chipmunk 5.3.4.5 → 6.1.3.0.rc1

data/ext/chipmunk/rb_chipmunk.h

@@ -33,6 +33,8 @@ extern VALUE c_cpSpace;
 extern VALUE c_cpArbiter;
 extern VALUE c_cpStaticBody;
 extern VALUE c_cpSegmentQueryInfo;
+extern VALUE c_cpNearestPointQueryInfo;
+extern VALUE cpObjectToIntHash;
 
 extern ID id_parent;
 
@@ -51,6 +53,8 @@ VWRAP(VALUE parent, cpVect *v) {
   return vec_obj;
 }
 
+int cp_rb_obj_method_arity(VALUE self, ID id);
+
 #define GETTER_TEMPLATE(func_name, klass, type)                                                                            \
   static inline type *                                                                                                     \
   func_name(VALUE self)                                                                                                    \
@@ -85,10 +89,9 @@ VGET_ZERO(VALUE value) {
   return *VGET(value);
 }
 
-//Helper that allocates and initializes a SegmenQueryInfo struct
+int CP_OBJ2INT(VALUE object);
 VALUE rb_cpSegmentQueryInfoNew(VALUE shape, VALUE t, VALUE n);
-
-// Helper that allocates and initializes a ContactPoint struct.
+VALUE rb_cpNearestPointQueryInfoNew(VALUE shape, VALUE p, VALUE d);
 VALUE rb_cpContactPointNew(VALUE point, VALUE normal, VALUE dist);
 
 

data/ext/chipmunk/rb_cpArbiter.c

@@ -193,8 +193,8 @@ rb_cpArbiterGetDepth(VALUE self, VALUE index) {
   if (arbiterBadIndex(arb, i)) {
     rb_raise(rb_eIndexError, "No such depth.");
   }
-  // there"s a typo in the cpArbiter.h class.
-  return rb_float_new(cpArbiteGetDepth(arb, i));
+  // there was a typo in the cpArbiter.h class but ,no more in 6.0.3.
+  return rb_float_new(cpArbiterGetDepth(arb, i));
 }
 
 

data/ext/chipmunk/rb_cpBB.c

@@ -41,45 +41,94 @@ rb_cpBBAlloc(VALUE klass) {
 }
 
 static VALUE
-rb_cpBBInitialize(VALUE self, VALUE l, VALUE b, VALUE r, VALUE t) {
+rb_cpBBInitialize(int argc, VALUE *argv, VALUE self) {
+  VALUE l, b, r, t;
   cpBB *bb = BBGET(self);
-  bb->l = NUM2DBL(l);
-  bb->b = NUM2DBL(b);
-  bb->r = NUM2DBL(r);
-  bb->t = NUM2DBL(t);
 
+  rb_scan_args(argc, argv, "04", &l, &b, &r, &t);
+  // initialize as a circle bounds box if ony 2 params
+  if (NIL_P(r)) {
+    if(NIL_P(l)) { 
+       (*bb) = cpBBNew(0, 0, 1, 1); // unit box. 
+    } else {
+       cpVect * p =  VGET(l);
+       (*bb) = cpBBNewForCircle(*p, NUM2DBL(b));
+    }   
+  } else {
+   (*bb)  = cpBBNew(NUM2DBL(l), NUM2DBL(b), NUM2DBL(r), NUM2DBL(t));
+  }  
   return self;
 }
 
+/*
 static VALUE
-rb_cpBBintersects(VALUE self, VALUE other) {
-  int value = cpBBintersects(*BBGET(self), *BBGET(other));
-  return value ? Qtrue : Qfalse;
+rb_cpBBintersects(VALUE self, VALUE a, VALUE b) {
+  cpVect *a, *b;
+  if(IS_NIL(b)) { // box/box intersect 
+    return CP_INT_BOOL(cpBBIntersects(*BBGET(self), *BBGET(a)));
+  }
+  // If we get here it's a box/segment intersect
+  a = VGET(va);
+  b = VGET(vb);
+  if(a && b) {
+    return CP_INT_BOOL(cpBBIntersectsSegment(*BBGET(self), *a, *b));
+  }
+  rb_raise(rb_eArgError, "intersects needs 1 Box or 2 Vect2 arguments");
+  return Qnil;
 }
+*/
 
 static VALUE
-rb_cpBBcontainsBB(VALUE self, VALUE other) {
-  int value = cpBBcontainsBB(*BBGET(self), *BBGET(other));
-  return value ? Qtrue : Qfalse;
+rb_cpBBContainsBB(VALUE self, VALUE other) {
+  int value = cpBBContainsBB(*BBGET(self), *BBGET(other));
+  return CP_INT_BOOL(value);
 }
 
 static VALUE
-rb_cpBBcontainsVect(VALUE self, VALUE other) {
-  int value = cpBBcontainsVect(*BBGET(self), *VGET(other));
-  return value ? Qtrue : Qfalse;
+rb_cpBBContainsVect(VALUE self, VALUE other) {
+  int value = cpBBContainsVect(*BBGET(self), *VGET(other));
+  return CP_INT_BOOL(value);
 }
 
 static VALUE
 rb_cpBBcontains(VALUE self, VALUE other) {
   if (rb_class_of(other) == c_cpBB) {
-    return rb_cpBBcontainsBB(self, other);
+    return rb_cpBBContainsBB(self, other);
   } else if (rb_class_of(other) == c_cpVect) {
-    return rb_cpBBcontainsVect(self, other);
+    return rb_cpBBContainsVect(self, other);
   }
-  rb_raise(rb_eArgError, "contains works only with a BB or A Vect2 argument");
+  rb_raise(rb_eArgError, "contains requires a BB or a Vect2 argument");
   return Qnil;
 }
 
+static VALUE
+rb_cpBBIntersectsBB(VALUE self, VALUE other) {
+  int value = cpBBIntersects(*BBGET(self), *BBGET(other));
+  return CP_INT_BOOL(value);
+}
+
+static VALUE
+rb_cpBBIntersectsSegment(VALUE self, VALUE a, VALUE b) {
+  int value = cpBBIntersectsSegment(*BBGET(self), *VGET(a), *VGET(b));
+  return CP_INT_BOOL(value);
+}
+
+static VALUE
+rb_cpBBintersects(int argc, VALUE *argv, VALUE self) {
+  VALUE other, b;
+
+  rb_scan_args(argc, argv, "11", &other, &b);
+
+  if (rb_class_of(other) == c_cpBB) {
+    return rb_cpBBIntersectsBB(self, other);
+  } else if ((rb_class_of(other) == c_cpVect) && (rb_class_of(b) == c_cpVect)) {
+    return rb_cpBBIntersectsSegment(self, other, b);
+  }
+  rb_raise(rb_eArgError, "contains requires a BB or 2 Vect2 arguments");
+  return Qnil;
+}
+
+
 static VALUE
 rb_cpBBClampVect(VALUE self, VALUE v) {
   return VNEW(cpBBClampVect(*BBGET(self), *VGET(v)));
@@ -146,12 +195,35 @@ rb_cpBBToString(VALUE self) {
 
 static VALUE
 rb_cpBBmerge(VALUE self, VALUE other) {
-  return BBNEW(cpBBmerge(*BBGET(self), *BBGET(other)));
+  return BBNEW(cpBBMerge(*BBGET(self), *BBGET(other)));
 }
 
 static VALUE
 rb_cpBBexpand(VALUE self, VALUE other) {
-  return BBNEW(cpBBexpand(*BBGET(self), *VGET(other)));
+  return BBNEW(cpBBExpand(*BBGET(self), *VGET(other)));
+}
+
+static VALUE
+rb_cpBBArea(VALUE self) {
+  return DBL2NUM(cpBBArea(*BBGET(self)));
+}
+
+static VALUE
+rb_cpBBMergedArea(VALUE self, VALUE other) {
+  return DBL2NUM(cpBBMergedArea(*BBGET(self), *BBGET(other)));
+}
+
+/// Returns the fraction along the segment query the cpBB is hit. Returns INFINITY if it doesn't hit.
+static VALUE
+rb_cpBBSegmentQuery(VALUE self, VALUE va, VALUE vb) {
+  cpVect *a, *b;
+  a = VGET(va);
+  b = VGET(vb);
+  if(a && b) {
+    return DBL2NUM(cpBBSegmentQuery(*BBGET(self), *a, *b));
+  }
+  rb_raise(rb_eArgError, "query requires 2 Vect2 arguments");
+  return Qnil; 
 }
 
 
@@ -159,7 +231,7 @@ void
 Init_cpBB(void) {
   c_cpBB = rb_define_class_under(m_Chipmunk, "BB", rb_cObject);
   rb_define_alloc_func(c_cpBB, rb_cpBBAlloc);
-  rb_define_method(c_cpBB, "initialize", rb_cpBBInitialize, 4);
+  rb_define_method(c_cpBB, "initialize", rb_cpBBInitialize, -1);
 
   rb_define_method(c_cpBB, "l", rb_cpBBGetL, 0);
   rb_define_method(c_cpBB, "b", rb_cpBBGetB, 0);
@@ -171,23 +243,32 @@ Init_cpBB(void) {
   rb_define_method(c_cpBB, "r=", rb_cpBBSetR, 1);
   rb_define_method(c_cpBB, "t=", rb_cpBBSetT, 1);
 
-  rb_define_method(c_cpBB, "intersect?", rb_cpBBintersects, 1);
-  rb_define_method(c_cpBB, "intersects?", rb_cpBBintersects, 1);
+  rb_define_method(c_cpBB, "intersect?", rb_cpBBintersects, -1);
+  rb_define_method(c_cpBB, "intersects?", rb_cpBBintersects, -1);
+  
   //containsBB
   //containsVect
-  rb_define_method(c_cpBB, "contains?", rb_cpBBcontains, 1);
-  rb_define_method(c_cpBB, "contain?", rb_cpBBcontains, 1);
-
-  rb_define_method(c_cpBB, "contains_bb?", rb_cpBBcontainsBB, 1);
-  rb_define_method(c_cpBB, "contain_bb?", rb_cpBBcontainsBB, 1);
-  rb_define_method(c_cpBB, "contains_vect?", rb_cpBBcontainsVect, 1);
-  rb_define_method(c_cpBB, "contain_vect?", rb_cpBBcontainsVect, 1);
-
-  rb_define_method(c_cpBB, "clamp_vect", rb_cpBBClampVect, 1);
-  rb_define_method(c_cpBB, "wrap_vect", rb_cpBBWrapVect, 1);
-  rb_define_method(c_cpBB, "merge", rb_cpBBmerge, 1);
-  rb_define_method(c_cpBB, "expand", rb_cpBBexpand, 1);
-
+  rb_define_method(c_cpBB, "contains?" , rb_cpBBcontains, 1);
+  rb_define_method(c_cpBB, "contain?"  , rb_cpBBcontains, 1);
+
+  rb_define_method(c_cpBB, "contains_bb?", rb_cpBBContainsBB, 1);
+  rb_define_method(c_cpBB, "contain_bb?", rb_cpBBContainsBB, 1);
+  rb_define_method(c_cpBB, "contains_vect?", rb_cpBBContainsVect, 1);
+  rb_define_method(c_cpBB, "contain_vect?", rb_cpBBContainsVect, 1);
+
+  rb_define_method(c_cpBB, "clamp_vect" , rb_cpBBClampVect, 1);
+  rb_define_method(c_cpBB, "wrap_vect"  , rb_cpBBWrapVect, 1);
+  rb_define_method(c_cpBB, "merge"      , rb_cpBBmerge, 1);
+  rb_define_method(c_cpBB, "expand"     , rb_cpBBexpand, 1);
+
+  rb_define_method(c_cpBB, "area"       , rb_cpBBArea, 0);
+  rb_define_method(c_cpBB, "merged_area" , rb_cpBBMergedArea, 1); 
+  
+  rb_define_method(c_cpBB, "intersect_bb?", rb_cpBBIntersectsBB, 1);
+  rb_define_method(c_cpBB, "intersects_bb?", rb_cpBBIntersectsBB, 1);
+  rb_define_method(c_cpBB, "intersect_segment?", rb_cpBBIntersectsSegment, 2);
+  rb_define_method(c_cpBB, "intersects_segment?", rb_cpBBIntersectsSegment, 2);
+  rb_define_method(c_cpBB, "segment_query", rb_cpBBSegmentQuery, 2);
 
   rb_define_method(c_cpBB, "to_s", rb_cpBBToString, 0);
 }

data/ext/chipmunk/rb_cpBody.c

@@ -242,7 +242,7 @@ rb_cpBodyActivate(VALUE self) {
 static cpBody *
 rb_cpBodySleepValidate(VALUE vbody) {
   cpBody * body  = BODY(vbody);
-  cpSpace *space = body->space;
+  cpSpace *space = body->CP_PRIVATE(space);
   if(!space) {
     rb_raise(rb_eArgError, "Cannot put a body to sleep that has not been added to a space.");
     return NULL;
@@ -251,7 +251,7 @@ rb_cpBodySleepValidate(VALUE vbody) {
     rb_raise(rb_eArgError, "Rogue AND static bodies cannot be put to sleep.");
     return NULL;
   }
-  if(space->locked) {
+  if(cpSpaceIsLocked(space)) {
     rb_raise(rb_eArgError, "Bodies can not be put to sleep during a query or a call to Space#add_collision_func. Put these calls into a post-step callback using Space#add_collision_handler.");
     return NULL;
   }
@@ -301,11 +301,13 @@ rb_cpBodyIsRogue(VALUE self) {
 ID id_velocity_func;
 ID id_speed_func;
 
+/*
 static int
 respondsTo(VALUE obj, ID method) {
   VALUE value = rb_funcall(obj, rb_intern("respond_to?"), 1, ID2SYM(method));
   return RTEST(value);
 }
+ */
 
 /*
 
@@ -327,7 +329,7 @@ static VALUE
 rb_cpBodySetVelocityFunc(int argc, VALUE *argv, VALUE self) {
   VALUE block;
   cpBody * body = BODY(self);
-  rb_scan_args(argc, argv, "&", &block);
+  rb_scan_args(argc, argv, "0&", &block);
   // Restore defaults if no block
   if (NIL_P(block)) {
     body->velocity_func = cpBodyUpdateVelocity; //Default;
@@ -374,19 +376,11 @@ rb_cpBodySetData(VALUE self, VALUE val) {
   return val;
 }
 
-
-static VALUE
-rb_cpBodySlew(VALUE self, VALUE pos, VALUE dt) {
-  cpBodySlew(BODY(self), *VGET(pos), NUM2DBL(dt));
-  return self;
-}
-
 static VALUE
 rb_cpBodyKineticEnergy(VALUE self) {
   return DBL2NUM(cpBodyKineticEnergy(BODY(self)));
 }
 
-
 void
 Init_cpBody(void) {
   c_cpBody       = rb_define_class_under(m_Chipmunk, "Body", rb_cObject);
@@ -459,7 +453,6 @@ Init_cpBody(void) {
 
   rb_define_method(c_cpBody, "update_velocity", rb_cpBodyUpdateVelocity, 3);
   rb_define_method(c_cpBody, "update_position", rb_cpBodyUpdatePosition, 1);
-  rb_define_method(c_cpBody, "slew", rb_cpBodySlew, 2);
 
   rb_define_method(c_cpBody, "static?", rb_cpBodyIsStatic, 0);
   rb_define_method(c_cpBody, "rogue?", rb_cpBodyIsRogue, 0);

data/ext/chipmunk/rb_cpConstraint.c

@@ -34,7 +34,7 @@ VALUE m_cpConstraint;
   { CONSTRAINT(self)->member = NUM2DBL(value); return value;}
 
 CONSTRAINT_GETSET_FUNCS(maxForce)
-CONSTRAINT_GETSET_FUNCS(biasCoef)
+CONSTRAINT_GETSET_FUNCS(errorBias)
 CONSTRAINT_GETSET_FUNCS(maxBias)
 
 
@@ -65,7 +65,12 @@ CONSTRAINT_GETSET_FUNCS(maxBias)
 
 #define ALLOC_TEMPLATE(s, alloc)               \
   static VALUE rb_ ## s ## _alloc(VALUE klass) \
-  { return Data_Wrap_Struct(klass, NULL, cpConstraintFree, alloc);}
+  {  \
+    s * rb_cpStruct = alloc; \
+    VALUE rb_constraint = Data_Wrap_Struct(klass, NULL, cpConstraintFree, rb_cpStruct); \
+    rb_cpStruct->constraint.data = (void*)rb_constraint; \
+    return rb_constraint; \
+  } 
 
 ALLOC_TEMPLATE(cpPinJoint, cpPinJointAlloc())
 
@@ -139,9 +144,22 @@ MAKE_FLT_ACCESSORS(cpGearJoint, Ratio);
 ALLOC_TEMPLATE(cpPivotJoint, cpPivotJointAlloc())
 
 static VALUE
-rb_cpPivotJoint_init(VALUE self, VALUE a, VALUE b, VALUE anchr1, VALUE anchr2) {
+rb_cpPivotJoint_init(int argc, VALUE *argv, VALUE self) {
+/* rb_cpPivotJoint_init(VALUE self, VALUE a, VALUE b, VALUE anchr1, VALUE anchr2) { */
+  VALUE a, b, pivotOrAnchr1, anchr2;
+
+  rb_scan_args(argc, argv, "31", &a, &b, &pivotOrAnchr1, &anchr2);
+
   cpPivotJoint *joint = (cpPivotJoint *)CONSTRAINT(self);
-  cpPivotJointInit(joint, BODY(a), BODY(b), *VGET(anchr1), *VGET(anchr2));
+
+  if(NIL_P(anchr2)) {
+    cpVect a1 = (a ? cpBodyWorld2Local(BODY(a), *VGET(pivotOrAnchr1)) : *VGET(pivotOrAnchr1));
+    cpVect a2 = (b ? cpBodyWorld2Local(BODY(b), *VGET(pivotOrAnchr1)) : *VGET(pivotOrAnchr1));
+    cpPivotJointInit(joint, BODY(a), BODY(b), a1, a2);
+  } else {
+    cpPivotJointInit(joint, BODY(a), BODY(b), *VGET(pivotOrAnchr1), *VGET(anchr2));
+  }
+
   rb_iv_set(self, "@body_a", a);
   rb_iv_set(self, "@body_b", b);
 
@@ -213,9 +231,9 @@ rb_cpGrooveJoint_init(VALUE self, VALUE a, VALUE b, VALUE grv_a, VALUE grv_b, VA
   return self;
 }
 
+MAKE_VEC_ACCESSORS(cpGrooveJoint, Anchr2)
 MAKE_VEC_ACCESSORS(cpGrooveJoint, GrooveA)
 MAKE_VEC_ACCESSORS(cpGrooveJoint, GrooveB)
-MAKE_VEC_ACCESSORS(cpGrooveJoint, Anchr2)
 
 
 ALLOC_TEMPLATE(cpRatchetJoint, cpRatchetJointAlloc())
@@ -239,6 +257,118 @@ rb_cpConstraintGetImpulse(VALUE self) {
   return rb_float_new(cpConstraintGetImpulse(CONSTRAINT(self)));
 }
 
+static void
+rb_cpConstraintPreSolveFunc(cpConstraint *constraint, cpSpace *space) {
+  VALUE rb_constraint = (VALUE)constraint->data;
+  VALUE callback_block = rb_iv_get(rb_constraint, "@_cp_pre_solve");
+
+  ID call_id = rb_intern("call");
+  int arity = NUM2INT(rb_funcall(callback_block, rb_intern("arity"), 0));
+  switch(arity) {
+  case 1:
+    rb_funcall(callback_block, call_id, 1, (VALUE)space->data);
+    break;
+  default:
+    rb_funcall(callback_block, call_id, 0);
+  }
+
+}
+
+static void
+rb_cpConstraintPostSolveFunc(cpConstraint *constraint, cpSpace *space) {
+  VALUE rb_constraint = (VALUE)constraint->data;
+  VALUE callback_block = rb_iv_get(rb_constraint, "@_cp_post_solve");
+
+  ID call_id = rb_intern("call");
+  int arity = NUM2INT(rb_funcall(callback_block, rb_intern("arity"), 0));
+  switch(arity) {
+  case 1:
+    rb_funcall(callback_block, call_id, 1, (VALUE)space->data);
+    break;
+  default:
+    rb_funcall(callback_block, call_id, 0);
+  }
+
+}
+
+static cpFloat
+rb_cpDampedSpringForceFunc(cpConstraint *constraint, cpFloat dist) {
+  VALUE rb_constraint = (VALUE)constraint->data;
+  VALUE callback_block = rb_iv_get(rb_constraint, "@_cp_force_func");
+
+  ID call_id = rb_intern("call");
+  int arity = NUM2INT(rb_funcall(callback_block, rb_intern("arity"), 0));
+  switch(arity) {
+  case 1:
+    // TODO is NUM2DBL what I want here?
+    return NUM2DBL(rb_funcall(callback_block, call_id, 1, rb_float_new(dist)));
+  default:
+    return NUM2DBL(rb_funcall(callback_block, call_id, 0));
+  }
+
+}
+
+static cpFloat
+rb_cpDampedRotarySpringTorqueFunc(cpConstraint *constraint, cpFloat relativeAngle) {
+  VALUE rb_constraint = (VALUE)constraint->data;
+  VALUE callback_block = rb_iv_get(rb_constraint, "@_cp_torque_func");
+
+  ID call_id = rb_intern("call");
+  int arity = NUM2INT(rb_funcall(callback_block, rb_intern("arity"), 0));
+  switch(arity) {
+  case 1:
+    // TODO is NUM2DBL what I want here?
+    return NUM2DBL(rb_funcall(callback_block, call_id, 1, rb_float_new(relativeAngle)));
+  default:
+    return NUM2DBL(rb_funcall(callback_block, call_id, 0));
+  }
+
+}
+
+static VALUE
+rb_cpConstraintSetPreSolve(int argc, VALUE * argv, VALUE self) {
+  VALUE callback_block;
+  rb_scan_args(argc, argv, "0&", &callback_block);
+  rb_iv_set(self, "@_cp_pre_solve", callback_block);
+
+  cpConstraintSetPreSolveFunc(CONSTRAINT(self), rb_cpConstraintPreSolveFunc);
+
+  return Qnil;
+}
+
+static VALUE
+rb_cpConstraintSetPostSolve(int argc, VALUE * argv, VALUE self) {
+  VALUE callback_block;
+  rb_scan_args(argc, argv, "0&", &callback_block);
+  rb_iv_set(self, "@_cp_post_solve", callback_block);
+
+  cpConstraintSetPostSolveFunc(CONSTRAINT(self), rb_cpConstraintPostSolveFunc);
+
+  return Qnil;
+}
+
+static VALUE
+rb_cpDampedSpringSetForceFunc(int argc, VALUE * argv, VALUE self) {
+  VALUE callback_block;
+  rb_scan_args(argc, argv, "0&", &callback_block);
+  rb_iv_set(self, "@_cp_force_func", callback_block);
+
+  cpDampedSpringSetSpringForceFunc(CONSTRAINT(self), rb_cpDampedSpringForceFunc);
+
+  return Qnil;
+}
+
+static VALUE
+rb_cpDampedRotarySpringSetTorqueFunc(int argc, VALUE * argv, VALUE self) {
+  VALUE callback_block;
+  rb_scan_args(argc, argv, "0&", &callback_block);
+  rb_iv_set(self, "@_cp_torque_func", callback_block);
+
+  cpDampedRotarySpringSetSpringTorqueFunc(CONSTRAINT(self), rb_cpDampedRotarySpringTorqueFunc);
+
+  return Qnil;
+}
+
 
 #define STRINGIFY(v) # v
 #define ACCESSOR_METHODS(s, m, name)                                   \
@@ -262,17 +392,19 @@ Init_cpConstraint(void) {
   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, "error_bias", rb_cpConstraint_get_errorBias, 0);
+  rb_define_method(m_cpConstraint, "error_bias=", rb_cpConstraint_set_errorBias, 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);
-
+  rb_define_method(m_cpConstraint, "pre_solve", rb_cpConstraintSetPreSolve, -1);
+  rb_define_method(m_cpConstraint, "post_solve", rb_cpConstraintSetPostSolve, -1);
 
   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)
+  rb_define_method(c_cpDampedRotarySpring, "torque", rb_cpDampedRotarySpringSetTorqueFunc, -1);
 
   VALUE c_cpDampedSpring     = make_class("DampedSpring", rb_cpDampedSpring_alloc, rb_cpDampedSpring_init, 7);
   ACCESSOR_METHODS(cpDampedSpring, Anchr1, anchr1)
@@ -280,6 +412,7 @@ Init_cpConstraint(void) {
   ACCESSOR_METHODS(cpDampedSpring, RestLength, rest_length)
   ACCESSOR_METHODS(cpDampedSpring, Stiffness, stiffness)
   ACCESSOR_METHODS(cpDampedSpring, Damping, damping)
+  rb_define_method(c_cpDampedSpring, "force", rb_cpDampedSpringSetForceFunc, -1);
 
   VALUE c_cpGearJoint        = make_class("GearJoint", rb_cpGearJoint_alloc, rb_cpGearJoint_init, 4);
   ACCESSOR_METHODS(cpGearJoint, Phase, phase)
@@ -287,6 +420,8 @@ Init_cpConstraint(void) {
 
   VALUE c_cpGrooveJoint      = make_class("GrooveJoint", rb_cpGrooveJoint_alloc, rb_cpGrooveJoint_init, 5);
   ACCESSOR_METHODS(cpGrooveJoint, Anchr2, anchr2)
+  ACCESSOR_METHODS(cpGrooveJoint, GrooveA, groove_a)
+  ACCESSOR_METHODS(cpGrooveJoint, GrooveB, groove_b)
 
 
   VALUE c_cpPinJoint         = make_class("PinJoint", rb_cpPinJoint_alloc, rb_cpPinJoint_init, 4);
@@ -295,7 +430,7 @@ Init_cpConstraint(void) {
   ACCESSOR_METHODS(cpPinJoint, Dist, dist)
 
 
-  VALUE c_cpPivotJoint       = make_class("PivotJoint", rb_cpPivotJoint_alloc, rb_cpPivotJoint_init, 4);
+  VALUE c_cpPivotJoint       = make_class("PivotJoint", rb_cpPivotJoint_alloc, rb_cpPivotJoint_init, -1);
   ACCESSOR_METHODS(cpPivotJoint, Anchr1, anchr1)
   ACCESSOR_METHODS(cpPivotJoint, Anchr2, anchr2)