chipmunk 5.3.4.0 → 5.3.4.2

data/ext/chipmunk/vendor/chipmunk-5.3.4/src/cpSpaceQuery.c

@@ -0,0 +1,246 @@
+/* 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_private.h"
+
+#pragma mark Point Query Functions
+
+typedef struct pointQueryContext {
+	cpLayers layers;
+	cpGroup group;
+	cpSpacePointQueryFunc func;
+	void *data;
+} pointQueryContext;
+
+static void 
+pointQueryHelper(cpVect *point, cpShape *shape, pointQueryContext *context)
+{
+	if(
+		!(shape->group && context->group == shape->group) && (context->layers&shape->layers) &&
+		cpShapePointQuery(shape, *point)
+	){
+		context->func(shape, context->data);
+	}
+}
+
+void
+cpSpacePointQuery(cpSpace *space, cpVect point, cpLayers layers, cpGroup group, cpSpacePointQueryFunc func, void *data)
+{
+	pointQueryContext context = {layers, group, func, data};
+	
+	cpSpaceLock(space); {
+		cpSpaceHashPointQuery(space->activeShapes, point, (cpSpaceHashQueryFunc)pointQueryHelper, &context);
+		cpSpaceHashPointQuery(space->staticShapes, point, (cpSpaceHashQueryFunc)pointQueryHelper, &context);
+	} cpSpaceUnlock(space);
+}
+
+static void
+rememberLastPointQuery(cpShape *shape, cpShape **outShape)
+{
+	if(!shape->sensor) *outShape = shape;
+}
+
+cpShape *
+cpSpacePointQueryFirst(cpSpace *space, cpVect point, cpLayers layers, cpGroup group)
+{
+	cpShape *shape = NULL;
+	cpSpacePointQuery(space, point, layers, group, (cpSpacePointQueryFunc)rememberLastPointQuery, &shape);
+	
+	return shape;
+}
+
+
+#pragma mark Segment Query Functions
+
+typedef struct segQueryContext {
+	cpVect start, end;
+	cpLayers layers;
+	cpGroup group;
+	cpSpaceSegmentQueryFunc func;
+} segQueryContext;
+
+static cpFloat
+segQueryFunc(segQueryContext *context, cpShape *shape, void *data)
+{
+	cpSegmentQueryInfo info;
+	
+	if(
+		!(shape->group && context->group == shape->group) && (context->layers&shape->layers) &&
+		cpShapeSegmentQuery(shape, context->start, context->end, &info)
+	){
+		context->func(shape, info.t, info.n, data);
+	}
+	
+	return 1.0f;
+}
+
+void
+cpSpaceSegmentQuery(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryFunc func, void *data)
+{
+	segQueryContext context = {
+		start, end,
+		layers, group,
+		func,
+	};
+	
+	cpSpaceLock(space); {
+		cpSpaceHashSegmentQuery(space->staticShapes, &context, start, end, 1.0f, (cpSpaceHashSegmentQueryFunc)segQueryFunc, data);
+		cpSpaceHashSegmentQuery(space->activeShapes, &context, start, end, 1.0f, (cpSpaceHashSegmentQueryFunc)segQueryFunc, data);
+	} cpSpaceUnlock(space);
+}
+
+typedef struct segQueryFirstContext {
+	cpVect start, end;
+	cpLayers layers;
+	cpGroup group;
+} segQueryFirstContext;
+
+static cpFloat
+segQueryFirst(segQueryFirstContext *context, cpShape *shape, cpSegmentQueryInfo *out)
+{
+	cpSegmentQueryInfo info;
+	
+	if(
+		!(shape->group && context->group == shape->group) &&
+		(context->layers&shape->layers) &&
+		!shape->sensor &&
+		cpShapeSegmentQuery(shape, context->start, context->end, &info) &&
+		info.t < out->t
+	){
+		*out = info;
+	}
+	
+	return out->t;
+}
+
+cpShape *
+cpSpaceSegmentQueryFirst(cpSpace *space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSegmentQueryInfo *out)
+{
+	cpSegmentQueryInfo info = {NULL, 1.0f, cpvzero};
+	if(out){
+		(*out) = info;
+  } else {
+		out = &info;
+	}
+	
+	segQueryFirstContext context = {
+		start, end,
+		layers, group
+	};
+	
+	cpSpaceHashSegmentQuery(space->staticShapes, &context, start, end, 1.0f, (cpSpaceHashSegmentQueryFunc)segQueryFirst, out);
+	cpSpaceHashSegmentQuery(space->activeShapes, &context, start, end, out->t, (cpSpaceHashSegmentQueryFunc)segQueryFirst, out);
+	
+	return out->shape;
+}
+
+#pragma mark BB Query Functions
+
+typedef struct bbQueryContext {
+	cpLayers layers;
+	cpGroup group;
+	cpSpaceBBQueryFunc func;
+	void *data;
+} bbQueryContext;
+
+static void 
+bbQueryHelper(cpBB *bb, cpShape *shape, bbQueryContext *context)
+{
+	if(
+		!(shape->group && context->group == shape->group) && (context->layers&shape->layers) &&
+		cpBBintersects(*bb, shape->bb)
+	){
+		context->func(shape, context->data);
+	}
+}
+
+void
+cpSpaceBBQuery(cpSpace *space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryFunc func, void *data)
+{
+	bbQueryContext context = {layers, group, func, data};
+	
+	cpSpaceLock(space); {
+		cpSpaceHashQuery(space->activeShapes, &bb, bb, (cpSpaceHashQueryFunc)bbQueryHelper, &context);
+		cpSpaceHashQuery(space->staticShapes, &bb, bb, (cpSpaceHashQueryFunc)bbQueryHelper, &context);
+	} cpSpaceUnlock(space);
+}
+
+#pragma mark Shape Query Functions
+
+typedef struct shapeQueryContext {
+	cpSpaceShapeQueryFunc func;
+	void *data;
+	cpBool anyCollision;
+} shapeQueryContext;
+
+// Callback from the spatial hash.
+static void
+shapeQueryHelper(cpShape *a, cpShape *b, shapeQueryContext *context)
+{
+	// Reject any of the simple cases
+	if(
+		(a->group && a->group == b->group) ||
+		!(a->layers & b->layers) ||
+		a->sensor || b->sensor
+	) return;
+	
+	cpContact contacts[CP_MAX_CONTACTS_PER_ARBITER];
+	int numContacts = 0;
+	
+	// Shape 'a' should have the lower shape type. (required by cpCollideShapes() )
+	if(a->klass->type <= b->klass->type){
+		numContacts = cpCollideShapes(a, b, contacts);
+	} else {
+		numContacts = cpCollideShapes(b, a, contacts);
+		for(int i=0; i<numContacts; i++) contacts[i].n = cpvneg(contacts[i].n);
+	}
+	
+	if(numContacts){
+		context->anyCollision = cpTrue;
+		
+		if(context->func){
+			cpContactPointSet set = {numContacts, {}};
+			for(int i=0; i<set.count; i++){
+				set.points[i].point = contacts[i].p;
+				set.points[i].normal = contacts[i].p;
+				set.points[i].dist = contacts[i].dist;
+			}
+			
+			context->func(b, &set, context->data);
+		}
+	}
+}
+
+cpBool
+cpSpaceShapeQuery(cpSpace *space, cpShape *shape, cpSpaceShapeQueryFunc func, void *data)
+{
+	cpBB bb = cpShapeCacheBB(shape);
+	shapeQueryContext context = {func, data, cpFalse};
+	
+	cpSpaceLock(space); {
+		cpSpaceHashQuery(space->activeShapes, shape, bb, (cpSpaceHashQueryFunc)shapeQueryHelper, &context);
+		cpSpaceHashQuery(space->staticShapes, shape, bb, (cpSpaceHashQueryFunc)shapeQueryHelper, &context);
+	} cpSpaceUnlock(space);
+	
+	return context.anyCollision;
+}

data/ext/chipmunk/vendor/chipmunk-5.3.4/src/cpSpaceStep.c

@@ -0,0 +1,398 @@
+/* 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 <math.h>
+
+#include "chipmunk_private.h"
+
+#pragma mark Post Step Callback Functions
+
+typedef struct PostStepCallback {
+	cpPostStepFunc func;
+	void *obj;
+	void *data;
+} PostStepCallback;
+
+static cpBool
+postStepFuncSetEql(PostStepCallback *a, PostStepCallback *b){
+	return a->obj == b->obj;
+}
+
+static void *
+postStepFuncSetTrans(PostStepCallback *callback, void *ignored)
+{
+	PostStepCallback *value = (PostStepCallback *)cpmalloc(sizeof(PostStepCallback));
+	(*value) = (*callback);
+	
+	return value;
+}
+
+void
+cpSpaceAddPostStepCallback(cpSpace *space, cpPostStepFunc func, void *obj, void *data)
+{
+	if(!space->postStepCallbacks){
+		space->postStepCallbacks = cpHashSetNew(0, (cpHashSetEqlFunc)postStepFuncSetEql, (cpHashSetTransFunc)postStepFuncSetTrans);
+	}
+	
+	PostStepCallback callback = {func, obj, data};
+	cpHashSetInsert(space->postStepCallbacks, (cpHashValue)(size_t)obj, &callback, NULL);
+}
+
+void *
+cpSpaceGetPostStepData(cpSpace *space, void *obj)
+{
+	if(space->postStepCallbacks){
+		PostStepCallback query = {NULL, obj, NULL};
+		PostStepCallback *callback = (PostStepCallback *)cpHashSetFind(space->postStepCallbacks, (cpHashValue)(size_t)obj, &query);
+		return (callback ? callback->data : NULL);
+	} else {
+		return NULL;
+	}
+}
+
+#pragma mark Contact Buffer Functions
+
+#define CP_CONTACTS_BUFFER_SIZE ((CP_BUFFER_BYTES - sizeof(cpContactBufferHeader))/sizeof(cpContact))
+typedef struct cpContactBuffer {
+	cpContactBufferHeader header;
+	cpContact contacts[CP_CONTACTS_BUFFER_SIZE];
+} cpContactBuffer;
+
+static cpContactBufferHeader *
+cpSpaceAllocContactBuffer(cpSpace *space)
+{
+	cpContactBuffer *buffer = (cpContactBuffer *)cpmalloc(sizeof(cpContactBuffer));
+	cpArrayPush(space->allocatedBuffers, buffer);
+	return (cpContactBufferHeader *)buffer;
+}
+
+static cpContactBufferHeader *
+cpContactBufferHeaderInit(cpContactBufferHeader *header, cpTimestamp stamp, cpContactBufferHeader *splice)
+{
+	header->stamp = stamp;
+	header->next = (splice ? splice->next : header);
+	header->numContacts = 0;
+	
+	return header;
+}
+
+static void
+cpSpacePushFreshContactBuffer(cpSpace *space)
+{
+	cpTimestamp stamp = space->stamp;
+	
+	cpContactBufferHeader *head = space->contactBuffersHead;
+	
+	if(!head){
+		// No buffers have been allocated, make one
+		space->contactBuffersHead = cpContactBufferHeaderInit(cpSpaceAllocContactBuffer(space), stamp, NULL);
+	} else if(stamp - head->next->stamp > cp_contact_persistence){
+		// The tail buffer is available, rotate the ring
+	cpContactBufferHeader *tail = head->next;
+		space->contactBuffersHead = cpContactBufferHeaderInit(tail, stamp, tail);
+	} else {
+		// Allocate a new buffer and push it into the ring
+		cpContactBufferHeader *buffer = cpContactBufferHeaderInit(cpSpaceAllocContactBuffer(space), stamp, head);
+		space->contactBuffersHead = head->next = buffer;
+	}
+}
+
+
+static cpContact *
+cpContactBufferGetArray(cpSpace *space)
+{
+	if(space->contactBuffersHead->numContacts + CP_MAX_CONTACTS_PER_ARBITER > CP_CONTACTS_BUFFER_SIZE){
+		// contact buffer could overflow on the next collision, push a fresh one.
+		cpSpacePushFreshContactBuffer(space);
+	}
+	
+	cpContactBufferHeader *head = space->contactBuffersHead;
+	return ((cpContactBuffer *)head)->contacts + head->numContacts;
+}
+
+static inline void
+cpSpacePushContacts(cpSpace *space, int count){
+	cpAssert(count <= CP_MAX_CONTACTS_PER_ARBITER, "Internal error, too many contact point overflow!");
+	space->contactBuffersHead->numContacts += count;
+}
+
+static inline void
+cpSpacePopContacts(cpSpace *space, int count){
+	space->contactBuffersHead->numContacts -= count;
+}
+
+#pragma mark Collision Detection Functions
+
+static inline cpBool
+queryReject(cpShape *a, cpShape *b)
+{
+	return
+		// BBoxes must overlap
+		!cpBBintersects(a->bb, b->bb)
+		// Don't collide shapes attached to the same body.
+		|| a->body == b->body
+		// Don't collide objects in the same non-zero group
+		|| (a->group && a->group == b->group)
+		// Don't collide objects that don't share at least on layer.
+		|| !(a->layers & b->layers);
+}
+
+// Callback from the spatial hash.
+static void
+queryFunc(cpShape *a, cpShape *b, cpSpace *space)
+{
+	// Reject any of the simple cases
+	if(queryReject(a,b)) return;
+	
+	// Find the collision pair function for the shapes.
+	struct{cpCollisionType a, b;} ids = {a->collision_type, b->collision_type};
+	cpHashValue collHashID = CP_HASH_PAIR(a->collision_type, b->collision_type);
+	cpCollisionHandler *handler = (cpCollisionHandler *)cpHashSetFind(space->collFuncSet, collHashID, &ids);
+	
+	cpBool sensor = a->sensor || b->sensor;
+	if(sensor && handler == &space->defaultHandler) return;
+	
+	// Shape 'a' should have the lower shape type. (required by cpCollideShapes() )
+	if(a->klass->type > b->klass->type){
+		cpShape *temp = a;
+		a = b;
+		b = temp;
+	}
+	
+	// Narrow-phase collision detection.
+	cpContact *contacts = cpContactBufferGetArray(space);
+	int numContacts = cpCollideShapes(a, b, contacts);
+	if(!numContacts) return; // Shapes are not colliding.
+	cpSpacePushContacts(space, numContacts);
+	
+	// Get an arbiter from space->contactSet for the two shapes.
+	// This is where the persistant contact magic comes from.
+	cpShape *shape_pair[] = {a, b};
+	cpHashValue arbHashID = CP_HASH_PAIR((size_t)a, (size_t)b);
+	cpArbiter *arb = (cpArbiter *)cpHashSetInsert(space->contactSet, arbHashID, shape_pair, space);
+	cpArbiterUpdate(arb, contacts, numContacts, handler, a, b);
+	
+	// Call the begin function first if it's the first step
+	if(arb->state == cpArbiterStateFirstColl && !handler->begin(arb, space, handler->data)){
+		cpArbiterIgnore(arb); // permanently ignore the collision until separation
+	}
+	
+	if(
+		// Ignore the arbiter if it has been flagged
+		(arb->state != cpArbiterStateIgnore) && 
+		// Call preSolve
+		handler->preSolve(arb, space, handler->data) &&
+		// Process, but don't add collisions for sensors.
+		!sensor
+	){
+		cpArrayPush(space->arbiters, arb);
+	} else {
+		cpSpacePopContacts(space, numContacts);
+		
+		arb->contacts = NULL;
+		arb->numContacts = 0;
+		
+		// Normally arbiters are set as used after calling the post-step callback.
+		// However, post-step callbacks are not called for sensors or arbiters rejected from pre-solve.
+		if(arb->state != cpArbiterStateIgnore) arb->state = cpArbiterStateNormal;
+	}
+	
+	// Time stamp the arbiter so we know it was used recently.
+	arb->stamp = space->stamp;
+}
+
+// Iterator for active/static hash collisions.
+static void
+active2staticIter(cpShape *shape, cpSpace *space)
+{
+	cpSpaceHashQuery(space->staticShapes, shape, shape->bb, (cpSpaceHashQueryFunc)queryFunc, space);
+}
+
+// Hashset filter func to throw away old arbiters.
+static cpBool
+contactSetFilter(cpArbiter *arb, cpSpace *space)
+{
+	if(space->sleepTimeThreshold != INFINITY){
+		cpBody *a = arb->a->body;
+		cpBody *b = arb->b->body;
+		
+		// both bodies are either static or sleeping
+		cpBool sleepingNow =
+			(cpBodyIsStatic(a) || cpBodyIsSleeping(a)) &&
+			(cpBodyIsStatic(b) || cpBodyIsSleeping(b));
+		
+		if(sleepingNow){
+			arb->state = cpArbiterStateSleep;
+			return cpTrue;
+		} else if(arb->state == cpArbiterStateSleep){
+			// wake up the arbiter and continue as normal
+			arb->state = cpArbiterStateNormal;
+			// TODO is it possible that cpArbiterStateIgnore should be set here instead?
+		}
+	}
+	
+	cpTimestamp ticks = space->stamp - arb->stamp;
+	
+	// was used last frame, but not this one
+	if(ticks >= 1 && arb->state != cpArbiterStateCached){
+		arb->handler->separate(arb, space, arb->handler->data);
+		arb->state = cpArbiterStateCached;
+	}
+	
+	if(ticks >= cp_contact_persistence){
+		arb->contacts = NULL;
+		arb->numContacts = 0;
+		
+		cpArrayPush(space->pooledArbiters, arb);
+		return cpFalse;
+	}
+	
+	return cpTrue;
+}
+
+// Hashset filter func to call and throw away post step callbacks.
+static void
+postStepCallbackSetIter(PostStepCallback *callback, cpSpace *space)
+{
+	callback->func(space, callback->obj, callback->data);
+	cpfree(callback);
+}
+
+#pragma mark All Important cpSpaceStep() Function
+
+void cpSpaceProcessComponents(cpSpace *space, cpFloat dt);
+
+static void updateBBCache(cpShape *shape, void *unused){cpShapeCacheBB(shape);}
+
+void
+cpSpaceStep(cpSpace *space, cpFloat dt)
+{
+	if(!dt) return; // don't step if the timestep is 0!
+	cpFloat dt_inv = 1.0f/dt;
+
+	cpArray *bodies = space->bodies;
+	cpArray *constraints = space->constraints;
+	
+	// Empty the arbiter list.
+	space->arbiters->num = 0;
+
+	// Integrate positions.
+	for(int i=0; i<bodies->num; i++){
+		cpBody *body = (cpBody *)bodies->arr[i];
+		body->position_func(body, dt);
+	}
+	
+	// Pre-cache BBoxes and shape data.
+	cpSpaceHashEach(space->activeShapes, (cpSpaceHashIterator)updateBBCache, NULL);
+	
+	cpSpaceLock(space);
+	
+	// Collide!
+	cpSpacePushFreshContactBuffer(space);
+	if(space->staticShapes->handleSet->entries)
+		cpSpaceHashEach(space->activeShapes, (cpSpaceHashIterator)active2staticIter, space);
+	cpSpaceHashQueryRehash(space->activeShapes, (cpSpaceHashQueryFunc)queryFunc, space);
+	
+	cpSpaceUnlock(space);
+	
+	// If body sleeping is enabled, do that now.
+	if(space->sleepTimeThreshold != INFINITY){
+		cpSpaceProcessComponents(space, dt);
+		bodies = space->bodies; // rebuilt by processContactComponents()
+	}
+	
+	// Clear out old cached arbiters and dispatch untouch functions
+	cpHashSetFilter(space->contactSet, (cpHashSetFilterFunc)contactSetFilter, space);
+
+	// Prestep the arbiters.
+	cpArray *arbiters = space->arbiters;
+	for(int i=0; i<arbiters->num; i++)
+		cpArbiterPreStep((cpArbiter *)arbiters->arr[i], dt_inv);
+
+	// Prestep the constraints.
+	for(int i=0; i<constraints->num; i++){
+		cpConstraint *constraint = (cpConstraint *)constraints->arr[i];
+		constraint->klass->preStep(constraint, dt, dt_inv);
+	}
+
+	for(int i=0; i<space->elasticIterations; i++){
+		for(int j=0; j<arbiters->num; j++)
+			cpArbiterApplyImpulse((cpArbiter *)arbiters->arr[j], 1.0f);
+			
+		for(int j=0; j<constraints->num; j++){
+			cpConstraint *constraint = (cpConstraint *)constraints->arr[j];
+			constraint->klass->applyImpulse(constraint);
+		}
+	}
+
+	// Integrate velocities.
+	cpFloat damping = cpfpow(1.0f/space->damping, -dt);
+	for(int i=0; i<bodies->num; i++){
+		cpBody *body = (cpBody *)bodies->arr[i];
+		body->velocity_func(body, space->gravity, damping, dt);
+	}
+
+	for(int i=0; i<arbiters->num; i++)
+		cpArbiterApplyCachedImpulse((cpArbiter *)arbiters->arr[i]);
+	
+	// run the old-style elastic solver if elastic iterations are disabled
+	cpFloat elasticCoef = (space->elasticIterations ? 0.0f : 1.0f);
+	
+	// Run the impulse solver.
+	for(int i=0; i<space->iterations; i++){
+		for(int j=0; j<arbiters->num; j++)
+			cpArbiterApplyImpulse((cpArbiter *)arbiters->arr[j], elasticCoef);
+			
+		for(int j=0; j<constraints->num; j++){
+			cpConstraint *constraint = (cpConstraint *)constraints->arr[j];
+			constraint->klass->applyImpulse(constraint);
+		}
+	}
+	
+	cpSpaceLock(space);
+	
+	// run the post solve callbacks
+	for(int i=0; i<arbiters->num; i++){
+		cpArbiter *arb = (cpArbiter *) arbiters->arr[i];
+		
+		cpCollisionHandler *handler = arb->handler;
+		handler->postSolve(arb, space, handler->data);
+		
+		arb->state = cpArbiterStateNormal;
+	}
+	
+	cpSpaceUnlock(space);
+	
+	// Run the post step callbacks
+	// Loop because post step callbacks may create more post step callbacks
+	while(space->postStepCallbacks){
+		cpHashSet *callbacks = space->postStepCallbacks;
+		space->postStepCallbacks = NULL;
+		
+		cpHashSetEach(callbacks, (cpHashSetIterFunc)postStepCallbackSetIter, space);
+		cpHashSetFree(callbacks);
+	}
+	
+	// Increment the stamp.
+	space->stamp++;
+}