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/* 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_joint_bias_coef;
// Enumeration of joint types.
typedef enum cpJointType{
CP_PIN_JOINT,
CP_SLIDE_JOINT,
CP_PIVOT_JOINT,
CP_GROOVE_JOINT,
CP_NUM_JOINTS
} cpJointType;
typedef struct cpJoint {
cpJointType type;
cpBody *a, *b;
void (*preStep)(struct cpJoint *joint, cpFloat dt_inv);
void (*applyImpulse)(struct cpJoint *joint);
} cpJoint;
void cpJointDestroy(cpJoint *joint);
void cpJointFree(cpJoint *joint);
typedef struct cpPinJoint {
cpJoint joint;
cpVect anchr1, anchr2;
cpFloat dist;
cpVect r1, r2;
cpVect n;
cpFloat nMass;
cpFloat jnAcc, jBias;
cpFloat bias;
} cpPinJoint;
cpPinJoint *cpPinJointAlloc(void);
cpPinJoint *cpPinJointInit(cpPinJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2);
cpJoint *cpPinJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2);
typedef struct cpSlideJoint {
cpJoint joint;
cpVect anchr1, anchr2;
cpFloat min, max;
cpVect r1, r2;
cpVect n;
cpFloat nMass;
cpFloat jnAcc, jBias;
cpFloat bias;
} cpSlideJoint;
cpSlideJoint *cpSlideJointAlloc(void);
cpSlideJoint *cpSlideJointInit(cpSlideJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max);
cpJoint *cpSlideJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max);
typedef struct cpPivotJoint {
cpJoint joint;
cpVect anchr1, anchr2;
cpVect r1, r2;
cpVect k1, k2;
cpVect jAcc, jBias;
cpVect bias;
} cpPivotJoint;
cpPivotJoint *cpPivotJointAlloc(void);
cpPivotJoint *cpPivotJointInit(cpPivotJoint *joint, cpBody *a, cpBody *b, cpVect pivot);
cpJoint *cpPivotJointNew(cpBody *a, cpBody *b, cpVect pivot);
typedef struct cpGrooveJoint {
cpJoint joint;
cpVect grv_n, grv_a, grv_b;
cpVect anchr2;
cpVect grv_tn;
cpFloat clamp;
cpVect r1, r2;
cpVect k1, k2;
cpVect jAcc, jBias;
cpVect bias;
} cpGrooveJoint;
cpGrooveJoint *cpGrooveJointAlloc(void);
cpGrooveJoint *cpGrooveJointInit(cpGrooveJoint *joint, cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2);
cpJoint *cpGrooveJointNew(cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2);
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