+++ /dev/null
-! Copyright (C) 2010 Erik Charlebois
-! See http:// factorcode.org/license.txt for BSD license.
-USING: accessors alien.c-types alien.syntax classes.struct combinators
-combinators.short-circuit kernel math math.order sequences
-specialized-arrays.instances.alien.c-types.void* typed
-specialized-arrays locals system alien.libraries ;
-IN: chipmunk
-
-<< "chipmunk" {
- { [ os windows? ] [ "chipmunk.dll" ] }
- { [ os macosx? ] [ "libchipmunk.dylib" ] }
- { [ os unix? ] [ "libchipmunk.so" ] }
- } cond "cdecl" add-library >>
-LIBRARY: chipmunk
-
-! chipmunk_types.h
-TYPEDEF: double cpFloat
-STRUCT: cpVect
- { x cpFloat }
- { y cpFloat } ;
-SPECIALIZED-ARRAY: cpVect
-
-TYPEDEF: uint cpHashValue
-TYPEDEF: void* cpDataPointer
-TYPEDEF: uint cpCollisionType
-TYPEDEF: uint cpLayers
-TYPEDEF: uint cpGroup
-
-CONSTANT: CP_NO_GROUP 0
-CONSTANT: CP_ALL_LAYERS HEX: ffffffff
-
-! cpVect.h
-TYPED: cpv ( x y -- v: cpVect )
- cpVect <struct-boa> ; inline
-
-TYPED: cpvzero ( -- v: cpVect )
- 0.0 0.0 cpv ; inline
-
-FUNCTION: cpFloat cpvlength ( cpVect v ) ;
-FUNCTION: cpVect cpvslerp ( cpVect v1, cpVect v2, cpFloat t ) ;
-FUNCTION: cpVect cpvslerpconst ( cpVect v1, cpVect v2, cpFloat a ) ;
-FUNCTION: cpVect cpvforangle ( cpFloat a ) ;
-FUNCTION: cpFloat cpvtoangle ( cpVect v ) ;
-FUNCTION: c-string cpvstr ( cpVect v ) ;
-
-TYPED: cpvadd ( v1: cpVect v2: cpVect -- v3: cpVect )
- [ [ x>> ] bi@ + ]
- [ [ y>> ] bi@ + ] 2bi cpv ; inline
-
-TYPED: cpvneg ( v1: cpVect -- v2: cpVect )
- [ x>> ] [ y>> ] bi [ neg ] bi@ cpv ; inline
-
-TYPED: cpvsub ( v1: cpVect v2: cpVect -- v3: cpVect )
- [ [ x>> ] bi@ - ]
- [ [ y>> ] bi@ - ] 2bi cpv ; inline
-
-TYPED: cpvmult ( v1: cpVect s -- v2: cpVect )
- [ swap x>> * ]
- [ swap y>> * ] 2bi cpv ; inline
-
-TYPED: cpvdot ( v1: cpVect v2: cpVect -- s )
- [ [ x>> ] bi@ * ]
- [ [ y>> ] bi@ * ] 2bi + ; inline
-
-TYPED: cpvcross ( v1: cpVect v2: cpVect -- s )
- [ [ x>> ] [ y>> ] bi* * ]
- [ [ y>> ] [ x>> ] bi* * ] 2bi - ; inline
-
-TYPED: cpvperp ( v1: cpVect -- v2: cpVect )
- [ y>> neg ] [ x>> ] bi cpv ; inline
-
-TYPED: cpvrperp ( v1: cpVect -- v2: cpVect )
- [ y>> ] [ x>> neg ] bi cpv ; inline
-
-TYPED: cpvproject ( v1: cpVect v2: cpVect -- v3: cpVect )
- [ nip ]
- [ cpvdot ]
- [ nip dup cpvdot ]
- 2tri / cpvmult ; inline
-
-TYPED: cpvrotate ( v1: cpVect v2: cpVect -- v3: cpVect )
- [
- [ [ x>> ] bi@ * ]
- [ [ y>> ] bi@ * ] 2bi -
- ]
- [
- [ [ x>> ] [ y>> ] bi* * ]
- [ [ y>> ] [ x>> ] bi* * ] 2bi +
- ] 2bi cpv ; inline
-
-TYPED: cpvunrotate ( v1: cpVect v2: cpVect -- v3: cpVect )
- [
- [ [ x>> ] bi@ * ]
- [ [ y>> ] bi@ * ] 2bi +
- ]
- [
- [ [ y>> ] [ x>> ] bi* * ]
- [ [ x>> ] [ y>> ] bi* * ] 2bi -
- ] 2bi cpv ; inline
-
-TYPED: cpvlengthsq ( v: cpVect -- s )
- dup cpvdot ; inline
-
-TYPED: cpvlerp ( v1: cpVect v2: cpVect s -- v3: cpVect )
- [ nip 1.0 swap - cpvmult ]
- [ cpvmult nip ] 3bi cpvadd ; inline
-
-TYPED: cpvnormalize ( v1: cpVect -- v2: cpVect )
- dup cpvlength 1.0 swap / cpvmult ; inline
-
-TYPED: cpvnormalize_safe ( v1: cpVect -- v2: cpVect )
- dup [ x>> 0.0 = ] [ y>> 0.0 = ] bi and
- [ drop cpvzero ]
- [ cpvnormalize ] if ; inline
-
-TYPED: cpvclamp ( v1: cpVect len -- v2: cpVect )
- 2dup
- [ dup cpvdot ]
- [ sq ] 2bi* >
- [ [ cpvnormalize ] dip cpvmult ]
- [ drop ] if ; inline
-
-TYPED: cpvlerpconst ( v1: cpVect v2: cpVect d -- v3: cpVect )
- [ 2drop ]
- [ [ swap cpvsub ] dip cpvclamp ] 3bi cpvadd ; inline
-
-TYPED: cpvdist ( v1: cpVect v2: cpVect -- dist )
- cpvsub cpvlength ; inline
-
-TYPED: cpvdistsq ( v1: cpVect v2: cpVect -- distsq )
- cpvsub cpvlengthsq ; inline
-
-TYPED: cpvnear ( v1: cpVect v2: cpVect dist -- ? )
- [ cpvdistsq ] dip sq < ; inline
-
-! cpBB.h
-STRUCT: cpBB
- { l cpFloat }
- { b cpFloat }
- { r cpFloat }
- { t cpFloat } ;
-
-TYPED: cpBBNew ( l b r t -- cpbb: cpBB )
- cpBB <struct-boa> ; inline
-
-TYPED: cpBBintersects ( a: cpBB b: cpBB -- ? )
- {
- [ [ l>> ] [ r>> ] bi* <= ]
- [ [ r>> ] [ l>> ] bi* > ]
- [ [ b>> ] [ t>> ] bi* <= ]
- [ [ t>> ] [ b>> ] bi* > ]
- } 2&& ; inline
-
-TYPED: cpBBcontainsBB ( bb: cpBB other: cpBB -- ? )
- {
- [ [ l>> ] bi@ < ]
- [ [ r>> ] bi@ > ]
- [ [ b>> ] bi@ < ]
- [ [ t>> ] bi@ > ]
- } 2&& ; inline
-
-TYPED: cpBBcontainsVect ( bb: cpBB v: cpVect -- ? )
- {
- [ [ l>> ] [ x>> ] bi* < ]
- [ [ r>> ] [ x>> ] bi* > ]
- [ [ b>> ] [ y>> ] bi* < ]
- [ [ t>> ] [ y>> ] bi* > ]
- } 2&& ; inline
-
-TYPED: cpBBmerge ( a: cpBB b: cpBB -- c: cpBB )
- {
- [ [ l>> ] bi@ min ]
- [ [ b>> ] bi@ min ]
- [ [ r>> ] bi@ max ]
- [ [ t>> ] bi@ max ]
- } 2cleave cpBBNew ; inline
-
-TYPED: cpBBexpand ( bb: cpBB v: cpVect -- b: cpBB )
- {
- [ [ l>> ] [ x>> ] bi* min ]
- [ [ b>> ] [ y>> ] bi* min ]
- [ [ r>> ] [ x>> ] bi* max ]
- [ [ t>> ] [ y>> ] bi* max ]
- } 2cleave cpBBNew ; inline
-
-FUNCTION: cpVect cpBBClampVect ( cpBB bb, cpVect v ) ;
-FUNCTION: cpVect cpBBWrapVect ( cpBB bb, cpVect v ) ;
-
-! cpBody.h
-C-TYPE: cpBody
-CALLBACK: void cpBodyVelocityFunc ( cpBody* body, cpVect gravity, cpFloat damping, cpFloat dt ) ;
-CALLBACK: void cpBodyPositionFunc ( cpBody* body, cpFloat dt ) ;
-
-STRUCT: cpBody
- { velocity_func cpBodyVelocityFunc }
- { position_func cpBodyPositionFunc }
- { m cpFloat }
- { m_inv cpFloat }
- { i cpFloat }
- { i_inv cpFloat }
- { p cpVect }
- { v cpVect }
- { f cpVect }
- { a cpFloat }
- { w cpFloat }
- { t cpFloat }
- { rot cpVect }
- { data cpDataPointer }
- { v_limit cpFloat }
- { w_limit cpFloat }
- { v_bias cpVect }
- { w_bias cpFloat } ;
-
-FUNCTION: cpBody* cpBodyAlloc ( ) ;
-FUNCTION: cpBody* cpBodyInit ( cpBody* body, cpFloat m, cpFloat i ) ;
-FUNCTION: cpBody* cpBodyNew ( cpFloat m, cpFloat i ) ;
-FUNCTION: void cpBodyDestroy ( cpBody* body ) ;
-FUNCTION: void cpBodyFree ( cpBody* body ) ;
-FUNCTION: void cpBodySetMass ( cpBody* body, cpFloat m ) ;
-FUNCTION: void cpBodySetMoment ( cpBody* body, cpFloat i ) ;
-FUNCTION: void cpBodySetAngle ( cpBody* body, cpFloat a ) ;
-FUNCTION: void cpBodySlew ( cpBody* body, cpVect pos, cpFloat dt ) ;
-FUNCTION: void cpBodyUpdateVelocity ( cpBody* body, cpVect gravity, cpFloat damping, cpFloat dt ) ;
-FUNCTION: void cpBodyUpdatePosition ( cpBody* body, cpFloat dt ) ;
-
-TYPED: cpBodyLocal2World ( body: cpBody v: cpVect -- v2: cpVect )
- [ drop p>> ]
- [ swap rot>> cpvrotate ] 2bi cpvadd ; inline
-
-TYPED: cpBodyWorld2Local ( body: cpBody v: cpVect -- v2: cpVect )
- [ swap p>> cpvsub ]
- [ drop rot>> ] 2bi cpvunrotate ; inline
-
-TYPED: cpBodyApplyImpulse ( body: cpBody j: cpVect r: cpVect -- )
- [
- drop
- [ drop dup v>> ]
- [ swap m_inv>> cpvmult ] 2bi cpvadd >>v drop
- ]
- [
- [ 2drop dup w_bias>> ]
- [ swap cpvcross [ i_inv>> ] dip * ] 3bi + >>w_bias drop
- ] 3bi ; inline
-
-FUNCTION: void cpBodyResetForces ( cpBody* body ) ;
-FUNCTION: void cpBodyApplyForce ( cpBody* body, cpVect f, cpVect r ) ;
-FUNCTION: void cpApplyDampedSpring ( cpBody* a, cpBody* b, cpVect anchr1, cpVect anchr2, cpFloat rlen, cpFloat k, cpFloat dmp, cpFloat dt ) ;
-
-! cpArray.h
-STRUCT: cpArray
- { num int }
- { max int }
- { arr void** } ;
-
-CALLBACK: void cpArrayIter ( void* ptr, void* data ) ;
-
-FUNCTION: cpArray* cpArrayAlloc ( ) ;
-FUNCTION: cpArray* cpArrayInit ( cpArray* arr, int size ) ;
-FUNCTION: cpArray* cpArrayNew ( int size ) ;
-FUNCTION: void cpArrayDestroy ( cpArray* arr ) ;
-FUNCTION: void cpArrayFree ( cpArray* arr ) ;
-FUNCTION: void cpArrayPush ( cpArray* arr, void* object ) ;
-FUNCTION: void cpArrayDeleteIndex ( cpArray* arr, int idx ) ;
-FUNCTION: void cpArrayDeleteObj ( cpArray* arr, void* obj ) ;
-FUNCTION: void cpArrayEach ( cpArray* arr, cpArrayIter iterFunc, void* data ) ;
-FUNCTION: int cpArrayContains ( cpArray* arr, void* ptr ) ;
-
-! cpHashSet.h
-STRUCT: cpHashSetBin
- { elt void* }
- { hash cpHashValue }
- { next cpHashSetBin* } ;
-
-CALLBACK: int cpHashSetEqlFunc ( void* ptr, void* elt ) ;
-CALLBACK: void* cpHashSetTransFunc ( void* ptr, void* data ) ;
-CALLBACK: void cpHashSetIterFunc ( void* elt, void* data ) ;
-CALLBACK: int cpHashSetFilterFunc ( void* elt, void* data ) ;
-
-STRUCT: cpHashSet
- { entries int }
- { size int }
- { eql cpHashSetEqlFunc }
- { trans cpHashSetTransFunc }
- { default_value void* }
- { table cpHashSetBin** } ;
-
-FUNCTION: void cpHashSetDestroy ( cpHashSet* set ) ;
-FUNCTION: void cpHashSetFree ( cpHashSet* set ) ;
-FUNCTION: cpHashSet* cpHashSetAlloc ( ) ;
-FUNCTION: cpHashSet* cpHashSetInit ( cpHashSet* set, int size, cpHashSetEqlFunc eqlFunc, cpHashSetTransFunc trans ) ;
-FUNCTION: cpHashSet* cpHashSetNew ( int size, cpHashSetEqlFunc eqlFunc, cpHashSetTransFunc trans ) ;
-FUNCTION: void* cpHashSetInsert ( cpHashSet* set, cpHashValue hash, void* ptr, void* data ) ;
-FUNCTION: void* cpHashSetRemove ( cpHashSet* set, cpHashValue hash, void* ptr ) ;
-FUNCTION: void* cpHashSetFind ( cpHashSet* set, cpHashValue hash, void* ptr ) ;
-FUNCTION: void cpHashSetEach ( cpHashSet* set, cpHashSetIterFunc func, void* data ) ;
-FUNCTION: void cpHashSetFilter ( cpHashSet* set, cpHashSetFilterFunc func, void* data ) ;
-
-! cpSpaceHash.h
-STRUCT: cpHandle
- { obj void* }
- { retain int }
- { stamp int } ;
-
-STRUCT: cpSpaceHashBin
- { handle cpHandle* }
- { next cpSpaceHashBin* } ;
-
-CALLBACK: cpBB cpSpaceHashBBFunc ( void* obj ) ;
-
-STRUCT: cpSpaceHash
- { numcells int }
- { celldim cpFloat }
- { bbfunc cpSpaceHashBBFunc }
- { handleSet cpHashSet* }
- { table cpSpaceHashBin** }
- { bins cpSpaceHashBin* }
- { stamp int } ;
-
-FUNCTION: cpSpaceHash* cpSpaceHashAlloc ( ) ;
-FUNCTION: cpSpaceHash* cpSpaceHashInit ( cpSpaceHash* hash, cpFloat celldim, int cells, cpSpaceHashBBFunc bbfunc ) ;
-FUNCTION: cpSpaceHash* cpSpaceHashNew ( cpFloat celldim, int cells, cpSpaceHashBBFunc bbfunc ) ;
-FUNCTION: void cpSpaceHashDestroy ( cpSpaceHash* hash ) ;
-FUNCTION: void cpSpaceHashFree ( cpSpaceHash* hash ) ;
-FUNCTION: void cpSpaceHashResize ( cpSpaceHash* hash, cpFloat celldim, int numcells ) ;
-FUNCTION: void cpSpaceHashInsert ( cpSpaceHash* hash, void* obj, cpHashValue id, cpBB bb ) ;
-FUNCTION: void cpSpaceHashRemove ( cpSpaceHash* hash, void* obj, cpHashValue id ) ;
-CALLBACK: void cpSpaceHashIterator ( void* obj, void* data ) ;
-FUNCTION: void cpSpaceHashEach ( cpSpaceHash* hash, cpSpaceHashIterator func, void* data ) ;
-FUNCTION: void cpSpaceHashRehash ( cpSpaceHash* hash ) ;
-FUNCTION: void cpSpaceHashRehashObject ( cpSpaceHash* hash, void* obj, cpHashValue id ) ;
-CALLBACK: void cpSpaceHashQueryFunc ( void* obj1, void* obj2, void* data ) ;
-FUNCTION: void cpSpaceHashPointQuery ( cpSpaceHash* hash, cpVect point, cpSpaceHashQueryFunc func, void* data ) ;
-FUNCTION: void cpSpaceHashQuery ( cpSpaceHash* hash, void* obj, cpBB bb, cpSpaceHashQueryFunc func, void* data ) ;
-FUNCTION: void cpSpaceHashQueryRehash ( cpSpaceHash* hash, cpSpaceHashQueryFunc func, void* data ) ;
-CALLBACK: cpFloat cpSpaceHashSegmentQueryFunc ( void* obj1, void* obj2, void* data ) ;
-FUNCTION: void cpSpaceHashSegmentQuery ( cpSpaceHash* hash, void* obj, cpVect a, cpVect b, cpFloat t_exit, cpSpaceHashSegmentQueryFunc func, void* data ) ;
-
-! cpShape.h
-C-TYPE: cpShape
-C-TYPE: cpShapeClass
-
-STRUCT: cpSegmentQueryInfo
- { shape cpShape* }
- { t cpFloat }
- { n cpVect } ;
-
-C-ENUM:
- CP_CIRCLE_SHAPE
- CP_SEGMENT_SHAPE
- CP_POLY_SHAPE
- CP_NUM_SHAPES ;
-TYPEDEF: int cpShapeType
-
-CALLBACK: cpBB cacheData_cb ( cpShape* shape, cpVect p, cpVect rot ) ;
-CALLBACK: void destroy_cb ( cpShape* shape ) ;
-CALLBACK: int pointQuery_cb ( cpShape* shape, cpVect p ) ;
-CALLBACK: void segmentQuery_cb ( cpShape* shape, cpVect a, cpVect b, cpSegmentQueryInfo* info ) ;
-
-STRUCT: cpShapeClass
- { type cpShapeType }
- { cacheData cacheData_cb }
- { destroy destroy_cb }
- { pointQuery pointQuery_cb }
- { segmentQuery segmentQuery_cb } ;
-
-STRUCT: cpShape
- { klass cpShapeClass* }
- { body cpBody* }
- { bb cpBB }
- { sensor int }
- { e cpFloat }
- { u cpFloat }
- { surface_v cpVect }
- { data cpDataPointer }
- { collision_type cpCollisionType }
- { group cpGroup }
- { layers cpLayers }
- { hashid cpHashValue } ;
-
-FUNCTION: cpShape* cpShapeInit ( cpShape* shape, cpShapeClass* klass, cpBody* body ) ;
-FUNCTION: void cpShapeDestroy ( cpShape* shape ) ;
-FUNCTION: void cpShapeFree ( cpShape* shape ) ;
-FUNCTION: cpBB cpShapeCacheBB ( cpShape* shape ) ;
-FUNCTION: int cpShapePointQuery ( cpShape* shape, cpVect p ) ;
-
-STRUCT: cpCircleShape
- { shape cpShape }
- { c cpVect }
- { r cpFloat }
- { tc cpVect } ;
-
-FUNCTION: cpCircleShape* cpCircleShapeAlloc ( ) ;
-FUNCTION: cpCircleShape* cpCircleShapeInit ( cpCircleShape* circle, cpBody* body, cpFloat radius, cpVect offset ) ;
-FUNCTION: cpShape* cpCircleShapeNew ( cpBody* body, cpFloat radius, cpVect offset ) ;
-
-STRUCT: cpSegmentShape
- { shape cpShape }
- { a cpVect }
- { b cpVect }
- { n cpVect }
- { r cpFloat }
- { ta cpVect }
- { tb cpVect }
- { tn cpVect } ;
-
-FUNCTION: cpSegmentShape* cpSegmentShapeAlloc ( ) ;
-FUNCTION: cpSegmentShape* cpSegmentShapeInit ( cpSegmentShape* seg, cpBody* body, cpVect a, cpVect b, cpFloat radius ) ;
-FUNCTION: cpShape* cpSegmentShapeNew ( cpBody* body, cpVect a, cpVect b, cpFloat radius ) ;
-FUNCTION: void cpResetShapeIdCounter ( ) ;
-FUNCTION: void cpSegmentQueryInfoPrint ( cpSegmentQueryInfo* info ) ;
-FUNCTION: int cpShapeSegmentQuery ( cpShape* shape, cpVect a, cpVect b, cpSegmentQueryInfo* info ) ;
-
-TYPED: cpSegmentQueryHitPoint ( start: cpVect end: cpVect info: cpSegmentQueryInfo -- hit-point: cpVect )
- t>> cpvlerp ; inline
-
-TYPED: cpSegmentQueryHitDist ( start: cpVect end: cpVect info: cpSegmentQueryInfo -- hit-dist )
- t>> [ cpvdist ] dip * ; inline
-
-! cpPolyShape.h
-STRUCT: cpPolyShapeAxis
- { n cpVect }
- { d cpFloat } ;
-SPECIALIZED-ARRAY: cpPolyShapeAxis
-
-STRUCT: cpPolyShape
- { shape cpShape }
- { numVerts int }
- { verts cpVect* }
- { axes cpPolyShapeAxis* }
- { tVerts cpVect* }
- { tAxes cpPolyShapeAxis* } ;
-
-FUNCTION: cpPolyShape* cpPolyShapeAlloc ( ) ;
-FUNCTION: cpPolyShape* cpPolyShapeInit ( cpPolyShape* poly, cpBody* body, int numVerts, cpVect* verts, cpVect offset ) ;
-FUNCTION: cpShape* cpPolyShapeNew ( cpBody* body, int numVerts, cpVect* verts, cpVect offset ) ;
-FUNCTION: int cpPolyValidate ( cpVect* verts, int numVerts ) ;
-FUNCTION: int cpPolyShapeGetNumVerts ( cpShape* shape ) ;
-FUNCTION: cpVect cpPolyShapeGetVert ( cpShape* shape, int idx ) ;
-
-TYPED: cpPolyShapeValueOnAxis ( poly: cpPolyShape n: cpVect d -- min-dist )
- swap rot [ numVerts>> ] [ tVerts>> swap <direct-cpVect-array> ] bi swap
- [ cpvdot ] curry [ min ] reduce swap - ; inline
-
-TYPED: cpPolyShapeContainsVert ( poly: cpPolyShape v: cpVect -- ? )
- swap [ numVerts>> ] [ tAxes>> swap <direct-cpPolyShapeAxis-array> ] bi swap
- [
- [ [ n>> ] dip cpvdot ] [ drop d>> ] 2bi -
- ] curry [ max ] reduce 0.0 <= ; inline
-
-TYPED: cpPolyShapeContainsVertPartial ( poly: cpPolyShape v: cpVect n: cpVect -- ? )
- rot [ numVerts>> ] [ tAxes>> swap <direct-cpPolyShapeAxis-array> ] bi -rot
- [| axis v n |
- axis n>> n cpvdot 0.0 < 0
- [ 0.0 ]
- [ axis n>> v cpvdot axis d>> - ]
- if
- ] 2curry [ max ] reduce 0.0 <= ; inline
-
-! cpArbiter.h
-C-TYPE: cpArbiter
-C-TYPE: cpSpace
-C-TYPE: cpCollisionHandler
-
-STRUCT: cpContact
- { p cpVect }
- { n cpVect }
- { dist cpFloat }
- { r1 cpVect }
- { r2 cpVect }
- { nMass cpFloat }
- { tMass cpFloat }
- { bounce cpFloat }
- { jnAcc cpFloat }
- { jtAcc cpFloat }
- { jBias cpFloat }
- { bias cpFloat }
- { hash cpHashValue } ;
-
-FUNCTION: cpContact* cpContactInit ( cpContact* con, cpVect p, cpVect n, cpFloat dist, cpHashValue hash ) ;
-
-C-ENUM:
- cpArbiterStateNormal
- cpArbiterStateFirstColl
- cpArbiterStateIgnore ;
-TYPEDEF: int cpArbiterState
-
-STRUCT: cpArbiter
- { numContacts int }
- { contacts cpContact* }
- { a cpShape* }
- { b cpShape* }
- { e cpFloat }
- { u cpFloat }
- { surface_vr cpVect }
- { stamp int }
- { handler cpCollisionHandler* }
- { swappedColl char }
- { state char } ;
-
-FUNCTION: cpArbiter* cpArbiterAlloc ( ) ;
-FUNCTION: cpArbiter* cpArbiterInit ( cpArbiter* arb, cpShape* a, cpShape* b ) ;
-FUNCTION: cpArbiter* cpArbiterNew ( cpShape* a, cpShape* b ) ;
-FUNCTION: void cpArbiterDestroy ( cpArbiter* arb ) ;
-FUNCTION: void cpArbiterFree ( cpArbiter* arb ) ;
-FUNCTION: void cpArbiterUpdate ( cpArbiter* arb, cpContact* contacts, int numContacts, cpCollisionHandler* handler, cpShape* a, cpShape* b ) ;
-FUNCTION: void cpArbiterPreStep ( cpArbiter* arb, cpFloat dt_inv ) ;
-FUNCTION: void cpArbiterApplyCachedImpulse ( cpArbiter* arb ) ;
-FUNCTION: void cpArbiterApplyImpulse ( cpArbiter* arb, cpFloat eCoef ) ;
-FUNCTION: cpVect cpArbiterTotalImpulse ( cpArbiter* arb ) ;
-FUNCTION: cpVect cpArbiterTotalImpulseWithFriction ( cpArbiter* arb ) ;
-FUNCTION: void cpArbiterIgnore ( cpArbiter* arb ) ;
-
-TYPED: cpArbiterGetShapes ( arb: cpArbiter -- a: cpShape b: cpShape )
- dup swappedColl>> 0 = [
- [ a>> ] [ b>> ] bi
- ] [
- [ b>> ] [ a>> ] bi
- ] if ; inline
-
-TYPED: cpArbiterIsFirstContact ( arb: cpArbiter -- ? )
- state>> cpArbiterStateFirstColl = ; inline
-
-TYPED: cpArbiterGetNormal ( arb: cpArbiter i -- n: cpVect )
- [
- swap
- [ numContacts>> ]
- [ contacts>> swap <direct-void*-array> ] bi nth cpContact memory>struct n>>
- ]
- [
- drop swappedColl>> 0 = [ ] [ cpvneg ] if
- ] 2bi ; inline
-
-TYPED: cpArbiterGetPoint ( arb: cpArbiter i -- p: cpVect )
- swap
- [ numContacts>> ]
- [ contacts>> swap <direct-void*-array> ] bi
- nth cpContact memory>struct p>> ; inline
-
-! cpCollision.h
-FUNCTION: int cpCollideShapes ( cpShape* a, cpShape* b, cpContact** arr ) ;
-
-! cpConstraint.h
-
-C-TYPE: cpConstraintClass
-C-TYPE: cpConstraint
-
-CALLBACK: void cpConstraintPreStepFunction ( cpConstraint* constraint, cpFloat dt, cpFloat dt_inv ) ;
-CALLBACK: void cpConstraintApplyImpulseFunction ( cpConstraint* constraint ) ;
-CALLBACK: cpFloat cpConstraintGetImpulseFunction ( cpConstraint* constraint ) ;
-
-STRUCT: cpConstraintClass
- { preStep cpConstraintPreStepFunction }
- { applyImpulse cpConstraintApplyImpulseFunction }
- { getImpulse cpConstraintGetImpulseFunction } ;
-
-STRUCT: cpConstraint
- { klass cpConstraintClass* }
- { a cpBody* }
- { b cpBody* }
- { maxForce cpFloat }
- { biasCoef cpFloat }
- { maxBias cpFloat }
- { data cpDataPointer } ;
-
-FUNCTION: void cpConstraintDestroy ( cpConstraint* constraint ) ;
-FUNCTION: void cpConstraintFree ( cpConstraint* constraint ) ;
-FUNCTION: void cpConstraintCheckCast ( cpConstraint* constraint, cpConstraintClass* klass ) ;
-
-! cpPinJoint.h
-FUNCTION: cpConstraintClass* cpPinJointGetClass ( ) ;
-
-STRUCT: cpPinJoint
- { constraint cpConstraint }
- { anchr1 cpVect }
- { anchr2 cpVect }
- { dist cpFloat }
- { r1 cpVect }
- { r2 cpVect }
- { n cpVect }
- { nMass cpFloat }
- { jnAcc cpFloat }
- { jnMax cpFloat }
- { bias cpFloat } ;
-
-FUNCTION: cpPinJoint* cpPinJointAlloc ( ) ;
-FUNCTION: cpPinJoint* cpPinJointInit ( cpPinJoint* joint, cpBody* a, cpBody* b, cpVect anchr1, cpVect anchr2 ) ;
-FUNCTION: cpConstraint* cpPinJointNew ( cpBody* a, cpBody* b, cpVect anchr1, cpVect anchr2 ) ;
-
-! cpSlideJoint.h
-FUNCTION: cpConstraintClass* cpSlideJointGetClass ( ) ;
-
-STRUCT: cpSlideJoint
- { constraint cpConstraint }
- { anchr1 cpVect }
- { anchr2 cpVect }
- { min cpFloat }
- { max cpFloat }
- { r1 cpVect }
- { r2 cpVect }
- { n cpVect }
- { nMass cpFloat }
- { jnAcc cpFloat }
- { jnMax cpFloat }
- { bias cpFloat } ;
-
-FUNCTION: cpSlideJoint* cpSlideJointAlloc ( ) ;
-FUNCTION: cpSlideJoint* cpSlideJointInit ( cpSlideJoint* joint, cpBody* a, cpBody* b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max ) ;
-FUNCTION: cpConstraint* cpSlideJointNew ( cpBody* a, cpBody* b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max ) ;
-
-! cpPivotJoint.h
-FUNCTION: cpConstraintClass* cpPivotJointGetClass ( ) ;
-
-STRUCT: cpPivotJoint
- { constraint cpConstraint }
- { anchr1 cpVect }
- { anchr2 cpVect }
- { r1 cpVect }
- { r2 cpVect }
- { k1 cpVect }
- { k2 cpVect }
- { jAcc cpVect }
- { jMaxLen cpFloat }
- { bias cpVect } ;
-
-FUNCTION: cpPivotJoint* cpPivotJointAlloc ( ) ;
-FUNCTION: cpPivotJoint* cpPivotJointInit ( cpPivotJoint* joint, cpBody* a, cpBody* b, cpVect anchr1, cpVect anchr2 ) ;
-FUNCTION: cpConstraint* cpPivotJointNew ( cpBody* a, cpBody* b, cpVect pivot ) ;
-FUNCTION: cpConstraint* cpPivotJointNew2 ( cpBody* a, cpBody* b, cpVect anchr1, cpVect anchr2 ) ;
-
-! cpGrooveJoint.h
-FUNCTION: cpConstraintClass* cpGrooveJointGetClass ( ) ;
-
-STRUCT: cpGrooveJoint
- { constraint cpConstraint }
- { grv_n cpVect }
- { grv_a cpVect }
- { grv_b cpVect }
- { anchr2 cpVect }
- { grv_tn cpVect }
- { clamp cpFloat }
- { r1 cpVect }
- { r2 cpVect }
- { k1 cpVect }
- { k2 cpVect }
- { jAcc cpVect }
- { jMaxLen cpFloat }
- { bias cpVect } ;
-
-FUNCTION: cpGrooveJoint* cpGrooveJointAlloc ( ) ;
-FUNCTION: cpGrooveJoint* cpGrooveJointInit ( cpGrooveJoint* joint, cpBody* a, cpBody* b, cpVect groove_a, cpVect groove_b, cpVect anchr2 ) ;
-FUNCTION: cpConstraint* cpGrooveJointNew ( cpBody* a, cpBody* b, cpVect groove_a, cpVect groove_b, cpVect anchr2 ) ;
-
-! cpDampedSpring.h
-CALLBACK: cpFloat cpDampedSpringForceFunc ( cpConstraint* spring, cpFloat dist ) ;
-FUNCTION: cpConstraintClass* cpDampedSpringGetClass ( ) ;
-
-STRUCT: cpDampedSpring
- { constraint cpConstraint }
- { anchr1 cpVect }
- { anchr2 cpVect }
- { restLength cpFloat }
- { stiffness cpFloat }
- { damping cpFloat }
- { springForceFunc cpDampedSpringForceFunc }
- { dt cpFloat }
- { target_vrn cpFloat }
- { r1 cpVect }
- { r2 cpVect }
- { nMass cpFloat }
- { n cpVect } ;
-
-FUNCTION: cpDampedSpring* cpDampedSpringAlloc ( ) ;
-FUNCTION: cpDampedSpring* cpDampedSpringInit ( cpDampedSpring* joint, cpBody* a, cpBody* b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping ) ;
-FUNCTION: cpConstraint* cpDampedSpringNew ( cpBody* a, cpBody* b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping ) ;
-
-! cpDampedRotarySpring.h
-CALLBACK: cpFloat cpDampedRotarySpringTorqueFunc ( cpConstraint* spring, cpFloat relativeAngle ) ;
-FUNCTION: cpConstraintClass* cpDampedRotarySpringGetClass ( ) ;
-
-STRUCT: cpDampedRotarySpring
- { constraint cpConstraint }
- { restAngle cpFloat }
- { stiffness cpFloat }
- { damping cpFloat }
- { springTorqueFunc cpDampedRotarySpringTorqueFunc }
- { dt cpFloat }
- { target_wrn cpFloat }
- { iSum cpFloat } ;
-
-FUNCTION: cpDampedRotarySpring* cpDampedRotarySpringAlloc ( ) ;
-FUNCTION: cpDampedRotarySpring* cpDampedRotarySpringInit ( cpDampedRotarySpring* joint, cpBody* a, cpBody* b, cpFloat restAngle, cpFloat stiffness, cpFloat damping ) ;
-FUNCTION: cpConstraint* cpDampedRotarySpringNew ( cpBody* a, cpBody* b, cpFloat restAngle, cpFloat stiffness, cpFloat damping ) ;
-
-! cpRotaryLimitJoint.h
-FUNCTION: cpConstraintClass* cpRotaryLimitJointGetClass ( ) ;
-
-STRUCT: cpRotaryLimitJoint
- { constraint cpConstraint }
- { min cpFloat }
- { max cpFloat }
- { iSum cpFloat }
- { bias cpFloat }
- { jAcc cpFloat }
- { jMax cpFloat } ;
-
-FUNCTION: cpRotaryLimitJoint* cpRotaryLimitJointAlloc ( ) ;
-FUNCTION: cpRotaryLimitJoint* cpRotaryLimitJointInit ( cpRotaryLimitJoint* joint, cpBody* a, cpBody* b, cpFloat min, cpFloat max ) ;
-FUNCTION: cpConstraint* cpRotaryLimitJointNew ( cpBody* a, cpBody* b, cpFloat min, cpFloat max ) ;
-
-! cpRatchetJoint.h
-FUNCTION: cpConstraintClass* cpRatchetJointGetClass ( ) ;
-
-STRUCT: cpRatchetJoint
- { constraint cpConstraint }
- { angle cpFloat }
- { phase cpFloat }
- { ratchet cpFloat }
- { iSum cpFloat }
- { bias cpFloat }
- { jAcc cpFloat }
- { jMax cpFloat } ;
-
-FUNCTION: cpRatchetJoint* cpRatchetJointAlloc ( ) ;
-FUNCTION: cpRatchetJoint* cpRatchetJointInit ( cpRatchetJoint* joint, cpBody* a, cpBody* b, cpFloat phase, cpFloat ratchet ) ;
-FUNCTION: cpConstraint* cpRatchetJointNew ( cpBody* a, cpBody* b, cpFloat phase, cpFloat ratchet ) ;
-
-! cpGearJoint.h
-FUNCTION: cpConstraintClass* cpGearJointGetClass ( ) ;
-
-STRUCT: cpGearJoint
- { constraint cpConstraint }
- { phase cpFloat }
- { ratio cpFloat }
- { ratio_inv cpFloat }
- { iSum cpFloat }
- { bias cpFloat }
- { jAcc cpFloat }
- { jMax cpFloat } ;
-
-FUNCTION: cpGearJoint* cpGearJointAlloc ( ) ;
-FUNCTION: cpGearJoint* cpGearJointInit ( cpGearJoint* joint, cpBody* a, cpBody* b, cpFloat phase, cpFloat ratio ) ;
-FUNCTION: cpConstraint* cpGearJointNew ( cpBody* a, cpBody* b, cpFloat phase, cpFloat ratio ) ;
-FUNCTION: void cpGearJointSetRatio ( cpConstraint* constraint, cpFloat value ) ;
-
-! cpSimpleMotor.h
-FUNCTION: cpConstraintClass* cpSimpleMotorGetClass ( ) ;
-
-STRUCT: cpSimpleMotor
- { constraint cpConstraint }
- { rate cpFloat }
- { iSum cpFloat }
- { jAcc cpFloat }
- { jMax cpFloat } ;
-
-FUNCTION: cpSimpleMotor* cpSimpleMotorAlloc ( ) ;
-FUNCTION: cpSimpleMotor* cpSimpleMotorInit ( cpSimpleMotor* joint, cpBody* a, cpBody* b, cpFloat rate ) ;
-FUNCTION: cpConstraint* cpSimpleMotorNew ( cpBody* a, cpBody* b, cpFloat rate ) ;
-
-! cpSpace.h
-C-TYPE: cpSpace
-
-CALLBACK: int cpCollisionBeginFunc ( cpArbiter* arb, cpSpace* space, void* data ) ;
-CALLBACK: int cpCollisionPreSolveFunc ( cpArbiter* arb, cpSpace* space, void* data ) ;
-CALLBACK: void cpCollisionPostSolveFunc ( cpArbiter* arb, cpSpace* space, void* data ) ;
-CALLBACK: void cpCollisionSeparateFunc ( cpArbiter* arb, cpSpace* space, void* data ) ;
-
-STRUCT: cpCollisionHandler
- { a cpCollisionType }
- { b cpCollisionType }
- { begin cpCollisionBeginFunc }
- { preSolve cpCollisionPreSolveFunc }
- { postSolve cpCollisionPostSolveFunc }
- { separate cpCollisionSeparateFunc }
- { data void* } ;
-
-STRUCT: cpSpace
- { iterations int }
- { elasticIterations int }
- { gravity cpVect }
- { damping cpFloat }
- { stamp int }
- { staticShapes cpSpaceHash* }
- { activeShapes cpSpaceHash* }
- { bodies cpArray* }
- { arbiters cpArray* }
- { contactSet cpHashSet* }
- { constraints cpArray* }
- { collFuncSet cpHashSet* }
- { defaultHandler cpCollisionHandler }
- { postStepCallbacks cpHashSet* } ;
-
-FUNCTION: cpSpace* cpSpaceAlloc ( ) ;
-FUNCTION: cpSpace* cpSpaceInit ( cpSpace* space ) ;
-FUNCTION: cpSpace* cpSpaceNew ( ) ;
-FUNCTION: void cpSpaceDestroy ( cpSpace* space ) ;
-FUNCTION: void cpSpaceFree ( cpSpace* space ) ;
-FUNCTION: void cpSpaceFreeChildren ( cpSpace* space ) ;
-FUNCTION: void cpSpaceSetDefaultCollisionHandler (
- cpSpace* space,
- cpCollisionBeginFunc begin,
- cpCollisionPreSolveFunc preSolve,
- cpCollisionPostSolveFunc postSolve,
- cpCollisionSeparateFunc separate,
- void* data ) ;
-FUNCTION: void cpSpaceAddCollisionHandler (
- cpSpace* space,
- cpCollisionType a,
- cpCollisionType b,
- cpCollisionBeginFunc begin,
- cpCollisionPreSolveFunc preSolve,
- cpCollisionPostSolveFunc postSolve,
- cpCollisionSeparateFunc separate,
- void* data ) ;
-FUNCTION: void cpSpaceRemoveCollisionHandler ( cpSpace* space, cpCollisionType a, cpCollisionType b ) ;
-FUNCTION: cpShape* cpSpaceAddShape ( cpSpace* space, cpShape* shape ) ;
-FUNCTION: cpShape* cpSpaceAddStaticShape ( cpSpace* space, cpShape* shape ) ;
-FUNCTION: cpBody* cpSpaceAddBody ( cpSpace* space, cpBody* body ) ;
-FUNCTION: cpConstraint* cpSpaceAddConstraint ( cpSpace* space, cpConstraint* constraint ) ;
-FUNCTION: void cpSpaceRemoveShape ( cpSpace* space, cpShape* shape ) ;
-FUNCTION: void cpSpaceRemoveStaticShape ( cpSpace* space, cpShape* shape ) ;
-FUNCTION: void cpSpaceRemoveBody ( cpSpace* space, cpBody* body ) ;
-FUNCTION: void cpSpaceRemoveConstraint ( cpSpace* space, cpConstraint* constraint ) ;
-CALLBACK: void cpPostStepFunc ( cpSpace* space, void* obj, void* data ) ;
-FUNCTION: void cpSpaceAddPostStepCallback ( cpSpace* space, cpPostStepFunc func, void* obj, void* data ) ;
-CALLBACK: void cpSpacePointQueryFunc ( cpShape* shape, void* data ) ;
-FUNCTION: void cpSpacePointQuery ( cpSpace* space, cpVect point, cpLayers layers, cpGroup group, cpSpacePointQueryFunc func, void* data ) ;
-FUNCTION: cpShape* cpSpacePointQueryFirst ( cpSpace* space, cpVect point, cpLayers layers, cpGroup group ) ;
-CALLBACK: void cpSpaceSegmentQueryFunc ( cpShape* shape, cpFloat t, cpVect n, void* data ) ;
-FUNCTION: int cpSpaceSegmentQuery ( cpSpace* space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryFunc func, void* data ) ;
-FUNCTION: cpShape* cpSpaceSegmentQueryFirst ( cpSpace* space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSegmentQueryInfo* out ) ;
-CALLBACK: void cpSpaceBBQueryFunc ( cpShape* shape, void* data ) ;
-FUNCTION: void cpSpaceBBQuery ( cpSpace* space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryFunc func, void* data ) ;
-CALLBACK: void cpSpaceBodyIterator ( cpBody* body, void* data ) ;
-FUNCTION: void cpSpaceEachBody ( cpSpace* space, cpSpaceBodyIterator func, void* data ) ;
-FUNCTION: void cpSpaceResizeStaticHash ( cpSpace* space, cpFloat dim, int count ) ;
-FUNCTION: void cpSpaceResizeActiveHash ( cpSpace* space, cpFloat dim, int count ) ;
-FUNCTION: void cpSpaceRehashStatic ( cpSpace* space ) ;
-FUNCTION: void cpSpaceStep ( cpSpace* space, cpFloat dt ) ;
-
-! chipmunk.h
-FUNCTION: void cpInitChipmunk ( ) ;
-FUNCTION: cpFloat cpMomentForCircle ( cpFloat m, cpFloat r1, cpFloat r2, cpVect offset ) ;
-FUNCTION: cpFloat cpMomentForSegment ( cpFloat m, cpVect a, cpVect b ) ;
-FUNCTION: cpFloat cpMomentForPoly ( cpFloat m, int numVerts, cpVect* verts, cpVect offset ) ;
-
! Copyright (C) 2010 Erik Charlebois
! See http:// factorcode.org/license.txt for BSD license.
-USING: accessors chipmunk classes.struct game.worlds kernel locals
+USING: accessors chipmunk.ffi classes.struct game.worlds kernel locals
math method-chains opengl.gl random sequences specialized-arrays
specialized-arrays.instances.alien.c-types.void* ui ui.gadgets.worlds
ui.pixel-formats ;
--- /dev/null
+! Copyright (C) 2010 Erik Charlebois
+! See http:// factorcode.org/license.txt for BSD license.
+USING: accessors alien.c-types alien.syntax classes.struct combinators
+combinators.short-circuit kernel math math.order sequences
+specialized-arrays.instances.alien.c-types.void* typed
+specialized-arrays locals system alien.libraries ;
+IN: chipmunk.ffi
+
+<< "chipmunk" {
+ { [ os windows? ] [ "chipmunk.dll" ] }
+ { [ os macosx? ] [ "libchipmunk.dylib" ] }
+ { [ os unix? ] [ "libchipmunk.so" ] }
+ } cond "cdecl" add-library >>
+LIBRARY: chipmunk
+
+! chipmunk_types.h
+TYPEDEF: double cpFloat
+STRUCT: cpVect
+ { x cpFloat }
+ { y cpFloat } ;
+SPECIALIZED-ARRAY: cpVect
+
+TYPEDEF: uint cpHashValue
+TYPEDEF: void* cpDataPointer
+TYPEDEF: uint cpCollisionType
+TYPEDEF: uint cpLayers
+TYPEDEF: uint cpGroup
+
+CONSTANT: CP_NO_GROUP 0
+CONSTANT: CP_ALL_LAYERS HEX: ffffffff
+
+! cpVect.h
+TYPED: cpv ( x y -- v: cpVect )
+ cpVect <struct-boa> ; inline
+
+TYPED: cpvzero ( -- v: cpVect )
+ 0.0 0.0 cpv ; inline
+
+FUNCTION: cpFloat cpvlength ( cpVect v ) ;
+FUNCTION: cpVect cpvslerp ( cpVect v1, cpVect v2, cpFloat t ) ;
+FUNCTION: cpVect cpvslerpconst ( cpVect v1, cpVect v2, cpFloat a ) ;
+FUNCTION: cpVect cpvforangle ( cpFloat a ) ;
+FUNCTION: cpFloat cpvtoangle ( cpVect v ) ;
+FUNCTION: c-string cpvstr ( cpVect v ) ;
+
+TYPED: cpvadd ( v1: cpVect v2: cpVect -- v3: cpVect )
+ [ [ x>> ] bi@ + ]
+ [ [ y>> ] bi@ + ] 2bi cpv ; inline
+
+TYPED: cpvneg ( v1: cpVect -- v2: cpVect )
+ [ x>> ] [ y>> ] bi [ neg ] bi@ cpv ; inline
+
+TYPED: cpvsub ( v1: cpVect v2: cpVect -- v3: cpVect )
+ [ [ x>> ] bi@ - ]
+ [ [ y>> ] bi@ - ] 2bi cpv ; inline
+
+TYPED: cpvmult ( v1: cpVect s -- v2: cpVect )
+ [ swap x>> * ]
+ [ swap y>> * ] 2bi cpv ; inline
+
+TYPED: cpvdot ( v1: cpVect v2: cpVect -- s )
+ [ [ x>> ] bi@ * ]
+ [ [ y>> ] bi@ * ] 2bi + ; inline
+
+TYPED: cpvcross ( v1: cpVect v2: cpVect -- s )
+ [ [ x>> ] [ y>> ] bi* * ]
+ [ [ y>> ] [ x>> ] bi* * ] 2bi - ; inline
+
+TYPED: cpvperp ( v1: cpVect -- v2: cpVect )
+ [ y>> neg ] [ x>> ] bi cpv ; inline
+
+TYPED: cpvrperp ( v1: cpVect -- v2: cpVect )
+ [ y>> ] [ x>> neg ] bi cpv ; inline
+
+TYPED: cpvproject ( v1: cpVect v2: cpVect -- v3: cpVect )
+ [ nip ]
+ [ cpvdot ]
+ [ nip dup cpvdot ]
+ 2tri / cpvmult ; inline
+
+TYPED: cpvrotate ( v1: cpVect v2: cpVect -- v3: cpVect )
+ [
+ [ [ x>> ] bi@ * ]
+ [ [ y>> ] bi@ * ] 2bi -
+ ]
+ [
+ [ [ x>> ] [ y>> ] bi* * ]
+ [ [ y>> ] [ x>> ] bi* * ] 2bi +
+ ] 2bi cpv ; inline
+
+TYPED: cpvunrotate ( v1: cpVect v2: cpVect -- v3: cpVect )
+ [
+ [ [ x>> ] bi@ * ]
+ [ [ y>> ] bi@ * ] 2bi +
+ ]
+ [
+ [ [ y>> ] [ x>> ] bi* * ]
+ [ [ x>> ] [ y>> ] bi* * ] 2bi -
+ ] 2bi cpv ; inline
+
+TYPED: cpvlengthsq ( v: cpVect -- s )
+ dup cpvdot ; inline
+
+TYPED: cpvlerp ( v1: cpVect v2: cpVect s -- v3: cpVect )
+ [ nip 1.0 swap - cpvmult ]
+ [ cpvmult nip ] 3bi cpvadd ; inline
+
+TYPED: cpvnormalize ( v1: cpVect -- v2: cpVect )
+ dup cpvlength 1.0 swap / cpvmult ; inline
+
+TYPED: cpvnormalize_safe ( v1: cpVect -- v2: cpVect )
+ dup [ x>> 0.0 = ] [ y>> 0.0 = ] bi and
+ [ drop cpvzero ]
+ [ cpvnormalize ] if ; inline
+
+TYPED: cpvclamp ( v1: cpVect len -- v2: cpVect )
+ 2dup
+ [ dup cpvdot ]
+ [ sq ] 2bi* >
+ [ [ cpvnormalize ] dip cpvmult ]
+ [ drop ] if ; inline
+
+TYPED: cpvlerpconst ( v1: cpVect v2: cpVect d -- v3: cpVect )
+ [ 2drop ]
+ [ [ swap cpvsub ] dip cpvclamp ] 3bi cpvadd ; inline
+
+TYPED: cpvdist ( v1: cpVect v2: cpVect -- dist )
+ cpvsub cpvlength ; inline
+
+TYPED: cpvdistsq ( v1: cpVect v2: cpVect -- distsq )
+ cpvsub cpvlengthsq ; inline
+
+TYPED: cpvnear ( v1: cpVect v2: cpVect dist -- ? )
+ [ cpvdistsq ] dip sq < ; inline
+
+! cpBB.h
+STRUCT: cpBB
+ { l cpFloat }
+ { b cpFloat }
+ { r cpFloat }
+ { t cpFloat } ;
+
+TYPED: cpBBNew ( l b r t -- cpbb: cpBB )
+ cpBB <struct-boa> ; inline
+
+TYPED: cpBBintersects ( a: cpBB b: cpBB -- ? )
+ {
+ [ [ l>> ] [ r>> ] bi* <= ]
+ [ [ r>> ] [ l>> ] bi* > ]
+ [ [ b>> ] [ t>> ] bi* <= ]
+ [ [ t>> ] [ b>> ] bi* > ]
+ } 2&& ; inline
+
+TYPED: cpBBcontainsBB ( bb: cpBB other: cpBB -- ? )
+ {
+ [ [ l>> ] bi@ < ]
+ [ [ r>> ] bi@ > ]
+ [ [ b>> ] bi@ < ]
+ [ [ t>> ] bi@ > ]
+ } 2&& ; inline
+
+TYPED: cpBBcontainsVect ( bb: cpBB v: cpVect -- ? )
+ {
+ [ [ l>> ] [ x>> ] bi* < ]
+ [ [ r>> ] [ x>> ] bi* > ]
+ [ [ b>> ] [ y>> ] bi* < ]
+ [ [ t>> ] [ y>> ] bi* > ]
+ } 2&& ; inline
+
+TYPED: cpBBmerge ( a: cpBB b: cpBB -- c: cpBB )
+ {
+ [ [ l>> ] bi@ min ]
+ [ [ b>> ] bi@ min ]
+ [ [ r>> ] bi@ max ]
+ [ [ t>> ] bi@ max ]
+ } 2cleave cpBBNew ; inline
+
+TYPED: cpBBexpand ( bb: cpBB v: cpVect -- b: cpBB )
+ {
+ [ [ l>> ] [ x>> ] bi* min ]
+ [ [ b>> ] [ y>> ] bi* min ]
+ [ [ r>> ] [ x>> ] bi* max ]
+ [ [ t>> ] [ y>> ] bi* max ]
+ } 2cleave cpBBNew ; inline
+
+FUNCTION: cpVect cpBBClampVect ( cpBB bb, cpVect v ) ;
+FUNCTION: cpVect cpBBWrapVect ( cpBB bb, cpVect v ) ;
+
+! cpBody.h
+C-TYPE: cpBody
+CALLBACK: void cpBodyVelocityFunc ( cpBody* body, cpVect gravity, cpFloat damping, cpFloat dt ) ;
+CALLBACK: void cpBodyPositionFunc ( cpBody* body, cpFloat dt ) ;
+
+STRUCT: cpBody
+ { velocity_func cpBodyVelocityFunc }
+ { position_func cpBodyPositionFunc }
+ { m cpFloat }
+ { m_inv cpFloat }
+ { i cpFloat }
+ { i_inv cpFloat }
+ { p cpVect }
+ { v cpVect }
+ { f cpVect }
+ { a cpFloat }
+ { w cpFloat }
+ { t cpFloat }
+ { rot cpVect }
+ { data cpDataPointer }
+ { v_limit cpFloat }
+ { w_limit cpFloat }
+ { v_bias cpVect }
+ { w_bias cpFloat } ;
+
+FUNCTION: cpBody* cpBodyAlloc ( ) ;
+FUNCTION: cpBody* cpBodyInit ( cpBody* body, cpFloat m, cpFloat i ) ;
+FUNCTION: cpBody* cpBodyNew ( cpFloat m, cpFloat i ) ;
+FUNCTION: void cpBodyDestroy ( cpBody* body ) ;
+FUNCTION: void cpBodyFree ( cpBody* body ) ;
+FUNCTION: void cpBodySetMass ( cpBody* body, cpFloat m ) ;
+FUNCTION: void cpBodySetMoment ( cpBody* body, cpFloat i ) ;
+FUNCTION: void cpBodySetAngle ( cpBody* body, cpFloat a ) ;
+FUNCTION: void cpBodySlew ( cpBody* body, cpVect pos, cpFloat dt ) ;
+FUNCTION: void cpBodyUpdateVelocity ( cpBody* body, cpVect gravity, cpFloat damping, cpFloat dt ) ;
+FUNCTION: void cpBodyUpdatePosition ( cpBody* body, cpFloat dt ) ;
+
+TYPED: cpBodyLocal2World ( body: cpBody v: cpVect -- v2: cpVect )
+ [ drop p>> ]
+ [ swap rot>> cpvrotate ] 2bi cpvadd ; inline
+
+TYPED: cpBodyWorld2Local ( body: cpBody v: cpVect -- v2: cpVect )
+ [ swap p>> cpvsub ]
+ [ drop rot>> ] 2bi cpvunrotate ; inline
+
+TYPED: cpBodyApplyImpulse ( body: cpBody j: cpVect r: cpVect -- )
+ [
+ drop
+ [ drop dup v>> ]
+ [ swap m_inv>> cpvmult ] 2bi cpvadd >>v drop
+ ]
+ [
+ [ 2drop dup w_bias>> ]
+ [ swap cpvcross [ i_inv>> ] dip * ] 3bi + >>w_bias drop
+ ] 3bi ; inline
+
+FUNCTION: void cpBodyResetForces ( cpBody* body ) ;
+FUNCTION: void cpBodyApplyForce ( cpBody* body, cpVect f, cpVect r ) ;
+FUNCTION: void cpApplyDampedSpring ( cpBody* a, cpBody* b, cpVect anchr1, cpVect anchr2, cpFloat rlen, cpFloat k, cpFloat dmp, cpFloat dt ) ;
+
+! cpArray.h
+STRUCT: cpArray
+ { num int }
+ { max int }
+ { arr void** } ;
+
+CALLBACK: void cpArrayIter ( void* ptr, void* data ) ;
+
+FUNCTION: cpArray* cpArrayAlloc ( ) ;
+FUNCTION: cpArray* cpArrayInit ( cpArray* arr, int size ) ;
+FUNCTION: cpArray* cpArrayNew ( int size ) ;
+FUNCTION: void cpArrayDestroy ( cpArray* arr ) ;
+FUNCTION: void cpArrayFree ( cpArray* arr ) ;
+FUNCTION: void cpArrayPush ( cpArray* arr, void* object ) ;
+FUNCTION: void cpArrayDeleteIndex ( cpArray* arr, int idx ) ;
+FUNCTION: void cpArrayDeleteObj ( cpArray* arr, void* obj ) ;
+FUNCTION: void cpArrayEach ( cpArray* arr, cpArrayIter iterFunc, void* data ) ;
+FUNCTION: int cpArrayContains ( cpArray* arr, void* ptr ) ;
+
+! cpHashSet.h
+STRUCT: cpHashSetBin
+ { elt void* }
+ { hash cpHashValue }
+ { next cpHashSetBin* } ;
+
+CALLBACK: int cpHashSetEqlFunc ( void* ptr, void* elt ) ;
+CALLBACK: void* cpHashSetTransFunc ( void* ptr, void* data ) ;
+CALLBACK: void cpHashSetIterFunc ( void* elt, void* data ) ;
+CALLBACK: int cpHashSetFilterFunc ( void* elt, void* data ) ;
+
+STRUCT: cpHashSet
+ { entries int }
+ { size int }
+ { eql cpHashSetEqlFunc }
+ { trans cpHashSetTransFunc }
+ { default_value void* }
+ { table cpHashSetBin** } ;
+
+FUNCTION: void cpHashSetDestroy ( cpHashSet* set ) ;
+FUNCTION: void cpHashSetFree ( cpHashSet* set ) ;
+FUNCTION: cpHashSet* cpHashSetAlloc ( ) ;
+FUNCTION: cpHashSet* cpHashSetInit ( cpHashSet* set, int size, cpHashSetEqlFunc eqlFunc, cpHashSetTransFunc trans ) ;
+FUNCTION: cpHashSet* cpHashSetNew ( int size, cpHashSetEqlFunc eqlFunc, cpHashSetTransFunc trans ) ;
+FUNCTION: void* cpHashSetInsert ( cpHashSet* set, cpHashValue hash, void* ptr, void* data ) ;
+FUNCTION: void* cpHashSetRemove ( cpHashSet* set, cpHashValue hash, void* ptr ) ;
+FUNCTION: void* cpHashSetFind ( cpHashSet* set, cpHashValue hash, void* ptr ) ;
+FUNCTION: void cpHashSetEach ( cpHashSet* set, cpHashSetIterFunc func, void* data ) ;
+FUNCTION: void cpHashSetFilter ( cpHashSet* set, cpHashSetFilterFunc func, void* data ) ;
+
+! cpSpaceHash.h
+STRUCT: cpHandle
+ { obj void* }
+ { retain int }
+ { stamp int } ;
+
+STRUCT: cpSpaceHashBin
+ { handle cpHandle* }
+ { next cpSpaceHashBin* } ;
+
+CALLBACK: cpBB cpSpaceHashBBFunc ( void* obj ) ;
+
+STRUCT: cpSpaceHash
+ { numcells int }
+ { celldim cpFloat }
+ { bbfunc cpSpaceHashBBFunc }
+ { handleSet cpHashSet* }
+ { table cpSpaceHashBin** }
+ { bins cpSpaceHashBin* }
+ { stamp int } ;
+
+FUNCTION: cpSpaceHash* cpSpaceHashAlloc ( ) ;
+FUNCTION: cpSpaceHash* cpSpaceHashInit ( cpSpaceHash* hash, cpFloat celldim, int cells, cpSpaceHashBBFunc bbfunc ) ;
+FUNCTION: cpSpaceHash* cpSpaceHashNew ( cpFloat celldim, int cells, cpSpaceHashBBFunc bbfunc ) ;
+FUNCTION: void cpSpaceHashDestroy ( cpSpaceHash* hash ) ;
+FUNCTION: void cpSpaceHashFree ( cpSpaceHash* hash ) ;
+FUNCTION: void cpSpaceHashResize ( cpSpaceHash* hash, cpFloat celldim, int numcells ) ;
+FUNCTION: void cpSpaceHashInsert ( cpSpaceHash* hash, void* obj, cpHashValue id, cpBB bb ) ;
+FUNCTION: void cpSpaceHashRemove ( cpSpaceHash* hash, void* obj, cpHashValue id ) ;
+CALLBACK: void cpSpaceHashIterator ( void* obj, void* data ) ;
+FUNCTION: void cpSpaceHashEach ( cpSpaceHash* hash, cpSpaceHashIterator func, void* data ) ;
+FUNCTION: void cpSpaceHashRehash ( cpSpaceHash* hash ) ;
+FUNCTION: void cpSpaceHashRehashObject ( cpSpaceHash* hash, void* obj, cpHashValue id ) ;
+CALLBACK: void cpSpaceHashQueryFunc ( void* obj1, void* obj2, void* data ) ;
+FUNCTION: void cpSpaceHashPointQuery ( cpSpaceHash* hash, cpVect point, cpSpaceHashQueryFunc func, void* data ) ;
+FUNCTION: void cpSpaceHashQuery ( cpSpaceHash* hash, void* obj, cpBB bb, cpSpaceHashQueryFunc func, void* data ) ;
+FUNCTION: void cpSpaceHashQueryRehash ( cpSpaceHash* hash, cpSpaceHashQueryFunc func, void* data ) ;
+CALLBACK: cpFloat cpSpaceHashSegmentQueryFunc ( void* obj1, void* obj2, void* data ) ;
+FUNCTION: void cpSpaceHashSegmentQuery ( cpSpaceHash* hash, void* obj, cpVect a, cpVect b, cpFloat t_exit, cpSpaceHashSegmentQueryFunc func, void* data ) ;
+
+! cpShape.h
+C-TYPE: cpShape
+C-TYPE: cpShapeClass
+
+STRUCT: cpSegmentQueryInfo
+ { shape cpShape* }
+ { t cpFloat }
+ { n cpVect } ;
+
+C-ENUM:
+ CP_CIRCLE_SHAPE
+ CP_SEGMENT_SHAPE
+ CP_POLY_SHAPE
+ CP_NUM_SHAPES ;
+TYPEDEF: int cpShapeType
+
+CALLBACK: cpBB cacheData_cb ( cpShape* shape, cpVect p, cpVect rot ) ;
+CALLBACK: void destroy_cb ( cpShape* shape ) ;
+CALLBACK: int pointQuery_cb ( cpShape* shape, cpVect p ) ;
+CALLBACK: void segmentQuery_cb ( cpShape* shape, cpVect a, cpVect b, cpSegmentQueryInfo* info ) ;
+
+STRUCT: cpShapeClass
+ { type cpShapeType }
+ { cacheData cacheData_cb }
+ { destroy destroy_cb }
+ { pointQuery pointQuery_cb }
+ { segmentQuery segmentQuery_cb } ;
+
+STRUCT: cpShape
+ { klass cpShapeClass* }
+ { body cpBody* }
+ { bb cpBB }
+ { sensor int }
+ { e cpFloat }
+ { u cpFloat }
+ { surface_v cpVect }
+ { data cpDataPointer }
+ { collision_type cpCollisionType }
+ { group cpGroup }
+ { layers cpLayers }
+ { hashid cpHashValue } ;
+
+FUNCTION: cpShape* cpShapeInit ( cpShape* shape, cpShapeClass* klass, cpBody* body ) ;
+FUNCTION: void cpShapeDestroy ( cpShape* shape ) ;
+FUNCTION: void cpShapeFree ( cpShape* shape ) ;
+FUNCTION: cpBB cpShapeCacheBB ( cpShape* shape ) ;
+FUNCTION: int cpShapePointQuery ( cpShape* shape, cpVect p ) ;
+
+STRUCT: cpCircleShape
+ { shape cpShape }
+ { c cpVect }
+ { r cpFloat }
+ { tc cpVect } ;
+
+FUNCTION: cpCircleShape* cpCircleShapeAlloc ( ) ;
+FUNCTION: cpCircleShape* cpCircleShapeInit ( cpCircleShape* circle, cpBody* body, cpFloat radius, cpVect offset ) ;
+FUNCTION: cpShape* cpCircleShapeNew ( cpBody* body, cpFloat radius, cpVect offset ) ;
+
+STRUCT: cpSegmentShape
+ { shape cpShape }
+ { a cpVect }
+ { b cpVect }
+ { n cpVect }
+ { r cpFloat }
+ { ta cpVect }
+ { tb cpVect }
+ { tn cpVect } ;
+
+FUNCTION: cpSegmentShape* cpSegmentShapeAlloc ( ) ;
+FUNCTION: cpSegmentShape* cpSegmentShapeInit ( cpSegmentShape* seg, cpBody* body, cpVect a, cpVect b, cpFloat radius ) ;
+FUNCTION: cpShape* cpSegmentShapeNew ( cpBody* body, cpVect a, cpVect b, cpFloat radius ) ;
+FUNCTION: void cpResetShapeIdCounter ( ) ;
+FUNCTION: void cpSegmentQueryInfoPrint ( cpSegmentQueryInfo* info ) ;
+FUNCTION: int cpShapeSegmentQuery ( cpShape* shape, cpVect a, cpVect b, cpSegmentQueryInfo* info ) ;
+
+TYPED: cpSegmentQueryHitPoint ( start: cpVect end: cpVect info: cpSegmentQueryInfo -- hit-point: cpVect )
+ t>> cpvlerp ; inline
+
+TYPED: cpSegmentQueryHitDist ( start: cpVect end: cpVect info: cpSegmentQueryInfo -- hit-dist )
+ t>> [ cpvdist ] dip * ; inline
+
+! cpPolyShape.h
+STRUCT: cpPolyShapeAxis
+ { n cpVect }
+ { d cpFloat } ;
+SPECIALIZED-ARRAY: cpPolyShapeAxis
+
+STRUCT: cpPolyShape
+ { shape cpShape }
+ { numVerts int }
+ { verts cpVect* }
+ { axes cpPolyShapeAxis* }
+ { tVerts cpVect* }
+ { tAxes cpPolyShapeAxis* } ;
+
+FUNCTION: cpPolyShape* cpPolyShapeAlloc ( ) ;
+FUNCTION: cpPolyShape* cpPolyShapeInit ( cpPolyShape* poly, cpBody* body, int numVerts, cpVect* verts, cpVect offset ) ;
+FUNCTION: cpShape* cpPolyShapeNew ( cpBody* body, int numVerts, cpVect* verts, cpVect offset ) ;
+FUNCTION: int cpPolyValidate ( cpVect* verts, int numVerts ) ;
+FUNCTION: int cpPolyShapeGetNumVerts ( cpShape* shape ) ;
+FUNCTION: cpVect cpPolyShapeGetVert ( cpShape* shape, int idx ) ;
+
+TYPED: cpPolyShapeValueOnAxis ( poly: cpPolyShape n: cpVect d -- min-dist )
+ swap rot [ numVerts>> ] [ tVerts>> swap <direct-cpVect-array> ] bi swap
+ [ cpvdot ] curry [ min ] reduce swap - ; inline
+
+TYPED: cpPolyShapeContainsVert ( poly: cpPolyShape v: cpVect -- ? )
+ swap [ numVerts>> ] [ tAxes>> swap <direct-cpPolyShapeAxis-array> ] bi swap
+ [
+ [ [ n>> ] dip cpvdot ] [ drop d>> ] 2bi -
+ ] curry [ max ] reduce 0.0 <= ; inline
+
+TYPED: cpPolyShapeContainsVertPartial ( poly: cpPolyShape v: cpVect n: cpVect -- ? )
+ rot [ numVerts>> ] [ tAxes>> swap <direct-cpPolyShapeAxis-array> ] bi -rot
+ [| axis v n |
+ axis n>> n cpvdot 0.0 < 0
+ [ 0.0 ]
+ [ axis n>> v cpvdot axis d>> - ]
+ if
+ ] 2curry [ max ] reduce 0.0 <= ; inline
+
+! cpArbiter.h
+C-TYPE: cpArbiter
+C-TYPE: cpSpace
+C-TYPE: cpCollisionHandler
+
+STRUCT: cpContact
+ { p cpVect }
+ { n cpVect }
+ { dist cpFloat }
+ { r1 cpVect }
+ { r2 cpVect }
+ { nMass cpFloat }
+ { tMass cpFloat }
+ { bounce cpFloat }
+ { jnAcc cpFloat }
+ { jtAcc cpFloat }
+ { jBias cpFloat }
+ { bias cpFloat }
+ { hash cpHashValue } ;
+
+FUNCTION: cpContact* cpContactInit ( cpContact* con, cpVect p, cpVect n, cpFloat dist, cpHashValue hash ) ;
+
+C-ENUM:
+ cpArbiterStateNormal
+ cpArbiterStateFirstColl
+ cpArbiterStateIgnore ;
+TYPEDEF: int cpArbiterState
+
+STRUCT: cpArbiter
+ { numContacts int }
+ { contacts cpContact* }
+ { a cpShape* }
+ { b cpShape* }
+ { e cpFloat }
+ { u cpFloat }
+ { surface_vr cpVect }
+ { stamp int }
+ { handler cpCollisionHandler* }
+ { swappedColl char }
+ { state char } ;
+
+FUNCTION: cpArbiter* cpArbiterAlloc ( ) ;
+FUNCTION: cpArbiter* cpArbiterInit ( cpArbiter* arb, cpShape* a, cpShape* b ) ;
+FUNCTION: cpArbiter* cpArbiterNew ( cpShape* a, cpShape* b ) ;
+FUNCTION: void cpArbiterDestroy ( cpArbiter* arb ) ;
+FUNCTION: void cpArbiterFree ( cpArbiter* arb ) ;
+FUNCTION: void cpArbiterUpdate ( cpArbiter* arb, cpContact* contacts, int numContacts, cpCollisionHandler* handler, cpShape* a, cpShape* b ) ;
+FUNCTION: void cpArbiterPreStep ( cpArbiter* arb, cpFloat dt_inv ) ;
+FUNCTION: void cpArbiterApplyCachedImpulse ( cpArbiter* arb ) ;
+FUNCTION: void cpArbiterApplyImpulse ( cpArbiter* arb, cpFloat eCoef ) ;
+FUNCTION: cpVect cpArbiterTotalImpulse ( cpArbiter* arb ) ;
+FUNCTION: cpVect cpArbiterTotalImpulseWithFriction ( cpArbiter* arb ) ;
+FUNCTION: void cpArbiterIgnore ( cpArbiter* arb ) ;
+
+TYPED: cpArbiterGetShapes ( arb: cpArbiter -- a: cpShape b: cpShape )
+ dup swappedColl>> 0 = [
+ [ a>> ] [ b>> ] bi
+ ] [
+ [ b>> ] [ a>> ] bi
+ ] if ; inline
+
+TYPED: cpArbiterIsFirstContact ( arb: cpArbiter -- ? )
+ state>> cpArbiterStateFirstColl = ; inline
+
+TYPED: cpArbiterGetNormal ( arb: cpArbiter i -- n: cpVect )
+ [
+ swap
+ [ numContacts>> ]
+ [ contacts>> swap <direct-void*-array> ] bi nth cpContact memory>struct n>>
+ ]
+ [
+ drop swappedColl>> 0 = [ ] [ cpvneg ] if
+ ] 2bi ; inline
+
+TYPED: cpArbiterGetPoint ( arb: cpArbiter i -- p: cpVect )
+ swap
+ [ numContacts>> ]
+ [ contacts>> swap <direct-void*-array> ] bi
+ nth cpContact memory>struct p>> ; inline
+
+! cpCollision.h
+FUNCTION: int cpCollideShapes ( cpShape* a, cpShape* b, cpContact** arr ) ;
+
+! cpConstraint.h
+
+C-TYPE: cpConstraintClass
+C-TYPE: cpConstraint
+
+CALLBACK: void cpConstraintPreStepFunction ( cpConstraint* constraint, cpFloat dt, cpFloat dt_inv ) ;
+CALLBACK: void cpConstraintApplyImpulseFunction ( cpConstraint* constraint ) ;
+CALLBACK: cpFloat cpConstraintGetImpulseFunction ( cpConstraint* constraint ) ;
+
+STRUCT: cpConstraintClass
+ { preStep cpConstraintPreStepFunction }
+ { applyImpulse cpConstraintApplyImpulseFunction }
+ { getImpulse cpConstraintGetImpulseFunction } ;
+
+STRUCT: cpConstraint
+ { klass cpConstraintClass* }
+ { a cpBody* }
+ { b cpBody* }
+ { maxForce cpFloat }
+ { biasCoef cpFloat }
+ { maxBias cpFloat }
+ { data cpDataPointer } ;
+
+FUNCTION: void cpConstraintDestroy ( cpConstraint* constraint ) ;
+FUNCTION: void cpConstraintFree ( cpConstraint* constraint ) ;
+FUNCTION: void cpConstraintCheckCast ( cpConstraint* constraint, cpConstraintClass* klass ) ;
+
+! cpPinJoint.h
+FUNCTION: cpConstraintClass* cpPinJointGetClass ( ) ;
+
+STRUCT: cpPinJoint
+ { constraint cpConstraint }
+ { anchr1 cpVect }
+ { anchr2 cpVect }
+ { dist cpFloat }
+ { r1 cpVect }
+ { r2 cpVect }
+ { n cpVect }
+ { nMass cpFloat }
+ { jnAcc cpFloat }
+ { jnMax cpFloat }
+ { bias cpFloat } ;
+
+FUNCTION: cpPinJoint* cpPinJointAlloc ( ) ;
+FUNCTION: cpPinJoint* cpPinJointInit ( cpPinJoint* joint, cpBody* a, cpBody* b, cpVect anchr1, cpVect anchr2 ) ;
+FUNCTION: cpConstraint* cpPinJointNew ( cpBody* a, cpBody* b, cpVect anchr1, cpVect anchr2 ) ;
+
+! cpSlideJoint.h
+FUNCTION: cpConstraintClass* cpSlideJointGetClass ( ) ;
+
+STRUCT: cpSlideJoint
+ { constraint cpConstraint }
+ { anchr1 cpVect }
+ { anchr2 cpVect }
+ { min cpFloat }
+ { max cpFloat }
+ { r1 cpVect }
+ { r2 cpVect }
+ { n cpVect }
+ { nMass cpFloat }
+ { jnAcc cpFloat }
+ { jnMax cpFloat }
+ { bias cpFloat } ;
+
+FUNCTION: cpSlideJoint* cpSlideJointAlloc ( ) ;
+FUNCTION: cpSlideJoint* cpSlideJointInit ( cpSlideJoint* joint, cpBody* a, cpBody* b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max ) ;
+FUNCTION: cpConstraint* cpSlideJointNew ( cpBody* a, cpBody* b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max ) ;
+
+! cpPivotJoint.h
+FUNCTION: cpConstraintClass* cpPivotJointGetClass ( ) ;
+
+STRUCT: cpPivotJoint
+ { constraint cpConstraint }
+ { anchr1 cpVect }
+ { anchr2 cpVect }
+ { r1 cpVect }
+ { r2 cpVect }
+ { k1 cpVect }
+ { k2 cpVect }
+ { jAcc cpVect }
+ { jMaxLen cpFloat }
+ { bias cpVect } ;
+
+FUNCTION: cpPivotJoint* cpPivotJointAlloc ( ) ;
+FUNCTION: cpPivotJoint* cpPivotJointInit ( cpPivotJoint* joint, cpBody* a, cpBody* b, cpVect anchr1, cpVect anchr2 ) ;
+FUNCTION: cpConstraint* cpPivotJointNew ( cpBody* a, cpBody* b, cpVect pivot ) ;
+FUNCTION: cpConstraint* cpPivotJointNew2 ( cpBody* a, cpBody* b, cpVect anchr1, cpVect anchr2 ) ;
+
+! cpGrooveJoint.h
+FUNCTION: cpConstraintClass* cpGrooveJointGetClass ( ) ;
+
+STRUCT: cpGrooveJoint
+ { constraint cpConstraint }
+ { grv_n cpVect }
+ { grv_a cpVect }
+ { grv_b cpVect }
+ { anchr2 cpVect }
+ { grv_tn cpVect }
+ { clamp cpFloat }
+ { r1 cpVect }
+ { r2 cpVect }
+ { k1 cpVect }
+ { k2 cpVect }
+ { jAcc cpVect }
+ { jMaxLen cpFloat }
+ { bias cpVect } ;
+
+FUNCTION: cpGrooveJoint* cpGrooveJointAlloc ( ) ;
+FUNCTION: cpGrooveJoint* cpGrooveJointInit ( cpGrooveJoint* joint, cpBody* a, cpBody* b, cpVect groove_a, cpVect groove_b, cpVect anchr2 ) ;
+FUNCTION: cpConstraint* cpGrooveJointNew ( cpBody* a, cpBody* b, cpVect groove_a, cpVect groove_b, cpVect anchr2 ) ;
+
+! cpDampedSpring.h
+CALLBACK: cpFloat cpDampedSpringForceFunc ( cpConstraint* spring, cpFloat dist ) ;
+FUNCTION: cpConstraintClass* cpDampedSpringGetClass ( ) ;
+
+STRUCT: cpDampedSpring
+ { constraint cpConstraint }
+ { anchr1 cpVect }
+ { anchr2 cpVect }
+ { restLength cpFloat }
+ { stiffness cpFloat }
+ { damping cpFloat }
+ { springForceFunc cpDampedSpringForceFunc }
+ { dt cpFloat }
+ { target_vrn cpFloat }
+ { r1 cpVect }
+ { r2 cpVect }
+ { nMass cpFloat }
+ { n cpVect } ;
+
+FUNCTION: cpDampedSpring* cpDampedSpringAlloc ( ) ;
+FUNCTION: cpDampedSpring* cpDampedSpringInit ( cpDampedSpring* joint, cpBody* a, cpBody* b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping ) ;
+FUNCTION: cpConstraint* cpDampedSpringNew ( cpBody* a, cpBody* b, cpVect anchr1, cpVect anchr2, cpFloat restLength, cpFloat stiffness, cpFloat damping ) ;
+
+! cpDampedRotarySpring.h
+CALLBACK: cpFloat cpDampedRotarySpringTorqueFunc ( cpConstraint* spring, cpFloat relativeAngle ) ;
+FUNCTION: cpConstraintClass* cpDampedRotarySpringGetClass ( ) ;
+
+STRUCT: cpDampedRotarySpring
+ { constraint cpConstraint }
+ { restAngle cpFloat }
+ { stiffness cpFloat }
+ { damping cpFloat }
+ { springTorqueFunc cpDampedRotarySpringTorqueFunc }
+ { dt cpFloat }
+ { target_wrn cpFloat }
+ { iSum cpFloat } ;
+
+FUNCTION: cpDampedRotarySpring* cpDampedRotarySpringAlloc ( ) ;
+FUNCTION: cpDampedRotarySpring* cpDampedRotarySpringInit ( cpDampedRotarySpring* joint, cpBody* a, cpBody* b, cpFloat restAngle, cpFloat stiffness, cpFloat damping ) ;
+FUNCTION: cpConstraint* cpDampedRotarySpringNew ( cpBody* a, cpBody* b, cpFloat restAngle, cpFloat stiffness, cpFloat damping ) ;
+
+! cpRotaryLimitJoint.h
+FUNCTION: cpConstraintClass* cpRotaryLimitJointGetClass ( ) ;
+
+STRUCT: cpRotaryLimitJoint
+ { constraint cpConstraint }
+ { min cpFloat }
+ { max cpFloat }
+ { iSum cpFloat }
+ { bias cpFloat }
+ { jAcc cpFloat }
+ { jMax cpFloat } ;
+
+FUNCTION: cpRotaryLimitJoint* cpRotaryLimitJointAlloc ( ) ;
+FUNCTION: cpRotaryLimitJoint* cpRotaryLimitJointInit ( cpRotaryLimitJoint* joint, cpBody* a, cpBody* b, cpFloat min, cpFloat max ) ;
+FUNCTION: cpConstraint* cpRotaryLimitJointNew ( cpBody* a, cpBody* b, cpFloat min, cpFloat max ) ;
+
+! cpRatchetJoint.h
+FUNCTION: cpConstraintClass* cpRatchetJointGetClass ( ) ;
+
+STRUCT: cpRatchetJoint
+ { constraint cpConstraint }
+ { angle cpFloat }
+ { phase cpFloat }
+ { ratchet cpFloat }
+ { iSum cpFloat }
+ { bias cpFloat }
+ { jAcc cpFloat }
+ { jMax cpFloat } ;
+
+FUNCTION: cpRatchetJoint* cpRatchetJointAlloc ( ) ;
+FUNCTION: cpRatchetJoint* cpRatchetJointInit ( cpRatchetJoint* joint, cpBody* a, cpBody* b, cpFloat phase, cpFloat ratchet ) ;
+FUNCTION: cpConstraint* cpRatchetJointNew ( cpBody* a, cpBody* b, cpFloat phase, cpFloat ratchet ) ;
+
+! cpGearJoint.h
+FUNCTION: cpConstraintClass* cpGearJointGetClass ( ) ;
+
+STRUCT: cpGearJoint
+ { constraint cpConstraint }
+ { phase cpFloat }
+ { ratio cpFloat }
+ { ratio_inv cpFloat }
+ { iSum cpFloat }
+ { bias cpFloat }
+ { jAcc cpFloat }
+ { jMax cpFloat } ;
+
+FUNCTION: cpGearJoint* cpGearJointAlloc ( ) ;
+FUNCTION: cpGearJoint* cpGearJointInit ( cpGearJoint* joint, cpBody* a, cpBody* b, cpFloat phase, cpFloat ratio ) ;
+FUNCTION: cpConstraint* cpGearJointNew ( cpBody* a, cpBody* b, cpFloat phase, cpFloat ratio ) ;
+FUNCTION: void cpGearJointSetRatio ( cpConstraint* constraint, cpFloat value ) ;
+
+! cpSimpleMotor.h
+FUNCTION: cpConstraintClass* cpSimpleMotorGetClass ( ) ;
+
+STRUCT: cpSimpleMotor
+ { constraint cpConstraint }
+ { rate cpFloat }
+ { iSum cpFloat }
+ { jAcc cpFloat }
+ { jMax cpFloat } ;
+
+FUNCTION: cpSimpleMotor* cpSimpleMotorAlloc ( ) ;
+FUNCTION: cpSimpleMotor* cpSimpleMotorInit ( cpSimpleMotor* joint, cpBody* a, cpBody* b, cpFloat rate ) ;
+FUNCTION: cpConstraint* cpSimpleMotorNew ( cpBody* a, cpBody* b, cpFloat rate ) ;
+
+! cpSpace.h
+C-TYPE: cpSpace
+
+CALLBACK: int cpCollisionBeginFunc ( cpArbiter* arb, cpSpace* space, void* data ) ;
+CALLBACK: int cpCollisionPreSolveFunc ( cpArbiter* arb, cpSpace* space, void* data ) ;
+CALLBACK: void cpCollisionPostSolveFunc ( cpArbiter* arb, cpSpace* space, void* data ) ;
+CALLBACK: void cpCollisionSeparateFunc ( cpArbiter* arb, cpSpace* space, void* data ) ;
+
+STRUCT: cpCollisionHandler
+ { a cpCollisionType }
+ { b cpCollisionType }
+ { begin cpCollisionBeginFunc }
+ { preSolve cpCollisionPreSolveFunc }
+ { postSolve cpCollisionPostSolveFunc }
+ { separate cpCollisionSeparateFunc }
+ { data void* } ;
+
+STRUCT: cpSpace
+ { iterations int }
+ { elasticIterations int }
+ { gravity cpVect }
+ { damping cpFloat }
+ { stamp int }
+ { staticShapes cpSpaceHash* }
+ { activeShapes cpSpaceHash* }
+ { bodies cpArray* }
+ { arbiters cpArray* }
+ { contactSet cpHashSet* }
+ { constraints cpArray* }
+ { collFuncSet cpHashSet* }
+ { defaultHandler cpCollisionHandler }
+ { postStepCallbacks cpHashSet* } ;
+
+FUNCTION: cpSpace* cpSpaceAlloc ( ) ;
+FUNCTION: cpSpace* cpSpaceInit ( cpSpace* space ) ;
+FUNCTION: cpSpace* cpSpaceNew ( ) ;
+FUNCTION: void cpSpaceDestroy ( cpSpace* space ) ;
+FUNCTION: void cpSpaceFree ( cpSpace* space ) ;
+FUNCTION: void cpSpaceFreeChildren ( cpSpace* space ) ;
+FUNCTION: void cpSpaceSetDefaultCollisionHandler (
+ cpSpace* space,
+ cpCollisionBeginFunc begin,
+ cpCollisionPreSolveFunc preSolve,
+ cpCollisionPostSolveFunc postSolve,
+ cpCollisionSeparateFunc separate,
+ void* data ) ;
+FUNCTION: void cpSpaceAddCollisionHandler (
+ cpSpace* space,
+ cpCollisionType a,
+ cpCollisionType b,
+ cpCollisionBeginFunc begin,
+ cpCollisionPreSolveFunc preSolve,
+ cpCollisionPostSolveFunc postSolve,
+ cpCollisionSeparateFunc separate,
+ void* data ) ;
+FUNCTION: void cpSpaceRemoveCollisionHandler ( cpSpace* space, cpCollisionType a, cpCollisionType b ) ;
+FUNCTION: cpShape* cpSpaceAddShape ( cpSpace* space, cpShape* shape ) ;
+FUNCTION: cpShape* cpSpaceAddStaticShape ( cpSpace* space, cpShape* shape ) ;
+FUNCTION: cpBody* cpSpaceAddBody ( cpSpace* space, cpBody* body ) ;
+FUNCTION: cpConstraint* cpSpaceAddConstraint ( cpSpace* space, cpConstraint* constraint ) ;
+FUNCTION: void cpSpaceRemoveShape ( cpSpace* space, cpShape* shape ) ;
+FUNCTION: void cpSpaceRemoveStaticShape ( cpSpace* space, cpShape* shape ) ;
+FUNCTION: void cpSpaceRemoveBody ( cpSpace* space, cpBody* body ) ;
+FUNCTION: void cpSpaceRemoveConstraint ( cpSpace* space, cpConstraint* constraint ) ;
+CALLBACK: void cpPostStepFunc ( cpSpace* space, void* obj, void* data ) ;
+FUNCTION: void cpSpaceAddPostStepCallback ( cpSpace* space, cpPostStepFunc func, void* obj, void* data ) ;
+CALLBACK: void cpSpacePointQueryFunc ( cpShape* shape, void* data ) ;
+FUNCTION: void cpSpacePointQuery ( cpSpace* space, cpVect point, cpLayers layers, cpGroup group, cpSpacePointQueryFunc func, void* data ) ;
+FUNCTION: cpShape* cpSpacePointQueryFirst ( cpSpace* space, cpVect point, cpLayers layers, cpGroup group ) ;
+CALLBACK: void cpSpaceSegmentQueryFunc ( cpShape* shape, cpFloat t, cpVect n, void* data ) ;
+FUNCTION: int cpSpaceSegmentQuery ( cpSpace* space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSpaceSegmentQueryFunc func, void* data ) ;
+FUNCTION: cpShape* cpSpaceSegmentQueryFirst ( cpSpace* space, cpVect start, cpVect end, cpLayers layers, cpGroup group, cpSegmentQueryInfo* out ) ;
+CALLBACK: void cpSpaceBBQueryFunc ( cpShape* shape, void* data ) ;
+FUNCTION: void cpSpaceBBQuery ( cpSpace* space, cpBB bb, cpLayers layers, cpGroup group, cpSpaceBBQueryFunc func, void* data ) ;
+CALLBACK: void cpSpaceBodyIterator ( cpBody* body, void* data ) ;
+FUNCTION: void cpSpaceEachBody ( cpSpace* space, cpSpaceBodyIterator func, void* data ) ;
+FUNCTION: void cpSpaceResizeStaticHash ( cpSpace* space, cpFloat dim, int count ) ;
+FUNCTION: void cpSpaceResizeActiveHash ( cpSpace* space, cpFloat dim, int count ) ;
+FUNCTION: void cpSpaceRehashStatic ( cpSpace* space ) ;
+FUNCTION: void cpSpaceStep ( cpSpace* space, cpFloat dt ) ;
+
+! chipmunk.h
+FUNCTION: void cpInitChipmunk ( ) ;
+FUNCTION: cpFloat cpMomentForCircle ( cpFloat m, cpFloat r1, cpFloat r2, cpVect offset ) ;
+FUNCTION: cpFloat cpMomentForSegment ( cpFloat m, cpVect a, cpVect b ) ;
+FUNCTION: cpFloat cpMomentForPoly ( cpFloat m, int numVerts, cpVect* verts, cpVect offset ) ;
+
projects / factor.git / commitdiff