERO = Vec2.new(0,0).freeze
+  end
+  
+  # define the helpers here( easier than in the extension.
+  class SegmentQueryInfo
+    def hit_point(start, stop)
+      return start.lerp(stop, self.t)
+    end
+    
+    def hit_dist(start, stop)
+      return start.dist(stop) * self.t
+    end
+  end  
+  
+  
+end
+
+
+# Create derived static objects that know to add themselves as static.
+module CP
+  class StaticBody < Body
+    def initialize
+      super(Float::INFINITY, Float::INFINITY)
+    end
+    
+    def chipmunk_objects
+      # return [] instead of [self] so the static body will not be added.
+      []
+    end
+  end
+  
+  module StaticShape
+    include Shape
+    
+    class Circle < Shape::Circle
+      include StaticShape
+    end
+    
+    class Segment < Shape::Segment
+      include StaticShape
+    end
+    
+    class Poly < Shape::Poly
+      include StaticShape
+    end
+
+    def add_to_space(space)
+      space.add_static_shape(self)
+    end
+    
+    def remove_from_space(space)
+      space.remove_static_shape(self)
+    end
+  end
+end
+ 
+
+
+

metadata

@@ -1,13 +1,13 @@
 --- !ruby/object:Gem::Specification 
 name: chipmunk
 version: !ruby/object:Gem::Version 
-  hash: 59
   prerelease: false
   segments: 
   - 5
-  - 2
-  - 2
-  version: 5.2.2
+  - 3
+  - 4
+  - 0
+  version: 5.3.4.0
 platform: ruby
 authors: 
 - Scott Lembcke, Beoran, John Mair (banisterfiend)
@@ -15,11 +15,11 @@ autorequire:
 bindir: bin
 cert_chain: []
 
-date: 2010-07-25 00:00:00 +12:00
+date: 2011-05-01 00:00:00 +02:00
 default_executable: 
 dependencies: []
 
-description: ruby bindings for the chipmunk 5.1.0 physics engine
+description: "Enhanced ruby bindings for the chipmunk 5.3.4 game physics engine. "
 email: beoran@rubyforge.com
 executables: []
 
@@ -32,70 +32,18 @@ files:
 - README
 - LICENSE
 - lib/chipmunk.rb
-- lib/chipmunk/version.rb
 - ext/chipmunk/extconf.rb
-- ext/chipmunk/include/chipmunk/chipmunk.h
-- ext/chipmunk/include/chipmunk/chipmunk_ffi.h
-- ext/chipmunk/include/chipmunk/chipmunk_types.h
-- ext/chipmunk/include/chipmunk/chipmunk_unsafe.h
-- ext/chipmunk/include/chipmunk/constraints/cpConstraint.h
-- ext/chipmunk/include/chipmunk/constraints/cpDampedRotarySpring.h
-- ext/chipmunk/include/chipmunk/constraints/cpDampedSpring.h
-- ext/chipmunk/include/chipmunk/constraints/cpGearJoint.h
-- ext/chipmunk/include/chipmunk/constraints/cpGrooveJoint.h
-- ext/chipmunk/include/chipmunk/constraints/cpPinJoint.h
-- ext/chipmunk/include/chipmunk/constraints/cpPivotJoint.h
-- ext/chipmunk/include/chipmunk/constraints/cpRatchetJoint.h
-- ext/chipmunk/include/chipmunk/constraints/cpRotaryLimitJoint.h
-- ext/chipmunk/include/chipmunk/constraints/cpSimpleMotor.h
-- ext/chipmunk/include/chipmunk/constraints/cpSlideJoint.h
-- ext/chipmunk/include/chipmunk/constraints/util.h
-- ext/chipmunk/include/chipmunk/cpArbiter.h
-- ext/chipmunk/include/chipmunk/cpArray.h
-- ext/chipmunk/include/chipmunk/cpBB.h
-- ext/chipmunk/include/chipmunk/cpBody.h
-- ext/chipmunk/include/chipmunk/cpCollision.h
-- ext/chipmunk/include/chipmunk/cpHashSet.h
-- ext/chipmunk/include/chipmunk/cpPolyShape.h
-- ext/chipmunk/include/chipmunk/cpShape.h
-- ext/chipmunk/include/chipmunk/cpSpace.h
-- ext/chipmunk/include/chipmunk/cpSpaceHash.h
-- ext/chipmunk/include/chipmunk/cpVect.h
-- ext/chipmunk/prime.h
 - ext/chipmunk/rb_chipmunk.h
-- ext/chipmunk/chipmunk.c
-- ext/chipmunk/cpArbiter.c
-- ext/chipmunk/cpArray.c
-- ext/chipmunk/cpBB.c
-- ext/chipmunk/cpBody.c
-- ext/chipmunk/cpCollision.c
-- ext/chipmunk/cpConstraint.c
-- ext/chipmunk/cpDampedRotarySpring.c
-- ext/chipmunk/cpDampedSpring.c
-- ext/chipmunk/cpGearJoint.c
-- ext/chipmunk/cpGrooveJoint.c
-- ext/chipmunk/cpHashSet.c
-- ext/chipmunk/cpPinJoint.c
-- ext/chipmunk/cpPivotJoint.c
-- ext/chipmunk/cpPolyShape.c
-- ext/chipmunk/cpRatchetJoint.c
-- ext/chipmunk/cpRotaryLimitJoint.c
-- ext/chipmunk/cpShape.c
-- ext/chipmunk/cpSimpleMotor.c
-- ext/chipmunk/cpSlideJoint.c
-- ext/chipmunk/cpSpace.c
-- ext/chipmunk/cpSpaceHash.c
-- ext/chipmunk/cpVect.c
 - ext/chipmunk/rb_chipmunk.c
-- ext/chipmunk/rb_cpArbiter.c
-- ext/chipmunk/rb_cpBB.c
 - ext/chipmunk/rb_cpBody.c
-- ext/chipmunk/rb_cpConstraint.c
+- ext/chipmunk/rb_cpBB.c
 - ext/chipmunk/rb_cpShape.c
-- ext/chipmunk/rb_cpSpace.c
+- ext/chipmunk/rb_cpConstraint.c
 - ext/chipmunk/rb_cpVect.c
+- ext/chipmunk/rb_cpArbiter.c
+- ext/chipmunk/rb_cpSpace.c
 has_rdoc: true
-homepage: http://code.google.com/p/chipmunk-physics/
+homepage: https://github.com/beoran/chipmunk
 licenses: []
 
 post_install_message: 
@@ -108,7 +56,6 @@ required_ruby_version: !ruby/object:Gem::Requirement
   requirements: 
   - - ">="
     - !ruby/object:Gem::Version 
-      hash: 3
       segments: 
       - 0
       version: "0"
@@ -117,7 +64,6 @@ required_rubygems_version: !ruby/object:Gem::Requirement
   requirements: 
   - - ">="
     - !ruby/object:Gem::Version 
-      hash: 3
       segments: 
       - 0
       version: "0"
@@ -127,6 +73,6 @@ rubyforge_project:
 rubygems_version: 1.3.7
 signing_key: 
 specification_version: 3
-summary: ruby bindings for the chipmunk 5.1.0 physics engine
+summary: Enhanced ruby bindings for the chipmunk 5.3.4 game physics engine.
 test_files: []
 

data/ext/chipmunk/chipmunk.c

@@ -1,105 +0,0 @@
-/* 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 <stdio.h>
-
-#include "chipmunk.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-	void cpInitCollisionFuncs(void);
-#ifdef __cplusplus
-}
-#endif
-
-void
-cpMessage(char *message, char *condition, char *file, int line, int isError)
-{
-	fprintf(stderr, (isError ? "Aborting due to Chipmunk error: %s\n" : "Chipmunk warning: %s\n"), message);
-	fprintf(stderr, "\tFailed condition: %s\n", condition);
-	fprintf(stderr, "\tSource:%s:%d\n", file, line);
-	
-	if(isError) abort();
-}
-
-
-char *cpVersionString = "5.x.x";
-
-void
-cpInitChipmunk(void)
-{
-#ifndef NDEBUG
-	printf("Initializing Chipmunk v%s (Debug Enabled)\n", cpVersionString);
-	printf("Compile with -DNDEBUG defined to disable debug mode and runtime assertion checks\n");
-#endif
-	
-	cpInitCollisionFuncs();
-}
-
-cpFloat
-cpMomentForCircle(cpFloat m, cpFloat r1, cpFloat r2, cpVect offset)
-{
-	return (1.0f/2.0f)*m*(r1*r1 + r2*r2) + m*cpvdot(offset, offset);
-}
-
-cpFloat
-cpMomentForSegment(cpFloat m, cpVect a, cpVect b)
-{
-	cpFloat length = cpvlength(cpvsub(b, a));
-	cpVect offset = cpvmult(cpvadd(a, b), 1.0f/2.0f);
-	
-	return m*length*length/12.0f + m*cpvdot(offset, offset);
-}
-
-cpFloat
-cpMomentForPoly(cpFloat m, const int numVerts, cpVect *verts, cpVect offset)
-{
-	cpVect *tVerts = (cpVect *)cpcalloc(numVerts, sizeof(cpVect));
-	for(int i=0; i<numVerts; i++)
-		tVerts[i] = cpvadd(verts[i], offset);
-	
-	cpFloat sum1 = 0.0f;
-	cpFloat sum2 = 0.0f;
-	for(int i=0; i<numVerts; i++){
-		cpVect v1 = tVerts[i];
-		cpVect v2 = tVerts[(i+1)%numVerts];
-		
-		cpFloat a = cpvcross(v2, v1);
-		cpFloat b = cpvdot(v1, v1) + cpvdot(v1, v2) + cpvdot(v2, v2);
-		
-		sum1 += a*b;
-		sum2 += a;
-	}
-	
-	cpfree(tVerts);
-	return (m*sum1)/(6.0f*sum2);
-}
-
-cpFloat
-cpMomentForBox(cpFloat m, cpFloat width, cpFloat height)
-{
-	return m*(width*width + height*height)/12.0;
-}
-
-
-#include "chipmunk_ffi.h"

data/ext/chipmunk/cpArbiter.c

@@ -1,274 +0,0 @@
-/* Copyright (c) 2007 Scott Lembcke
- * 
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- * 
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
- */
- 
-#include <stdlib.h>
-
-#include "chipmunk.h"
-#include "constraints/util.h"
-
-cpFloat cp_bias_coef = 0.1f;
-cpFloat cp_collision_slop = 0.1f;
-
-cpContact*
-cpContactInit(cpContact *con, cpVect p, cpVect n, cpFloat dist, cpHashValue hash)
-{
-	con->p = p;
-	con->n = n;
-	con->dist = dist;
-	
-	con->jnAcc = 0.0f;
-	con->jtAcc = 0.0f;
-	con->jBias = 0.0f;
-	
-	con->hash = hash;
-		
-	return con;
-}
-
-cpVect
-cpArbiterTotalImpulse(cpArbiter *arb)
-{
-	cpContact *contacts = arb->contacts;
-	cpVect sum = cpvzero;
-	
-	for(int i=0, count=arb->numContacts; i<count; i++){
-		cpContact *con = &contacts[i];
-		sum = cpvadd(sum, cpvmult(con->n, con->jnAcc));
-	}
-		
-	return sum;
-}
-
-cpVect
-cpArbiterTotalImpulseWithFriction(cpArbiter *arb)
-{
-	cpContact *contacts = arb->contacts;
-	cpVect sum = cpvzero;
-	
-	for(int i=0, count=arb->numContacts; i<count; i++){
-		cpContact *con = &contacts[i];
-		sum = cpvadd(sum, cpvrotate(con->n, cpv(con->jnAcc, con->jtAcc)));
-	}
-		
-	return sum;
-}
-
-cpFloat
-cpContactsEstimateCrushingImpulse(cpContact *contacts, int numContacts)
-{
-	cpFloat fsum = 0.0f;
-	cpVect vsum = cpvzero;
-	
-	for(int i=0; i<numContacts; i++){
-		cpContact *con = &contacts[i];
-		cpVect j = cpvrotate(con->n, cpv(con->jnAcc, con->jtAcc));
-		
-		fsum += cpvlength(j);
-		vsum = cpvadd(vsum, j);
-	}
-	
-	cpFloat vmag = cpvlength(vsum);
-	return (1.0f - vmag/fsum);
-}
-
-void
-cpArbiterIgnore(cpArbiter *arb)
-{
-	arb->state = cpArbiterStateIgnore;
-}
-
-cpArbiter*
-cpArbiterAlloc(void)
-{
-	return (cpArbiter *)cpcalloc(1, sizeof(cpArbiter));
-}
-
-cpArbiter*
-cpArbiterInit(cpArbiter *arb, cpShape *a, cpShape *b)
-{
-	arb->numContacts = 0;
-	arb->contacts = NULL;
-	
-	arb->private_a = a;
-	arb->private_b = b;
-	
-	arb->stamp = -1;
-	arb->state = cpArbiterStateFirstColl;
-	
-	return arb;
-}
-
-cpArbiter*
-cpArbiterNew(cpShape *a, cpShape *b)
-{
-	return cpArbiterInit(cpArbiterAlloc(), a, b);
-}
-
-void
-cpArbiterDestroy(cpArbiter *arb)
-{
-//	if(arb->contacts) cpfree(arb->contacts);
-}
-
-void
-cpArbiterFree(cpArbiter *arb)
-{
-	if(arb){
-		cpArbiterDestroy(arb);
-		cpfree(arb);
-	}
-}
-
-void
-cpArbiterUpdate(cpArbiter *arb, cpContact *contacts, int numContacts, cpCollisionHandler *handler, cpShape *a, cpShape *b)
-{
-	// Arbiters without contact data may exist if a collision function rejected the collision.
-	if(arb->contacts){
-		// Iterate over the possible pairs to look for hash value matches.
-		for(int i=0; i<arb->numContacts; i++){
-			cpContact *old = &arb->contacts[i];
-			
-			for(int j=0; j<numContacts; j++){
-				cpContact *new_contact = &contacts[j];
-				
-				// This could trigger false positives, but is fairly unlikely nor serious if it does.
-				if(new_contact->hash == old->hash){
-					// Copy the persistant contact information.
-					new_contact->jnAcc = old->jnAcc;
-					new_contact->jtAcc = old->jtAcc;
-				}
-			}
-		}
-
-//		cpfree(arb->contacts);
-	}
-	
-	arb->contacts = contacts;
-	arb->numContacts = numContacts;
-	
-	arb->handler = handler;
-	arb->swappedColl = (a->collision_type != handler->a);
-	
-	arb->e = a->e * b->e;
-	arb->u = a->u * b->u;
-	arb->surface_vr = cpvsub(a->surface_v, b->surface_v);
-	
-	// For collisions between two similar primitive types, the order could have been swapped.
-	arb->private_a = a; arb->private_b = b;
-}
-
-void
-cpArbiterPreStep(cpArbiter *arb, cpFloat dt_inv)
-{
-	cpShape *shapea = arb->private_a;
-	cpShape *shapeb = arb->private_b;
-
-	cpBody *a = shapea->body;
-	cpBody *b = shapeb->body;
-	
-	for(int i=0; i<arb->numContacts; i++){
-		cpContact *con = &arb->contacts[i];
-		
-		// Calculate the offsets.
-		con->r1 = cpvsub(con->p, a->p);
-		con->r2 = cpvsub(con->p, b->p);
-		
-		// Calculate the mass normal and mass tangent.
-		con->nMass = 1.0f/k_scalar(a, b, con->r1, con->r2, con->n);
-		con->tMass = 1.0f/k_scalar(a, b, con->r1, con->r2, cpvperp(con->n));
-				
-		// Calculate the target bias velocity.
-		con->bias = -cp_bias_coef*dt_inv*cpfmin(0.0f, con->dist + cp_collision_slop);
-		con->jBias = 0.0f;
-		
-		// Calculate the target bounce velocity.
-		con->bounce = normal_relative_velocity(a, b, con->r1, con->r2, con->n)*arb->e;//cpvdot(con->n, cpvsub(v2, v1))*e;
-	}
-}
-
-void
-cpArbiterApplyCachedImpulse(cpArbiter *arb)
-{
-	cpShape *shapea = arb->private_a;
-	cpShape *shapeb = arb->private_b;
-		
-	arb->u = shapea->u * shapeb->u;
-	arb->surface_vr = cpvsub(shapeb->surface_v, shapea->surface_v);
-
-	cpBody *a = shapea->body;
-	cpBody *b = shapeb->body;
-	
-	for(int i=0; i<arb->numContacts; i++){
-		cpContact *con = &arb->contacts[i];
-		apply_impulses(a, b, con->r1, con->r2, cpvrotate(con->n, cpv(con->jnAcc, con->jtAcc)));
-	}
-}
-
-void
-cpArbiterApplyImpulse(cpArbiter *arb, cpFloat eCoef)
-{
-	cpBody *a = arb->private_a->body;
-	cpBody *b = arb->private_b->body;
-
-	for(int i=0; i<arb->numContacts; i++){
-		cpContact *con = &arb->contacts[i];
-		cpVect n = con->n;
-		cpVect r1 = con->r1;
-		cpVect r2 = con->r2;
-		
-		// Calculate the relative bias velocities.
-		cpVect vb1 = cpvadd(a->v_bias, cpvmult(cpvperp(r1), a->w_bias));
-		cpVect vb2 = cpvadd(b->v_bias, cpvmult(cpvperp(r2), b->w_bias));
-		cpFloat vbn = cpvdot(cpvsub(vb2, vb1), n);
-		
-		// Calculate and clamp the bias impulse.
-		cpFloat jbn = (con->bias - vbn)*con->nMass;
-		cpFloat jbnOld = con->jBias;
-		con->jBias = cpfmax(jbnOld + jbn, 0.0f);
-		jbn = con->jBias - jbnOld;
-		
-		// Apply the bias impulse.
-		apply_bias_impulses(a, b, r1, r2, cpvmult(n, jbn));
-
-		// Calculate the relative velocity.
-		cpVect vr = relative_velocity(a, b, r1, r2);
-		cpFloat vrn = cpvdot(vr, n);
-		
-		// Calculate and clamp the normal impulse.
-		cpFloat jn = -(con->bounce*eCoef + vrn)*con->nMass;
-		cpFloat jnOld = con->jnAcc;
-		con->jnAcc = cpfmax(jnOld + jn, 0.0f);
-		jn = con->jnAcc - jnOld;
-		
-		// Calculate the relative tangent velocity.
-		cpFloat vrt = cpvdot(cpvadd(vr, arb->surface_vr), cpvperp(n));
-		
-		// Calculate and clamp the friction impulse.
-		cpFloat jtMax = arb->u*con->jnAcc;
-		cpFloat jt = -vrt*con->tMass;
-		cpFloat jtOld = con->jtAcc;
-		con->jtAcc = cpfclamp(jtOld + jt, -jtMax, jtMax);
-		jt = con->jtAcc - jtOld;
-		
-		// Apply the final impulse.
-		apply_impulses(a, b, r1, r2, cpvrotate(n, cpv(jn, jt)));
-	}
-}