chipmunk 5.2.2 → 5.3.4.0

data/ext/chipmunk/cpArray.c

@@ -1,128 +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 <string.h>
-
-#include "chipmunk.h"
-
-
-//#define CP_ARRAY_INCREMENT 10
-
-// NOTE: cpArray is rarely used and will probably go away.
-
-cpArray*
-cpArrayAlloc(void)
-{
-	return (cpArray *)cpcalloc(1, sizeof(cpArray));
-}
-
-cpArray*
-cpArrayInit(cpArray *arr, int size)
-{
-	arr->num = 0;
-	
-	size = (size ? size : 4);
-	arr->max = size;
-	arr->arr = (void **)cpmalloc(size*sizeof(void**));
-	
-	return arr;
-}
-
-cpArray*
-cpArrayNew(int size)
-{
-	return cpArrayInit(cpArrayAlloc(), size);
-}
-
-void
-cpArrayDestroy(cpArray *arr)
-{
-	cpfree(arr->arr);
-}
-
-void
-cpArrayFree(cpArray *arr)
-{
-	if(arr){
-		cpArrayDestroy(arr);
-		cpfree(arr);
-	}
-}
-
-void
-cpArrayPush(cpArray *arr, void *object)
-{
-	if(arr->num == arr->max){
-		arr->max *= 2;
-		arr->arr = (void **)cprealloc(arr->arr, arr->max*sizeof(void**));
-	}
-	
-	arr->arr[arr->num] = object;
-	arr->num++;
-}
-
-void *
-cpArrayPop(cpArray *arr)
-{
-	arr->num--;
-	
-	void *value = arr->arr[arr->num];
-	arr->arr[arr->num] = NULL;
-	
-	return value;
-}
-
-void
-cpArrayDeleteIndex(cpArray *arr, int idx)
-{
-	arr->num--;
-	
-	arr->arr[idx] = arr->arr[arr->num];
-	arr->arr[arr->num] = NULL;
-}
-
-void
-cpArrayDeleteObj(cpArray *arr, void *obj)
-{
-	for(int i=0; i<arr->num; i++){
-		if(arr->arr[i] == obj){
-			cpArrayDeleteIndex(arr, i);
-			return;
-		}
-	}
-}
-
-void
-cpArrayEach(cpArray *arr, cpArrayIter iterFunc, void *data)
-{
-	for(int i=0; i<arr->num; i++)
-		iterFunc(arr->arr[i], data);
-}
-
-int
-cpArrayContains(cpArray *arr, void *ptr)
-{
-	for(int i=0; i<arr->num; i++)
-		if(arr->arr[i] == ptr) return 1;
-	
-	return 0;
-}

data/ext/chipmunk/cpBB.c

@@ -1,47 +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 <math.h>
-#include <stdlib.h>
-
-#include "chipmunk.h"
-
-cpVect
-cpBBClampVect(const cpBB bb, const cpVect v)
-{
-	cpFloat x = cpfmin(cpfmax(bb.l, v.x), bb.r);
-	cpFloat y = cpfmin(cpfmax(bb.b, v.y), bb.t);
-	return cpv(x, y);
-}
-
-cpVect
-cpBBWrapVect(const cpBB bb, const cpVect v)
-{
-	cpFloat ix = cpfabs(bb.r - bb.l);
-	cpFloat modx = cpfmod(v.x - bb.l, ix);
-	cpFloat x = (modx > 0.0f) ? modx : modx + ix;
-	
-	cpFloat iy = cpfabs(bb.t - bb.b);
-	cpFloat mody = cpfmod(v.y - bb.b, iy);
-	cpFloat y = (mody > 0.0f) ? mody : mody + iy;
-	
-	return cpv(x + bb.l, y + bb.b);
-}

data/ext/chipmunk/cpBody.c

@@ -1,188 +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 <float.h>
-
-#include "chipmunk.h"
-
-cpBody*
-cpBodyAlloc(void)
-{
-	return (cpBody *)cpmalloc(sizeof(cpBody));
-}
-
-cpBodyVelocityFunc cpBodyUpdateVelocityDefault = cpBodyUpdateVelocity;
-cpBodyPositionFunc cpBodyUpdatePositionDefault = cpBodyUpdatePosition;
-
-cpBody*
-cpBodyInit(cpBody *body, cpFloat m, cpFloat i)
-{
-	body->velocity_func = cpBodyUpdateVelocityDefault;
-	body->position_func = cpBodyUpdatePositionDefault;
-	
-	cpBodySetMass(body, m);
-	cpBodySetMoment(body, i);
-
-	body->p = cpvzero;
-	body->v = cpvzero;
-	body->f = cpvzero;
-	
-	cpBodySetAngle(body, 0.0f);
-	body->w = 0.0f;
-	body->t = 0.0f;
-	
-	body->v_bias = cpvzero;
-	body->w_bias = 0.0f;
-	
-	body->data = NULL;
-	body->v_limit = (cpFloat)INFINITY;
-	body->w_limit = (cpFloat)INFINITY;
-//	body->active = 1;
-
-	return body;
-}
-
-cpBody*
-cpBodyNew(cpFloat m, cpFloat i)
-{
-	return cpBodyInit(cpBodyAlloc(), m, i);
-}
-
-void cpBodyDestroy(cpBody *body){}
-
-void
-cpBodyFree(cpBody *body)
-{
-	if(body){
-		cpBodyDestroy(body);
-		cpfree(body);
-	}
-}
-
-void
-cpBodySetMass(cpBody *body, cpFloat mass)
-{
-	body->m = mass;
-	body->m_inv = 1.0f/mass;
-}
-
-void
-cpBodySetMoment(cpBody *body, cpFloat moment)
-{
-	body->i = moment;
-	body->i_inv = 1.0f/moment;
-}
-
-void
-cpBodySetAngle(cpBody *body, cpFloat angle)
-{
-	body->a = angle;//fmod(a, (cpFloat)M_PI*2.0f);
-	body->rot = cpvforangle(angle);
-}
-
-void
-cpBodySlew(cpBody *body, cpVect pos, cpFloat dt)
-{
-	cpVect delta = cpvsub(pos, body->p);
-	body->v = cpvmult(delta, 1.0f/dt);
-}
-
-void
-cpBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt)
-{
-	body->v = cpvclamp(cpvadd(cpvmult(body->v, damping), cpvmult(cpvadd(gravity, cpvmult(body->f, body->m_inv)), dt)), body->v_limit);
-	
-	cpFloat w_limit = body->w_limit;
-	body->w = cpfclamp(body->w*damping + body->t*body->i_inv*dt, -w_limit, w_limit);
-}
-
-void
-cpBodyUpdatePosition(cpBody *body, cpFloat dt)
-{
-	body->p = cpvadd(body->p, cpvmult(cpvadd(body->v, body->v_bias), dt));
-	cpBodySetAngle(body, body->a + (body->w + body->w_bias)*dt);
-	
-	body->v_bias = cpvzero;
-	body->w_bias = 0.0f;
-}
-
-void
-cpBodyResetForces(cpBody *body)
-{
-	body->f = cpvzero;
-	body->t = 0.0f;
-}
-
-void
-cpBodyApplyForce(cpBody *body, cpVect force, cpVect r)
-{
-	body->f = cpvadd(body->f, force);
-	body->t += cpvcross(r, force);
-}
-
-void
-cpApplyDampedSpring(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat rlen, cpFloat k, cpFloat dmp, cpFloat dt)
-{
-	// Calculate the world space anchor coordinates.
-	cpVect r1 = cpvrotate(anchr1, a->rot);
-	cpVect r2 = cpvrotate(anchr2, b->rot);
-	
-	cpVect delta = cpvsub(cpvadd(b->p, r2), cpvadd(a->p, r1));
-	cpFloat dist = cpvlength(delta);
-	cpVect n = dist ? cpvmult(delta, 1.0f/dist) : cpvzero;
-	
-	cpFloat f_spring = (dist - rlen)*k;
-
-	// Calculate the world relative velocities of the anchor points.
-	cpVect v1 = cpvadd(a->v, cpvmult(cpvperp(r1), a->w));
-	cpVect v2 = cpvadd(b->v, cpvmult(cpvperp(r2), b->w));
-	
-	// Calculate the damping force.
-	// This really should be in the impulse solver and can produce problems when using large damping values.
-	cpFloat vrn = cpvdot(cpvsub(v2, v1), n);
-	cpFloat f_damp = vrn*cpfmin(dmp, 1.0f/(dt*(a->m_inv + b->m_inv)));
-	
-	// Apply!
-	cpVect f = cpvmult(n, f_spring + f_damp);
-	cpBodyApplyForce(a, f, r1);
-	cpBodyApplyForce(b, cpvneg(f), r2);
-}
-
-//int
-//cpBodyMarkLowEnergy(cpBody *body, cpFloat dvsq, int max)
-//{
-//	cpFloat ke = body->m*cpvdot(body->v, body->v);
-//	cpFloat re = body->i*body->w*body->w;
-//	
-//	if(ke + re > body->m*dvsq)
-//		body->active = 1;
-//	else if(body->active)
-//		body->active = (body->active + 1)%(max + 1);
-//	else {
-//		body->v = cpvzero;
-//		body->v_bias = cpvzero;
-//		body->w = 0.0f;
-//		body->w_bias = 0.0f;
-//	}
-//	
-//	return body->active;
-//}

data/ext/chipmunk/cpCollision.c

@@ -1,391 +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 <math.h>
-#include <stdio.h>
-
-#include "chipmunk.h"
-
-typedef int (*collisionFunc)(cpShape *, cpShape *, cpContact *);
-
-// Add contact points for circle to circle collisions.
-// Used by several collision tests.
-static int
-circle2circleQuery(cpVect p1, cpVect p2, cpFloat r1, cpFloat r2, cpContact *con)
-{
-	cpFloat mindist = r1 + r2;
-	cpVect delta = cpvsub(p2, p1);
-	cpFloat distsq = cpvlengthsq(delta);
-	if(distsq >= mindist*mindist) return 0;
-	
-	cpFloat dist = cpfsqrt(distsq);
-	// To avoid singularities, do nothing in the case of dist = 0.
-	cpFloat non_zero_dist = (dist ? dist : INFINITY);
-
-	// Allocate and initialize the contact.
-	cpContactInit(
-		con,
-		cpvadd(p1, cpvmult(delta, 0.5f + (r1 - 0.5f*mindist)/non_zero_dist)),
-		cpvmult(delta, 1.0f/non_zero_dist),
-		dist - mindist,
-		0
-	);
-	
-	return 1;
-}
-
-// Collide circle shapes.
-static int
-circle2circle(cpShape *shape1, cpShape *shape2, cpContact *arr)
-{
-	cpCircleShape *circ1 = (cpCircleShape *)shape1;
-	cpCircleShape *circ2 = (cpCircleShape *)shape2;
-	
-	return circle2circleQuery(circ1->tc, circ2->tc, circ1->r, circ2->r, arr);
-}
-
-// Collide circles to segment shapes.
-static int
-circle2segment(cpShape *circleShape, cpShape *segmentShape, cpContact *con)
-{
-	cpCircleShape *circ = (cpCircleShape *)circleShape;
-	cpSegmentShape *seg = (cpSegmentShape *)segmentShape;
-	
-	// Radius sum
-	cpFloat rsum = circ->r + seg->r;
-	
-	// Calculate normal distance from segment.
-	cpFloat dn = cpvdot(seg->tn, circ->tc) - cpvdot(seg->ta, seg->tn);
-	cpFloat dist = cpfabs(dn) - rsum;
-	if(dist > 0.0f) return 0;
-	
-	// Calculate tangential distance along segment.
-	cpFloat dt = -cpvcross(seg->tn, circ->tc);
-	cpFloat dtMin = -cpvcross(seg->tn, seg->ta);
-	cpFloat dtMax = -cpvcross(seg->tn, seg->tb);
-	
-	// Decision tree to decide which feature of the segment to collide with.
-	if(dt < dtMin){
-		if(dt < (dtMin - rsum)){
-			return 0;
-		} else {
-			return circle2circleQuery(circ->tc, seg->ta, circ->r, seg->r, con);
-		}
-	} else {
-		if(dt < dtMax){
-			cpVect n = (dn < 0.0f) ? seg->tn : cpvneg(seg->tn);
-			cpContactInit(
-				con,
-				cpvadd(circ->tc, cpvmult(n, circ->r + dist*0.5f)),
-				n,
-				dist,
-				0				 
-			);
-			return 1;
-		} else {
-			if(dt < (dtMax + rsum)) {
-				return circle2circleQuery(circ->tc, seg->tb, circ->r, seg->r, con);
-			} else {
-				return 0;
-			}
-		}
-	}
-	
-	return 1;
-}
-
-// Helper function for working with contact buffers
-// This used to malloc/realloc memory on the fly but was repurposed.
-static cpContact *
-nextContactPoint(cpContact *arr, int *numPtr)
-{
-	int num = *numPtr;
-	
-	if(num <= CP_MAX_CONTACTS_PER_ARBITER)
-		(*numPtr) = num + 1;
-	
-	return &arr[num];
-}
-
-// Find the minimum separating axis for the give poly and axis list.
-static inline int
-findMSA(cpPolyShape *poly, cpPolyShapeAxis *axes, int num, cpFloat *min_out)
-{
-	int min_index = 0;
-	cpFloat min = cpPolyShapeValueOnAxis(poly, axes->n, axes->d);
-	if(min > 0.0f) return -1;
-	
-	for(int i=1; i<num; i++){
-		cpFloat dist = cpPolyShapeValueOnAxis(poly, axes[i].n, axes[i].d);
-		if(dist > 0.0f) {
-			return -1;
-		} else if(dist > min){
-			min = dist;
-			min_index = i;
-		}
-	}
-	
-	(*min_out) = min;
-	return min_index;
-}
-
-// Add contacts for penetrating vertexes.
-static inline int
-findVerts(cpContact *arr, cpPolyShape *poly1, cpPolyShape *poly2, cpVect n, cpFloat dist)
-{
-	int num = 0;
-	
-	for(int i=0; i<poly1->numVerts; i++){
-		cpVect v = poly1->tVerts[i];
-		if(cpPolyShapeContainsVertPartial(poly2, v, cpvneg(n)))
-			cpContactInit(nextContactPoint(arr, &num), v, n, dist, CP_HASH_PAIR(poly1->shape.hashid, i));
-	}
-	
-	for(int i=0; i<poly2->numVerts; i++){
-		cpVect v = poly2->tVerts[i];
-		if(cpPolyShapeContainsVertPartial(poly1, v, n))
-			cpContactInit(nextContactPoint(arr, &num), v, n, dist, CP_HASH_PAIR(poly2->shape.hashid, i));
-	}
-	
-	//	if(!num)
-	//		addContactPoint(arr, &size, &num, cpContactNew(shape1->body->p, n, dist, 0));
-
-	return num;
-}
-
-// Collide poly shapes together.
-static int
-poly2poly(cpShape *shape1, cpShape *shape2, cpContact *arr)
-{
-	cpPolyShape *poly1 = (cpPolyShape *)shape1;
-	cpPolyShape *poly2 = (cpPolyShape *)shape2;
-	
-	cpFloat min1;
-	int mini1 = findMSA(poly2, poly1->tAxes, poly1->numVerts, &min1);
-	if(mini1 == -1) return 0;
-	
-	cpFloat min2;
-	int mini2 = findMSA(poly1, poly2->tAxes, poly2->numVerts, &min2);
-	if(mini2 == -1) return 0;
-	
-	// There is overlap, find the penetrating verts
-	if(min1 > min2)
-		return findVerts(arr, poly1, poly2, poly1->tAxes[mini1].n, min1);
-	else
-		return findVerts(arr, poly1, poly2, cpvneg(poly2->tAxes[mini2].n), min2);
-}
-
-// Like cpPolyValueOnAxis(), but for segments.
-static inline cpFloat
-segValueOnAxis(cpSegmentShape *seg, cpVect n, cpFloat d)
-{
-	cpFloat a = cpvdot(n, seg->ta) - seg->r;
-	cpFloat b = cpvdot(n, seg->tb) - seg->r;
-	return cpfmin(a, b) - d;
-}
-
-// Identify vertexes that have penetrated the segment.
-static inline void
-findPointsBehindSeg(cpContact *arr, int *num, cpSegmentShape *seg, cpPolyShape *poly, cpFloat pDist, cpFloat coef) 
-{
-	cpFloat dta = cpvcross(seg->tn, seg->ta);
-	cpFloat dtb = cpvcross(seg->tn, seg->tb);
-	cpVect n = cpvmult(seg->tn, coef);
-	
-	for(int i=0; i<poly->numVerts; i++){
-		cpVect v = poly->tVerts[i];
-		if(cpvdot(v, n) < cpvdot(seg->tn, seg->ta)*coef + seg->r){
-			cpFloat dt = cpvcross(seg->tn, v);
-			if(dta >= dt && dt >= dtb){
-				cpContactInit(nextContactPoint(arr, num), v, n, pDist, CP_HASH_PAIR(poly->shape.hashid, i));
-			}
-		}
-	}
-}
-
-// This one is complicated and gross. Just don't go there...
-// TODO: Comment me!
-static int
-seg2poly(cpShape *shape1, cpShape *shape2, cpContact *arr)
-{
-	cpSegmentShape *seg = (cpSegmentShape *)shape1;
-	cpPolyShape *poly = (cpPolyShape *)shape2;
-	cpPolyShapeAxis *axes = poly->tAxes;
-	
-	cpFloat segD = cpvdot(seg->tn, seg->ta);
-	cpFloat minNorm = cpPolyShapeValueOnAxis(poly, seg->tn, segD) - seg->r;
-	cpFloat minNeg = cpPolyShapeValueOnAxis(poly, cpvneg(seg->tn), -segD) - seg->r;
-	if(minNeg > 0.0f || minNorm > 0.0f) return 0;
-	
-	int mini = 0;
-	cpFloat poly_min = segValueOnAxis(seg, axes->n, axes->d);
-	if(poly_min > 0.0f) return 0;
-	for(int i=0; i<poly->numVerts; i++){
-		cpFloat dist = segValueOnAxis(seg, axes[i].n, axes[i].d);
-		if(dist > 0.0f){
-			return 0;
-		} else if(dist > poly_min){
-			poly_min = dist;
-			mini = i;
-		}
-	}
-	
-	int num = 0;
-	
-	cpVect poly_n = cpvneg(axes[mini].n);
-	
-	cpVect va = cpvadd(seg->ta, cpvmult(poly_n, seg->r));
-	cpVect vb = cpvadd(seg->tb, cpvmult(poly_n, seg->r));
-	if(cpPolyShapeContainsVert(poly, va))
-		cpContactInit(nextContactPoint(arr, &num), va, poly_n, poly_min, CP_HASH_PAIR(seg->shape.hashid, 0));
-	if(cpPolyShapeContainsVert(poly, vb))
-		cpContactInit(nextContactPoint(arr, &num), vb, poly_n, poly_min, CP_HASH_PAIR(seg->shape.hashid, 1));
-
-	// Floating point precision problems here.
-	// This will have to do for now.
-	poly_min -= cp_collision_slop;
-	if(minNorm >= poly_min || minNeg >= poly_min) {
-		if(minNorm > minNeg)
-			findPointsBehindSeg(arr, &num, seg, poly, minNorm, 1.0f);
-		else
-			findPointsBehindSeg(arr, &num, seg, poly, minNeg, -1.0f);
-	}
-	
-	// If no other collision points are found, try colliding endpoints.
-	if(num == 0){
-		cpVect poly_a = poly->tVerts[mini];
-		cpVect poly_b = poly->tVerts[(mini + 1)%poly->numVerts];
-		
-		if(circle2circleQuery(seg->ta, poly_a, seg->r, 0.0f, arr))
-			return 1;
-			
-		if(circle2circleQuery(seg->tb, poly_a, seg->r, 0.0f, arr))
-			return 1;
-			
-		if(circle2circleQuery(seg->ta, poly_b, seg->r, 0.0f, arr))
-			return 1;
-			
-		if(circle2circleQuery(seg->tb, poly_b, seg->r, 0.0f, arr))
-			return 1;
-	}
-
-	return num;
-}
-
-// This one is less gross, but still gross.
-// TODO: Comment me!
-static int
-circle2poly(cpShape *shape1, cpShape *shape2, cpContact *con)
-{
-	cpCircleShape *circ = (cpCircleShape *)shape1;
-	cpPolyShape *poly = (cpPolyShape *)shape2;
-	cpPolyShapeAxis *axes = poly->tAxes;
-	
-	int mini = 0;
-	cpFloat min = cpvdot(axes->n, circ->tc) - axes->d - circ->r;
-	for(int i=0; i<poly->numVerts; i++){
-		cpFloat dist = cpvdot(axes[i].n, circ->tc) - axes[i].d - circ->r;
-		if(dist > 0.0f){
-			return 0;
-		} else if(dist > min) {
-			min = dist;
-			mini = i;
-		}
-	}
-	
-	cpVect n = axes[mini].n;
-	cpVect a = poly->tVerts[mini];
-	cpVect b = poly->tVerts[(mini + 1)%poly->numVerts];
-	cpFloat dta = cpvcross(n, a);
-	cpFloat dtb = cpvcross(n, b);
-	cpFloat dt = cpvcross(n, circ->tc);
-		
-	if(dt < dtb){
-		return circle2circleQuery(circ->tc, b, circ->r, 0.0f, con);
-	} else if(dt < dta) {
-		cpContactInit(
-			con,
-			cpvsub(circ->tc, cpvmult(n, circ->r + min/2.0f)),
-			cpvneg(n),
-			min,
-			0				 
-		);
-	
-		return 1;
-	} else {
-		return circle2circleQuery(circ->tc, a, circ->r, 0.0f, con);
-	}
-}
-
-//static const collisionFunc builtinCollisionFuncs[9] = {
-//	circle2circle,
-//	NULL,
-//	NULL,
-//	circle2segment,
-//	NULL,
-//	NULL,
-//	circle2poly,
-//	seg2poly,
-//	poly2poly,
-//};
-//static const collisionFunc *colfuncs = builtinCollisionFuncs;
-
-static collisionFunc *colfuncs = NULL;
-
-static void
-addColFunc(cpShapeType a, cpShapeType b, collisionFunc func)
-{
-	colfuncs[a + b*CP_NUM_SHAPES] = func;
-}
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-	void cpInitCollisionFuncs(void);
-	
-	// Initializes the array of collision functions.
-	// Called by cpInitChipmunk().
-	void
-	cpInitCollisionFuncs(void)
-	{
-		if(!colfuncs)
-			colfuncs = (collisionFunc *)cpcalloc(CP_NUM_SHAPES*CP_NUM_SHAPES, sizeof(collisionFunc));
-		
-		addColFunc(CP_CIRCLE_SHAPE,  CP_CIRCLE_SHAPE,  circle2circle);
-		addColFunc(CP_CIRCLE_SHAPE,  CP_SEGMENT_SHAPE, circle2segment);
-		addColFunc(CP_SEGMENT_SHAPE, CP_POLY_SHAPE,    seg2poly);
-		addColFunc(CP_CIRCLE_SHAPE,  CP_POLY_SHAPE,    circle2poly);
-		addColFunc(CP_POLY_SHAPE,    CP_POLY_SHAPE,    poly2poly);
-	}	
-#ifdef __cplusplus
-}
-#endif
-
-int
-cpCollideShapes(cpShape *a, cpShape *b, cpContact *arr)
-{
-	// Their shape types must be in order.
-	cpAssert(a->klass->type <= b->klass->type, "Collision shapes passed to cpCollideShapes() are not sorted.");
-	
-	collisionFunc cfunc = colfuncs[a->klass->type + b->klass->type*CP_NUM_SHAPES];
-	return (cfunc) ? cfunc(a, b, arr) : 0;
-}