chipmunk 5.3.4.0 → 5.3.4.2

data/ext/chipmunk/vendor/chipmunk-5.3.4/include/chipmunk/constraints/cpConstraint.h

@@ -0,0 +1,105 @@
+/* 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_constraint_bias_coef;
+
+struct cpConstraintClass;
+struct cpConstraint;
+
+typedef void (*cpConstraintPreStepFunction)(struct cpConstraint *constraint, cpFloat dt, cpFloat dt_inv);
+typedef void (*cpConstraintApplyImpulseFunction)(struct cpConstraint *constraint);
+typedef cpFloat (*cpConstraintGetImpulseFunction)(struct cpConstraint *constraint);
+
+typedef struct cpConstraintClass {
+	cpConstraintPreStepFunction preStep;
+	cpConstraintApplyImpulseFunction applyImpulse;
+	cpConstraintGetImpulseFunction getImpulse;
+} cpConstraintClass;
+
+
+
+typedef struct cpConstraint {
+	CP_PRIVATE(const cpConstraintClass *klass);
+	
+	cpBody *a, *b;
+	cpFloat maxForce;
+	cpFloat biasCoef;
+	cpFloat maxBias;
+	
+	cpDataPointer data;
+} cpConstraint;
+
+#ifdef CP_USE_DEPRECATED_API_4
+typedef cpConstraint cpJoint;
+#endif
+
+void cpConstraintDestroy(cpConstraint *constraint);
+void cpConstraintFree(cpConstraint *constraint);
+
+static inline void
+cpConstraintActivateBodies(cpConstraint *constraint)
+{
+	cpBody *a = constraint->a; if(a) cpBodyActivate(a);
+	cpBody *b = constraint->b; if(b) cpBodyActivate(b);
+}
+
+static inline cpFloat
+cpConstraintGetImpulse(cpConstraint *constraint)
+{
+	return constraint->CP_PRIVATE(klass)->getImpulse(constraint);
+}
+
+#define cpConstraintCheckCast(constraint, struct) \
+	cpAssert(constraint->CP_PRIVATE(klass) == struct##GetClass(), "Constraint is not a "#struct);
+
+
+#define CP_DefineConstraintGetter(struct, type, member, name) \
+static inline type \
+struct##Get##name(const cpConstraint *constraint){ \
+	cpConstraintCheckCast(constraint, struct); \
+	return ((struct *)constraint)->member; \
+} \
+
+#define CP_DefineConstraintSetter(struct, type, member, name) \
+static inline void \
+struct##Set##name(cpConstraint *constraint, type value){ \
+	cpConstraintCheckCast(constraint, struct); \
+	cpConstraintActivateBodies(constraint); \
+	((struct *)constraint)->member = value; \
+} \
+
+#define CP_DefineConstraintProperty(struct, type, member, name) \
+CP_DefineConstraintGetter(struct, type, member, name) \
+CP_DefineConstraintSetter(struct, type, member, name)
+
+// Built in Joint types
+#include "cpPinJoint.h"
+#include "cpSlideJoint.h"
+#include "cpPivotJoint.h"
+#include "cpGrooveJoint.h"
+#include "cpDampedSpring.h"
+#include "cpDampedRotarySpring.h"
+#include "cpRotaryLimitJoint.h"
+#include "cpRatchetJoint.h"
+#include "cpGearJoint.h"
+#include "cpSimpleMotor.h"

data/ext/chipmunk/vendor/chipmunk-5.3.4/include/chipmunk/constraints/cpDampedRotarySpring.h

@@ -0,0 +1,46 @@
+/* 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.
+ */
+
+typedef cpFloat (*cpDampedRotarySpringTorqueFunc)(struct cpConstraint *spring, cpFloat relativeAngle);
+
+const cpConstraintClass *cpDampedRotarySpringGetClass();
+
+typedef struct cpDampedRotarySpring {
+	cpConstraint constraint;
+	cpFloat restAngle;
+	cpFloat stiffness;
+	cpFloat damping;
+	cpDampedRotarySpringTorqueFunc springTorqueFunc;
+	
+	cpFloat target_wrn;
+	cpFloat w_coef;
+	
+	cpFloat iSum;
+} cpDampedRotarySpring;
+
+cpDampedRotarySpring *cpDampedRotarySpringAlloc(void);
+cpDampedRotarySpring *cpDampedRotarySpringInit(cpDampedRotarySpring *joint, cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping);
+cpConstraint *cpDampedRotarySpringNew(cpBody *a, cpBody *b, cpFloat restAngle, cpFloat stiffness, cpFloat damping);
+
+CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, restAngle, RestAngle);
+CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, stiffness, Stiffness);
+CP_DefineConstraintProperty(cpDampedRotarySpring, cpFloat, damping, Damping);
+CP_DefineConstraintProperty(cpDampedRotarySpring, cpDampedRotarySpringTorqueFunc, springTorqueFunc, SpringTorqueFunc);

data/ext/chipmunk/vendor/chipmunk-5.3.4/include/chipmunk/constraints/cpDampedSpring.h

@@ -0,0 +1,53 @@
+/* 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.
+ */
+
+struct cpDampedSpring;
+
+typedef cpFloat (*cpDampedSpringForceFunc)(struct cpConstraint *spring, cpFloat dist);
+
+const cpConstraintClass *cpDampedSpringGetClass();
+
+typedef struct cpDampedSpring {
+	cpConstraint constraint;
+	cpVect anchr1, anchr2;
+	cpFloat restLength;
+	cpFloat stiffness;
+	cpFloat damping;
+	cpDampedSpringForceFunc springForceFunc;
+	
+	cpFloat target_vrn;
+	cpFloat v_coef;
+	
+	cpVect r1, r2;
+	cpFloat nMass;
+	cpVect n;
+} cpDampedSpring;
+
+cpDampedSpring *cpDampedSpringAlloc(void);
+cpDampedSpring *cpDampedSpringInit(cpDampedSpring *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping);
+cpConstraint *cpDampedSpringNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping);
+
+CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr1, Anchr1);
+CP_DefineConstraintProperty(cpDampedSpring, cpVect, anchr2, Anchr2);
+CP_DefineConstraintProperty(cpDampedSpring, cpFloat, restLength, RestLength);
+CP_DefineConstraintProperty(cpDampedSpring, cpFloat, stiffness, Stiffness);
+CP_DefineConstraintProperty(cpDampedSpring, cpFloat, damping, Damping);
+CP_DefineConstraintProperty(cpDampedSpring, cpDampedSpringForceFunc, springForceFunc, SpringForceFunc);

data/ext/chipmunk/vendor/chipmunk-5.3.4/include/chipmunk/constraints/cpGearJoint.h

@@ -0,0 +1,41 @@
+/* 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.
+ */
+
+const cpConstraintClass *cpGearJointGetClass();
+
+typedef struct cpGearJoint {
+	cpConstraint constraint;
+	cpFloat phase, ratio;
+	cpFloat ratio_inv;
+	
+	cpFloat iSum;
+		
+	cpFloat bias;
+	cpFloat jAcc, jMax;
+} cpGearJoint;
+
+cpGearJoint *cpGearJointAlloc(void);
+cpGearJoint *cpGearJointInit(cpGearJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio);
+cpConstraint *cpGearJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratio);
+
+CP_DefineConstraintProperty(cpGearJoint, cpFloat, phase, Phase);
+CP_DefineConstraintGetter(cpGearJoint, cpFloat, ratio, Ratio);
+void cpGearJointSetRatio(cpConstraint *constraint, cpFloat value);

data/ext/chipmunk/vendor/chipmunk-5.3.4/include/chipmunk/constraints/cpGrooveJoint.h

@@ -0,0 +1,48 @@
+/* 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.
+ */
+
+const cpConstraintClass *cpGrooveJointGetClass();
+
+typedef struct cpGrooveJoint {
+	cpConstraint constraint;
+	cpVect grv_n, grv_a, grv_b;
+	cpVect  anchr2;
+	
+	cpVect grv_tn;
+	cpFloat clamp;
+	cpVect r1, r2;
+	cpVect k1, k2;
+	
+	cpVect jAcc;
+	cpFloat jMaxLen;
+	cpVect bias;
+} cpGrooveJoint;
+
+cpGrooveJoint *cpGrooveJointAlloc(void);
+cpGrooveJoint *cpGrooveJointInit(cpGrooveJoint *joint, cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2);
+cpConstraint *cpGrooveJointNew(cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2);
+
+
+CP_DefineConstraintGetter(cpGrooveJoint, cpVect, grv_a, GrooveA);
+void cpGrooveJointSetGrooveA(cpConstraint *constraint, cpVect value);
+CP_DefineConstraintGetter(cpGrooveJoint, cpVect, grv_b, GrooveB);
+void cpGrooveJointSetGrooveB(cpConstraint *constraint, cpVect value);
+CP_DefineConstraintProperty(cpGrooveJoint, cpVect, anchr2, Anchr2);

data/ext/chipmunk/vendor/chipmunk-5.3.4/include/chipmunk/constraints/cpPinJoint.h

@@ -0,0 +1,43 @@
+/* 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.
+ */
+ 
+const cpConstraintClass *cpPinJointGetClass();
+
+typedef struct cpPinJoint {
+	cpConstraint constraint;
+	cpVect anchr1, anchr2;
+	cpFloat dist;
+	
+	cpVect r1, r2;
+	cpVect n;
+	cpFloat nMass;
+	
+	cpFloat jnAcc, jnMax;
+	cpFloat bias;
+} cpPinJoint;
+
+cpPinJoint *cpPinJointAlloc(void);
+cpPinJoint *cpPinJointInit(cpPinJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2);
+cpConstraint *cpPinJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2);
+
+CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr1, Anchr1);
+CP_DefineConstraintProperty(cpPinJoint, cpVect, anchr2, Anchr2);
+CP_DefineConstraintProperty(cpPinJoint, cpFloat, dist, Dist);

data/ext/chipmunk/vendor/chipmunk-5.3.4/include/chipmunk/constraints/cpPivotJoint.h

@@ -0,0 +1,42 @@
+/* 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.
+ */
+
+const cpConstraintClass *cpPivotJointGetClass();
+
+typedef struct cpPivotJoint {
+	cpConstraint constraint;
+	cpVect anchr1, anchr2;
+	
+	cpVect r1, r2;
+	cpVect k1, k2;
+	
+	cpVect jAcc;
+	cpFloat jMaxLen;
+	cpVect bias;
+} cpPivotJoint;
+
+cpPivotJoint *cpPivotJointAlloc(void);
+cpPivotJoint *cpPivotJointInit(cpPivotJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2);
+cpConstraint *cpPivotJointNew(cpBody *a, cpBody *b, cpVect pivot);
+cpConstraint *cpPivotJointNew2(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2);
+
+CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr1, Anchr1);
+CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr2, Anchr2);

data/ext/chipmunk/vendor/chipmunk-5.3.4/include/chipmunk/constraints/cpRatchetJoint.h

@@ -0,0 +1,40 @@
+/* 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.
+ */
+
+const cpConstraintClass *cpRatchetJointGetClass();
+
+typedef struct cpRatchetJoint {
+	cpConstraint constraint;
+	cpFloat angle, phase, ratchet;
+	
+	cpFloat iSum;
+		
+	cpFloat bias;
+	cpFloat jAcc, jMax;
+} cpRatchetJoint;
+
+cpRatchetJoint *cpRatchetJointAlloc(void);
+cpRatchetJoint *cpRatchetJointInit(cpRatchetJoint *joint, cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet);
+cpConstraint *cpRatchetJointNew(cpBody *a, cpBody *b, cpFloat phase, cpFloat ratchet);
+
+CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, angle, Angle);
+CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, phase, Phase);
+CP_DefineConstraintProperty(cpRatchetJoint, cpFloat, ratchet, Ratchet);

data/ext/chipmunk/vendor/chipmunk-5.3.4/include/chipmunk/constraints/cpRotaryLimitJoint.h

@@ -0,0 +1,39 @@
+/* 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.
+ */
+
+const cpConstraintClass *cpRotaryLimitJointGetClass();
+
+typedef struct cpRotaryLimitJoint {
+	cpConstraint constraint;
+	cpFloat min, max;
+	
+	cpFloat iSum;
+		
+	cpFloat bias;
+	cpFloat jAcc, jMax;
+} cpRotaryLimitJoint;
+
+cpRotaryLimitJoint *cpRotaryLimitJointAlloc(void);
+cpRotaryLimitJoint *cpRotaryLimitJointInit(cpRotaryLimitJoint *joint, cpBody *a, cpBody *b, cpFloat min, cpFloat max);
+cpConstraint *cpRotaryLimitJointNew(cpBody *a, cpBody *b, cpFloat min, cpFloat max);
+
+CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, min, Min);
+CP_DefineConstraintProperty(cpRotaryLimitJoint, cpFloat, max, Max);