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<div id="projectname">Chipmunk2D Pro API Reference
 <span id="projectnumber">7.0.1</span>
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<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_b3ea4b336b4fb233f74b44c85fbba508.html">chipmunk</a></li> </ul>
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<div class="title">chipmunk_private.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * </span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> * Permission is hereby granted, free of charge, to any person obtaining a copy</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * of this software and associated documentation files (the "Software"), to deal</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * in the Software without restriction, including without limitation the rights</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * copies of the Software, and to permit persons to whom the Software is</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * furnished to do so, subject to the following conditions:</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * </span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * The above copyright notice and this permission notice shall be included in</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * all copies or substantial portions of the Software.</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * </span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * SOFTWARE.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#ifndef CHIPMUNK_PRIVATE_H</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor"></span><span class="preprocessor">#define CHIPMUNK_PRIVATE_H</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="preprocessor"></span><span class="preprocessor">#ifdef CHIPMUNK_H</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor"></span><span class="preprocessor">#error Cannot include chipmunk_private.h after chipmunk.h.</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor"></span><span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor">#define CP_ALLOW_PRIVATE_ACCESS 1</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="preprocessor"></span><span class="preprocessor">#include "chipmunk/chipmunk.h"</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> </div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="preprocessor">#define CP_HASH_COEF (3344921057ul)</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="preprocessor"></span><span class="preprocessor">#define CP_HASH_PAIR(A, B) ((cpHashValue)(A)*CP_HASH_COEF ^ (cpHashValue)(B)*CP_HASH_COEF)</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment">// TODO: Eww. Magic numbers.</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="preprocessor">#define MAGIC_EPSILON 1e-5</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment">//MARK: cpArray</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> </div>
<div class="line"><a name="l00039"></a><span class="lineno"><a class="code" href="structcp_array.html"> 39</a></span> <span class="keyword">struct </span><a class="code" href="structcp_array.html">cpArray</a> {</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keywordtype">int</span> num, max;</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keywordtype">void</span> **arr;</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> };</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <a class="code" href="structcp_array.html">cpArray</a> *cpArrayNew(<span class="keywordtype">int</span> size);</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> </div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="keywordtype">void</span> cpArrayFree(<a class="code" href="structcp_array.html">cpArray</a> *arr);</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> </div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="keywordtype">void</span> cpArrayPush(<a class="code" href="structcp_array.html">cpArray</a> *arr, <span class="keywordtype">void</span> *<span class="keywordtype">object</span>);</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="keywordtype">void</span> *cpArrayPop(<a class="code" href="structcp_array.html">cpArray</a> *arr);</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="keywordtype">void</span> cpArrayDeleteObj(<a class="code" href="structcp_array.html">cpArray</a> *arr, <span class="keywordtype">void</span> *obj);</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <a class="code" href="group__basic_types.html#gabc5e752c48f3449ca26ef413ecbd647e" title="Chipmunk's boolean type.">cpBool</a> cpArrayContains(<a class="code" href="structcp_array.html">cpArray</a> *arr, <span class="keywordtype">void</span> *ptr);</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> </div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="keywordtype">void</span> cpArrayFreeEach(<a class="code" href="structcp_array.html">cpArray</a> *arr, <span class="keywordtype">void</span> (freeFunc)(<span class="keywordtype">void</span>*));</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> </div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> </div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="comment">//MARK: cpHashSet</span></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> </div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="keyword">typedef</span> <a class="code" href="group__basic_types.html#gabc5e752c48f3449ca26ef413ecbd647e" title="Chipmunk's boolean type.">cpBool</a> (*cpHashSetEqlFunc)(<span class="keywordtype">void</span> *ptr, <span class="keywordtype">void</span> *elt);</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="keyword">typedef</span> <span class="keywordtype">void</span> *(*cpHashSetTransFunc)(<span class="keywordtype">void</span> *ptr, <span class="keywordtype">void</span> *data);</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> </div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> cpHashSet *cpHashSetNew(<span class="keywordtype">int</span> size, cpHashSetEqlFunc eqlFunc);</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="keywordtype">void</span> cpHashSetSetDefaultValue(cpHashSet *<span class="keyword">set</span>, <span class="keywordtype">void</span> *default_value);</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> </div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="keywordtype">void</span> cpHashSetFree(cpHashSet *<span class="keyword">set</span>);</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> </div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="keywordtype">int</span> cpHashSetCount(cpHashSet *<span class="keyword">set</span>);</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> <span class="keywordtype">void</span> *cpHashSetInsert(cpHashSet *<span class="keyword">set</span>, <a class="code" href="group__basic_types.html#gae7eb4775a9f43914a15553ca65a048f4" title="Hash value type.">cpHashValue</a> hash, <span class="keywordtype">void</span> *ptr, cpHashSetTransFunc trans, <span class="keywordtype">void</span> *data);</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="keywordtype">void</span> *cpHashSetRemove(cpHashSet *<span class="keyword">set</span>, <a class="code" href="group__basic_types.html#gae7eb4775a9f43914a15553ca65a048f4" title="Hash value type.">cpHashValue</a> hash, <span class="keywordtype">void</span> *ptr);</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="keywordtype">void</span> *cpHashSetFind(cpHashSet *<span class="keyword">set</span>, <a class="code" href="group__basic_types.html#gae7eb4775a9f43914a15553ca65a048f4" title="Hash value type.">cpHashValue</a> hash, <span class="keywordtype">void</span> *ptr);</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> </div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <span class="keyword">typedef</span> void (*cpHashSetIteratorFunc)(<span class="keywordtype">void</span> *elt, <span class="keywordtype">void</span> *data);</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="keywordtype">void</span> cpHashSetEach(cpHashSet *<span class="keyword">set</span>, cpHashSetIteratorFunc func, <span class="keywordtype">void</span> *data);</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> </div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="keyword">typedef</span> <a class="code" href="group__basic_types.html#gabc5e752c48f3449ca26ef413ecbd647e" title="Chipmunk's boolean type.">cpBool</a> (*cpHashSetFilterFunc)(<span class="keywordtype">void</span> *elt, <span class="keywordtype">void</span> *data);</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> <span class="keywordtype">void</span> cpHashSetFilter(cpHashSet *<span class="keyword">set</span>, cpHashSetFilterFunc func, <span class="keywordtype">void</span> *data);</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span> </div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> </div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> <span class="comment">//MARK: Bodies</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> </div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="code" href="structcp_body.html"> 80</a></span> <span class="keyword">struct </span><a class="code" href="structcp_body.html">cpBody</a> {</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="comment">// Integration functions</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <a class="code" href="group__cp_body.html#ga728eb52bef6367e8e33abff7dba0a089" title="Rigid body velocity update function type.">cpBodyVelocityFunc</a> velocity_func;</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <a class="code" href="group__cp_body.html#ga4f84c8fc20fcb9918d1553e6dc29ffbd" title="Rigid body position update function type.">cpBodyPositionFunc</a> position_func;</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  </div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="comment">// mass and it's inverse</span></div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> m;</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> m_inv;</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  </div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="comment">// moment of inertia and it's inverse</span></div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> i;</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> i_inv;</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="comment">// center of gravity</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <a class="code" href="structcp_vect.html">cpVect</a> cog;</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  </div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="comment">// position, velocity, force</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <a class="code" href="structcp_vect.html">cpVect</a> p;</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <a class="code" href="structcp_vect.html">cpVect</a> v;</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <a class="code" href="structcp_vect.html">cpVect</a> f;</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  </div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="comment">// Angle, angular velocity, torque (radians)</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> a;</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> w;</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> t;</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  </div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <a class="code" href="structcp_transform.html" title="Column major affine transform.">cpTransform</a> transform;</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  </div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <a class="code" href="group__basic_types.html#ga2ac2c3c31e21893941f9e4f8ee279447" title="Type used for user data pointers.">cpDataPointer</a> userData;</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  </div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="comment">// "pseudo-velocities" used for eliminating overlap.</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="comment">// Erin Catto has some papers that talk about what these are.</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <a class="code" href="structcp_vect.html">cpVect</a> v_bias;</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> w_bias;</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  </div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <a class="code" href="structcp_space.html">cpSpace</a> *space;</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  </div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <a class="code" href="structcp_shape.html">cpShape</a> *shapeList;</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <a class="code" href="structcp_arbiter.html">cpArbiter</a> *arbiterList;</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <a class="code" href="structcp_constraint.html">cpConstraint</a> *constraintList;</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  </div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keyword">struct </span>{</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <a class="code" href="structcp_body.html">cpBody</a> *root;</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <a class="code" href="structcp_body.html">cpBody</a> *next;</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> idleTime;</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  } sleeping;</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> };</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> </div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> <span class="keywordtype">void</span> cpBodyAddShape(<a class="code" href="structcp_body.html">cpBody</a> *body, <a class="code" href="structcp_shape.html">cpShape</a> *shape);</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> <span class="keywordtype">void</span> cpBodyRemoveShape(<a class="code" href="structcp_body.html">cpBody</a> *body, <a class="code" href="structcp_shape.html">cpShape</a> *shape);</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span> </div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> <span class="comment">//void cpBodyAccumulateMassForShape(cpBody *body, cpShape *shape);</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> <span class="keywordtype">void</span> cpBodyAccumulateMassFromShapes(<a class="code" href="structcp_body.html">cpBody</a> *body);</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span> </div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> <span class="keywordtype">void</span> cpBodyRemoveConstraint(<a class="code" href="structcp_body.html">cpBody</a> *body, <a class="code" href="structcp_constraint.html">cpConstraint</a> *constraint);</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> </div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> </div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> <span class="comment">//MARK: Spatial Index Functions</span></div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> </div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> cpSpatialIndex *cpSpatialIndexInit(cpSpatialIndex *index, <a class="code" href="structcp_spatial_index_class.html">cpSpatialIndexClass</a> *klass, <a class="code" href="group__cp_spatial_index.html#gafbecd34bd436d4a56200b7a542d94fc1" title="Spatial index bounding box callback function type.">cpSpatialIndexBBFunc</a> bbfunc, cpSpatialIndex *staticIndex);</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> </div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span> </div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> <span class="comment">//MARK: Arbiters</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> </div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> <span class="keyword">enum</span> cpArbiterState {</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="comment">// Arbiter is active and its the first collision.</span></div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  CP_ARBITER_STATE_FIRST_COLLISION,</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="comment">// Arbiter is active and its not the first collision.</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  CP_ARBITER_STATE_NORMAL,</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="comment">// Collision has been explicitly ignored.</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="comment">// Either by returning false from a begin collision handler or calling cpArbiterIgnore().</span></div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  CP_ARBITER_STATE_IGNORE,</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="comment">// Collison is no longer active. A space will cache an arbiter for up to cpSpace.collisionPersistence more steps.</span></div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  CP_ARBITER_STATE_CACHED,</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <span class="comment">// Collison arbiter is invalid because one of the shapes was removed.</span></div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  CP_ARBITER_STATE_INVALIDATED,</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> };</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> </div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="code" href="structcp_arbiter_thread.html"> 158</a></span> <span class="keyword">struct </span><a class="code" href="structcp_arbiter_thread.html">cpArbiterThread</a> {</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <span class="keyword">struct </span><a class="code" href="structcp_arbiter.html">cpArbiter</a> *next, *prev;</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span> };</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span> </div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="code" href="structcp_contact.html"> 162</a></span> <span class="keyword">struct </span><a class="code" href="structcp_contact.html">cpContact</a> {</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <a class="code" href="structcp_vect.html">cpVect</a> r1, r2;</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  </div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> nMass, tMass;</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> bounce; <span class="comment">// TODO: look for an alternate bounce solution.</span></div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span> </div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> jnAcc, jtAcc, jBias;</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> bias;</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  </div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <a class="code" href="group__basic_types.html#gae7eb4775a9f43914a15553ca65a048f4" title="Hash value type.">cpHashValue</a> hash;</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span> };</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span> </div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="code" href="structcp_collision_info.html"> 174</a></span> <span class="keyword">struct </span><a class="code" href="structcp_collision_info.html">cpCollisionInfo</a> {</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keyword">const</span> <a class="code" href="structcp_shape.html">cpShape</a> *a, *b;</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <a class="code" href="group__basic_types.html#ga89d4043ca0567e947aaca19cf9600df5" title="Type used internally to cache colliding object info for cpCollideShapes().">cpCollisionID</a> id;</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  </div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <a class="code" href="structcp_vect.html">cpVect</a> n;</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  </div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="keywordtype">int</span> count;</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="comment">// TODO Should this be a unique struct type?</span></div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  <span class="keyword">struct </span><a class="code" href="structcp_contact.html">cpContact</a> *arr;</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span> };</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span> </div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="code" href="structcp_arbiter.html"> 185</a></span> <span class="keyword">struct </span><a class="code" href="structcp_arbiter.html">cpArbiter</a> {</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> e;</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> u;</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <a class="code" href="structcp_vect.html">cpVect</a> surface_vr;</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  </div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <a class="code" href="group__basic_types.html#ga2ac2c3c31e21893941f9e4f8ee279447" title="Type used for user data pointers.">cpDataPointer</a> data;</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  </div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <span class="keyword">const</span> <a class="code" href="structcp_shape.html">cpShape</a> *a, *b;</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <a class="code" href="structcp_body.html">cpBody</a> *body_a, *body_b;</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keyword">struct </span><a class="code" href="structcp_arbiter_thread.html">cpArbiterThread</a> thread_a, thread_b;</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  </div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="keywordtype">int</span> count;</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <span class="keyword">struct </span><a class="code" href="structcp_contact.html">cpContact</a> *contacts;</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <a class="code" href="structcp_vect.html">cpVect</a> n;</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  </div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <span class="comment">// Regular, wildcard A and wildcard B collision handlers.</span></div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <a class="code" href="structcp_collision_handler.html" title="Struct that holds function callback pointers to configure custom collision handling.">cpCollisionHandler</a> *handler, *handlerA, *handlerB;</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <a class="code" href="group__basic_types.html#gabc5e752c48f3449ca26ef413ecbd647e" title="Chipmunk's boolean type.">cpBool</a> swapped;</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  </div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <a class="code" href="group__basic_types.html#gaa24652c104082d0725066ea5ac7dc83f" title="Type used for various timestamps in Chipmunk.">cpTimestamp</a> stamp;</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="keyword">enum</span> cpArbiterState state;</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span> };</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span> </div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span> <a class="code" href="structcp_arbiter.html">cpArbiter</a>* cpArbiterInit(<a class="code" href="structcp_arbiter.html">cpArbiter</a> *arb, <a class="code" href="structcp_shape.html">cpShape</a> *a, <a class="code" href="structcp_shape.html">cpShape</a> *b);</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span> </div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keyword">struct </span><a class="code" href="structcp_arbiter_thread.html">cpArbiterThread</a> *</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span> cpArbiterThreadForBody(<a class="code" href="structcp_arbiter.html">cpArbiter</a> *arb, <a class="code" href="structcp_body.html">cpBody</a> *body)</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span> {</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <span class="keywordflow">return</span> (arb->body_a == body ? &arb->thread_a : &arb->thread_b);</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> }</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span> </div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span> <span class="keywordtype">void</span> cpArbiterUnthread(<a class="code" href="structcp_arbiter.html">cpArbiter</a> *arb);</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span> </div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span> <span class="keywordtype">void</span> cpArbiterUpdate(<a class="code" href="structcp_arbiter.html">cpArbiter</a> *arb, <span class="keyword">struct</span> <a class="code" href="structcp_collision_info.html">cpCollisionInfo</a> *info, <a class="code" href="structcp_space.html">cpSpace</a> *space);</div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span> <span class="keywordtype">void</span> cpArbiterPreStep(<a class="code" href="structcp_arbiter.html">cpArbiter</a> *arb, <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> dt, <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> bias, <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> slop);</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span> <span class="keywordtype">void</span> cpArbiterApplyCachedImpulse(<a class="code" href="structcp_arbiter.html">cpArbiter</a> *arb, <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> dt_coef);</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span> <span class="keywordtype">void</span> cpArbiterApplyImpulse(<a class="code" href="structcp_arbiter.html">cpArbiter</a> *arb);</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span> </div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span> </div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span> <span class="comment">//MARK: Shapes/Collisions</span></div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span> </div>
<div class="line"><a name="l00226"></a><span class="lineno"><a class="code" href="structcp_shape_mass_info.html"> 226</a></span> <span class="keyword">struct </span><a class="code" href="structcp_shape_mass_info.html">cpShapeMassInfo</a> {</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> m;</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> i;</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <a class="code" href="structcp_vect.html">cpVect</a> cog;</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> area;</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span> };</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span> </div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span> <span class="keyword">typedef</span> <span class="keyword">enum</span> cpShapeType{</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  CP_CIRCLE_SHAPE,</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  CP_SEGMENT_SHAPE,</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  CP_POLY_SHAPE,</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  CP_NUM_SHAPES</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span> } cpShapeType;</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span> </div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span> <span class="keyword">typedef</span> <a class="code" href="group__cp_b_b_b.html#ga94835b3c44de11eae51d596f39a5fabc" title="Chipmunk's axis-aligned 2D bounding box type. (left, bottom, right, top)">cpBB</a> (*cpShapeCacheDataImpl)(<a class="code" href="structcp_shape.html">cpShape</a> *shape, <a class="code" href="structcp_transform.html" title="Column major affine transform.">cpTransform</a> transform);</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span> <span class="keyword">typedef</span> void (*cpShapeDestroyImpl)(<a class="code" href="structcp_shape.html">cpShape</a> *shape);</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span> <span class="keyword">typedef</span> void (*cpShapePointQueryImpl)(<span class="keyword">const</span> <a class="code" href="structcp_shape.html">cpShape</a> *shape, <a class="code" href="structcp_vect.html">cpVect</a> p, <a class="code" href="structcp_point_query_info.html" title="Point query info struct.">cpPointQueryInfo</a> *info);</div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span> <span class="keyword">typedef</span> void (*cpShapeSegmentQueryImpl)(<span class="keyword">const</span> <a class="code" href="structcp_shape.html">cpShape</a> *shape, <a class="code" href="structcp_vect.html">cpVect</a> a, <a class="code" href="structcp_vect.html">cpVect</a> b, <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> radius, <a class="code" href="structcp_segment_query_info.html" title="Segment query info struct.">cpSegmentQueryInfo</a> *info);</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span> </div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structcp_shape_class.html">cpShapeClass</a> <a class="code" href="structcp_shape_class.html">cpShapeClass</a>;</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span> </div>
<div class="line"><a name="l00247"></a><span class="lineno"><a class="code" href="structcp_shape_class.html"> 247</a></span> <span class="keyword">struct </span><a class="code" href="structcp_shape_class.html">cpShapeClass</a> {</div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  cpShapeType type;</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  </div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  cpShapeCacheDataImpl cacheData;</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  cpShapeDestroyImpl destroy;</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  cpShapePointQueryImpl pointQuery;</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  cpShapeSegmentQueryImpl segmentQuery;</div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span> };</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span> </div>
<div class="line"><a name="l00256"></a><span class="lineno"><a class="code" href="structcp_shape.html"> 256</a></span> <span class="keyword">struct </span><a class="code" href="structcp_shape.html">cpShape</a> {</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="keyword">const</span> <a class="code" href="structcp_shape_class.html">cpShapeClass</a> *klass;</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  </div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  <a class="code" href="structcp_space.html">cpSpace</a> *space;</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <a class="code" href="structcp_body.html">cpBody</a> *body;</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <span class="keyword">struct </span><a class="code" href="structcp_shape_mass_info.html">cpShapeMassInfo</a> massInfo;</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  <a class="code" href="structcp_b_b.html" title="Chipmunk's axis-aligned 2D bounding box type. (left, bottom, right, top)">cpBB</a> bb;</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  </div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  <a class="code" href="group__basic_types.html#gabc5e752c48f3449ca26ef413ecbd647e" title="Chipmunk's boolean type.">cpBool</a> sensor;</div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  </div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> e;</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> u;</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <a class="code" href="structcp_vect.html">cpVect</a> surfaceV;</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span> </div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  <a class="code" href="group__basic_types.html#ga2ac2c3c31e21893941f9e4f8ee279447" title="Type used for user data pointers.">cpDataPointer</a> userData;</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  </div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <a class="code" href="group__basic_types.html#gae83e2f50965eb441e36ffff1e32e6d02" title="Type used for cpSpace.collision_type.">cpCollisionType</a> type;</div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  <a class="code" href="structcp_shape_filter.html" title="Fast collision filtering type that is used to determine if two objects collide before calling collisi...">cpShapeFilter</a> filter;</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  </div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  <a class="code" href="structcp_shape.html">cpShape</a> *next;</div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <a class="code" href="structcp_shape.html">cpShape</a> *prev;</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  </div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  <a class="code" href="group__basic_types.html#gae7eb4775a9f43914a15553ca65a048f4" title="Hash value type.">cpHashValue</a> hashid;</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span> };</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span> </div>
<div class="line"><a name="l00281"></a><span class="lineno"><a class="code" href="structcp_circle_shape.html"> 281</a></span> <span class="keyword">struct </span><a class="code" href="structcp_circle_shape.html">cpCircleShape</a> {</div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  <a class="code" href="structcp_shape.html">cpShape</a> shape;</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  </div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <a class="code" href="structcp_vect.html">cpVect</a> c, tc;</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> r;</div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span> };</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span> </div>
<div class="line"><a name="l00288"></a><span class="lineno"><a class="code" href="structcp_segment_shape.html"> 288</a></span> <span class="keyword">struct </span><a class="code" href="structcp_segment_shape.html">cpSegmentShape</a> {</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  <a class="code" href="structcp_shape.html">cpShape</a> shape;</div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  </div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  <a class="code" href="structcp_vect.html">cpVect</a> a, b, n;</div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  <a class="code" href="structcp_vect.html">cpVect</a> ta, tb, tn;</div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> r;</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  </div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  <a class="code" href="structcp_vect.html">cpVect</a> a_tangent, b_tangent;</div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span> };</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span> </div>
<div class="line"><a name="l00298"></a><span class="lineno"><a class="code" href="structcp_splitting_plane.html"> 298</a></span> <span class="keyword">struct </span><a class="code" href="structcp_splitting_plane.html">cpSplittingPlane</a> {</div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  <a class="code" href="structcp_vect.html">cpVect</a> v0, n;</div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span> };</div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span> </div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span> <span class="preprocessor">#define CP_POLY_SHAPE_INLINE_ALLOC 6</span></div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00304"></a><span class="lineno"><a class="code" href="structcp_poly_shape.html"> 304</a></span> <span class="keyword">struct </span><a class="code" href="structcp_poly_shape.html">cpPolyShape</a> {</div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  <a class="code" href="structcp_shape.html">cpShape</a> shape;</div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  </div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> r;</div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  </div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  <span class="keywordtype">int</span> count;</div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  <span class="comment">// The untransformed planes are appended at the end of the transformed planes.</span></div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  <span class="keyword">struct </span><a class="code" href="structcp_splitting_plane.html">cpSplittingPlane</a> *planes;</div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  </div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <span class="comment">// Allocate a small number of splitting planes internally for simple poly.</span></div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  <span class="keyword">struct </span><a class="code" href="structcp_splitting_plane.html">cpSplittingPlane</a> _planes[2*CP_POLY_SHAPE_INLINE_ALLOC];</div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span> };</div>
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span> </div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span> <a class="code" href="structcp_shape.html">cpShape</a> *cpShapeInit(<a class="code" href="structcp_shape.html">cpShape</a> *shape, <span class="keyword">const</span> <a class="code" href="structcp_shape_class.html">cpShapeClass</a> *klass, <a class="code" href="structcp_body.html">cpBody</a> *body, <span class="keyword">struct</span> <a class="code" href="structcp_shape_mass_info.html">cpShapeMassInfo</a> massInfo);</div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span> </div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span> <span class="keyword">static</span> <span class="keyword">inline</span> <a class="code" href="group__basic_types.html#gabc5e752c48f3449ca26ef413ecbd647e" title="Chipmunk's boolean type.">cpBool</a></div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span> cpShapeActive(<a class="code" href="structcp_shape.html">cpShape</a> *shape)</div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span> {</div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  <span class="comment">// checks if the shape is added to a shape list.</span></div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  <span class="comment">// TODO could this just check the space now?</span></div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  <span class="keywordflow">return</span> (shape->prev || (shape->body && shape->body->shapeList == shape));</div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span> }</div>
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span> </div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span> <span class="comment">// Note: This function returns contact points with r1/r2 in absolute coordinates, not body relative.</span></div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span> <span class="keyword">struct </span><a class="code" href="structcp_collision_info.html">cpCollisionInfo</a> cpCollide(const <a class="code" href="structcp_shape.html">cpShape</a> *a, <span class="keyword">const</span> <a class="code" href="structcp_shape.html">cpShape</a> *b, <a class="code" href="group__basic_types.html#ga89d4043ca0567e947aaca19cf9600df5" title="Type used internally to cache colliding object info for cpCollideShapes().">cpCollisionID</a> id, <span class="keyword">struct </span><a class="code" href="structcp_contact.html">cpContact</a> *contacts);</div>
<div class="line"><a name="l00329"></a><span class="lineno"> 329</span> </div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span> CircleSegmentQuery(<a class="code" href="structcp_shape.html">cpShape</a> *shape, <a class="code" href="structcp_vect.html">cpVect</a> center, <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> r1, <a class="code" href="structcp_vect.html">cpVect</a> a, <a class="code" href="structcp_vect.html">cpVect</a> b, <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> r2, <a class="code" href="structcp_segment_query_info.html" title="Segment query info struct.">cpSegmentQueryInfo</a> *info)</div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span> {</div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  <a class="code" href="structcp_vect.html">cpVect</a> da = <a class="code" href="group__cp_vect.html#gafd88a5bbd4b5de25aa31e44fdf01e259" title="Subtract two vectors.">cpvsub</a>(a, center);</div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  <a class="code" href="structcp_vect.html">cpVect</a> db = <a class="code" href="group__cp_vect.html#gafd88a5bbd4b5de25aa31e44fdf01e259" title="Subtract two vectors.">cpvsub</a>(b, center);</div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> rsum = r1 + r2;</div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  </div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> qa = <a class="code" href="group__cp_vect.html#ga3e76653b018d47f864c339092cf482f1" title="Vector dot product.">cpvdot</a>(da, da) - 2.0f*<a class="code" href="group__cp_vect.html#ga3e76653b018d47f864c339092cf482f1" title="Vector dot product.">cpvdot</a>(da, db) + <a class="code" href="group__cp_vect.html#ga3e76653b018d47f864c339092cf482f1" title="Vector dot product.">cpvdot</a>(db, db);</div>
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> qb = <a class="code" href="group__cp_vect.html#ga3e76653b018d47f864c339092cf482f1" title="Vector dot product.">cpvdot</a>(da, db) - <a class="code" href="group__cp_vect.html#ga3e76653b018d47f864c339092cf482f1" title="Vector dot product.">cpvdot</a>(da, da);</div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> det = qb*qb - qa*(<a class="code" href="group__cp_vect.html#ga3e76653b018d47f864c339092cf482f1" title="Vector dot product.">cpvdot</a>(da, da) - rsum*rsum);</div>
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  </div>
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  <span class="keywordflow">if</span>(det >= 0.0f){</div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> t = (-qb - cpfsqrt(det))/(qa);</div>
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  <span class="keywordflow">if</span>(0.0f<= t && t <= 1.0f){</div>
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  <a class="code" href="structcp_vect.html">cpVect</a> n = <a class="code" href="group__cp_vect.html#ga0fd46c6ef6dcca0dc7b6c6cef8008758" title="Returns a normalized copy of v.">cpvnormalize</a>(<a class="code" href="group__cp_vect.html#gab93f4924f5369c10782de6dba5ef38da" title="Linearly interpolate between v1 and v2.">cpvlerp</a>(da, db, t));</div>
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  </div>
<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  info-><a class="code" href="structcp_segment_query_info.html#a1644aedf3beee1c910f0361ff73e50eb" title="The shape that was hit, or NULL if no collision occured.">shape</a> = shape;</div>
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  info-><a class="code" href="structcp_segment_query_info.html#ac18fb70008b01420c06a407e3d95923a" title="The point of impact.">point</a> = <a class="code" href="group__cp_vect.html#gafd88a5bbd4b5de25aa31e44fdf01e259" title="Subtract two vectors.">cpvsub</a>(<a class="code" href="group__cp_vect.html#gab93f4924f5369c10782de6dba5ef38da" title="Linearly interpolate between v1 and v2.">cpvlerp</a>(a, b, t), <a class="code" href="group__cp_vect.html#ga717188d925550baf62188b5e1e602047" title="Scalar multiplication.">cpvmult</a>(n, r2));</div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  info-><a class="code" href="structcp_segment_query_info.html#a453d113d757becaab1363e80c9a54e76" title="The normal of the surface hit.">normal</a> = n;</div>
<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  info-><a class="code" href="structcp_segment_query_info.html#af5b6ff0d0b32196cf2716e9672604c61" title="The normalized distance along the query segment in the range [0, 1].">alpha</a> = t;</div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  }</div>
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  }</div>
<div class="line"><a name="l00352"></a><span class="lineno"> 352</span> }</div>
<div class="line"><a name="l00353"></a><span class="lineno"> 353</span> </div>
<div class="line"><a name="l00354"></a><span class="lineno"> 354</span> <span class="keyword">static</span> <span class="keyword">inline</span> <a class="code" href="group__basic_types.html#gabc5e752c48f3449ca26ef413ecbd647e" title="Chipmunk's boolean type.">cpBool</a></div>
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span> cpShapeFilterReject(<a class="code" href="structcp_shape_filter.html" title="Fast collision filtering type that is used to determine if two objects collide before calling collisi...">cpShapeFilter</a> a, <a class="code" href="structcp_shape_filter.html" title="Fast collision filtering type that is used to determine if two objects collide before calling collisi...">cpShapeFilter</a> b)</div>
<div class="line"><a name="l00356"></a><span class="lineno"> 356</span> {</div>
<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  <span class="comment">// Reject the collision if:</span></div>
<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  <span class="keywordflow">return</span> (</div>
<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  <span class="comment">// They are in the same non-zero group.</span></div>
<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  (a.<a class="code" href="structcp_shape_filter.html#a6d29bf3cc7f406cdf834465f9de71c21" title="Two objects with the same non-zero group value do not collide.">group</a> != 0 && a.<a class="code" href="structcp_shape_filter.html#a6d29bf3cc7f406cdf834465f9de71c21" title="Two objects with the same non-zero group value do not collide.">group</a> == b.<a class="code" href="structcp_shape_filter.html#a6d29bf3cc7f406cdf834465f9de71c21" title="Two objects with the same non-zero group value do not collide.">group</a>) ||</div>
<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  <span class="comment">// One of the category/mask combinations fails.</span></div>
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  (a.<a class="code" href="structcp_shape_filter.html#a916b2d61e3ea9d1e7d26a6bc59ac955b" title="A bitmask of user definable categories that this object belongs to.">categories</a> & b.<a class="code" href="structcp_shape_filter.html#a0ee36d60cbc25e1abf18aa1508d7a537" title="A bitmask of user definable category types that this object object collides with.">mask</a>) == 0 ||</div>
<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  (b.<a class="code" href="structcp_shape_filter.html#a916b2d61e3ea9d1e7d26a6bc59ac955b" title="A bitmask of user definable categories that this object belongs to.">categories</a> & a.<a class="code" href="structcp_shape_filter.html#a0ee36d60cbc25e1abf18aa1508d7a537" title="A bitmask of user definable category types that this object object collides with.">mask</a>) == 0</div>
<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  );</div>
<div class="line"><a name="l00365"></a><span class="lineno"> 365</span> }</div>
<div class="line"><a name="l00366"></a><span class="lineno"> 366</span> </div>
<div class="line"><a name="l00367"></a><span class="lineno"> 367</span> <span class="keywordtype">void</span> cpLoopIndexes(<span class="keyword">const</span> <a class="code" href="structcp_vect.html">cpVect</a> *verts, <span class="keywordtype">int</span> count, <span class="keywordtype">int</span> *start, <span class="keywordtype">int</span> *end);</div>
<div class="line"><a name="l00368"></a><span class="lineno"> 368</span> </div>
<div class="line"><a name="l00369"></a><span class="lineno"> 369</span> </div>
<div class="line"><a name="l00370"></a><span class="lineno"> 370</span> <span class="comment">//MARK: Constraints</span></div>
<div class="line"><a name="l00371"></a><span class="lineno"> 371</span> <span class="comment">// TODO naming conventions here</span></div>
<div class="line"><a name="l00372"></a><span class="lineno"> 372</span> </div>
<div class="line"><a name="l00373"></a><span class="lineno"> 373</span> <span class="keyword">typedef</span> void (*cpConstraintPreStepImpl)(<a class="code" href="structcp_constraint.html">cpConstraint</a> *constraint, <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> dt);</div>
<div class="line"><a name="l00374"></a><span class="lineno"> 374</span> <span class="keyword">typedef</span> void (*cpConstraintApplyCachedImpulseImpl)(<a class="code" href="structcp_constraint.html">cpConstraint</a> *constraint, <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> dt_coef);</div>
<div class="line"><a name="l00375"></a><span class="lineno"> 375</span> <span class="keyword">typedef</span> void (*cpConstraintApplyImpulseImpl)(<a class="code" href="structcp_constraint.html">cpConstraint</a> *constraint, <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> dt);</div>
<div class="line"><a name="l00376"></a><span class="lineno"> 376</span> <span class="keyword">typedef</span> <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> (*cpConstraintGetImpulseImpl)(<a class="code" href="structcp_constraint.html">cpConstraint</a> *constraint);</div>
<div class="line"><a name="l00377"></a><span class="lineno"> 377</span> </div>
<div class="line"><a name="l00378"></a><span class="lineno"><a class="code" href="structcp_constraint_class.html"> 378</a></span> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structcp_constraint_class.html">cpConstraintClass</a> {</div>
<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  cpConstraintPreStepImpl preStep;</div>
<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  cpConstraintApplyCachedImpulseImpl applyCachedImpulse;</div>
<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  cpConstraintApplyImpulseImpl applyImpulse;</div>
<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  cpConstraintGetImpulseImpl getImpulse;</div>
<div class="line"><a name="l00383"></a><span class="lineno"> 383</span> } <a class="code" href="structcp_constraint_class.html">cpConstraintClass</a>;</div>
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span> </div>
<div class="line"><a name="l00385"></a><span class="lineno"><a class="code" href="structcp_constraint.html"> 385</a></span> <span class="keyword">struct </span><a class="code" href="structcp_constraint.html">cpConstraint</a> {</div>
<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  <span class="keyword">const</span> <a class="code" href="structcp_constraint_class.html">cpConstraintClass</a> *klass;</div>
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  </div>
<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  <a class="code" href="structcp_space.html">cpSpace</a> *space;</div>
<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  </div>
<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  <a class="code" href="structcp_body.html">cpBody</a> *a, *b;</div>
<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  <a class="code" href="structcp_constraint.html">cpConstraint</a> *next_a, *next_b;</div>
<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  </div>
<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> maxForce;</div>
<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> errorBias;</div>
<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> maxBias;</div>
<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  </div>
<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  <a class="code" href="group__basic_types.html#gabc5e752c48f3449ca26ef413ecbd647e" title="Chipmunk's boolean type.">cpBool</a> collideBodies;</div>
<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  </div>
<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  <a class="code" href="group__cp_constraint.html#ga31a2ad1ca9b9ecd4124a81b1292714e0" title="Callback function type that gets called before solving a joint.">cpConstraintPreSolveFunc</a> preSolve;</div>
<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  <a class="code" href="group__cp_constraint.html#ga1adf3ccceb908229069aa2f10f21c1b1" title="Callback function type that gets called after solving a joint.">cpConstraintPostSolveFunc</a> postSolve;</div>
<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  </div>
<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  <a class="code" href="group__basic_types.html#ga2ac2c3c31e21893941f9e4f8ee279447" title="Type used for user data pointers.">cpDataPointer</a> userData;</div>
<div class="line"><a name="l00403"></a><span class="lineno"> 403</span> };</div>
<div class="line"><a name="l00404"></a><span class="lineno"> 404</span> </div>
<div class="line"><a name="l00405"></a><span class="lineno"><a class="code" href="structcp_pin_joint.html"> 405</a></span> <span class="keyword">struct </span><a class="code" href="structcp_pin_joint.html">cpPinJoint</a> {</div>
<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  <a class="code" href="structcp_constraint.html">cpConstraint</a> constraint;</div>
<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  <a class="code" href="structcp_vect.html">cpVect</a> anchorA, anchorB;</div>
<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> dist;</div>
<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  </div>
<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  <a class="code" href="structcp_vect.html">cpVect</a> r1, r2;</div>
<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  <a class="code" href="structcp_vect.html">cpVect</a> n;</div>
<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> nMass;</div>
<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  </div>
<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> jnAcc;</div>
<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> bias;</div>
<div class="line"><a name="l00416"></a><span class="lineno"> 416</span> };</div>
<div class="line"><a name="l00417"></a><span class="lineno"> 417</span> </div>
<div class="line"><a name="l00418"></a><span class="lineno"><a class="code" href="structcp_slide_joint.html"> 418</a></span> <span class="keyword">struct </span><a class="code" href="structcp_slide_joint.html">cpSlideJoint</a> {</div>
<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  <a class="code" href="structcp_constraint.html">cpConstraint</a> constraint;</div>
<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  <a class="code" href="structcp_vect.html">cpVect</a> anchorA, anchorB;</div>
<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> min, max;</div>
<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  </div>
<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  <a class="code" href="structcp_vect.html">cpVect</a> r1, r2;</div>
<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  <a class="code" href="structcp_vect.html">cpVect</a> n;</div>
<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> nMass;</div>
<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  </div>
<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> jnAcc;</div>
<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> bias;</div>
<div class="line"><a name="l00429"></a><span class="lineno"> 429</span> };</div>
<div class="line"><a name="l00430"></a><span class="lineno"> 430</span> </div>
<div class="line"><a name="l00431"></a><span class="lineno"><a class="code" href="structcp_pivot_joint.html"> 431</a></span> <span class="keyword">struct </span><a class="code" href="structcp_pivot_joint.html">cpPivotJoint</a> {</div>
<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  <a class="code" href="structcp_constraint.html">cpConstraint</a> constraint;</div>
<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  <a class="code" href="structcp_vect.html">cpVect</a> anchorA, anchorB;</div>
<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  </div>
<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  <a class="code" href="structcp_vect.html">cpVect</a> r1, r2;</div>
<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  <a class="code" href="structcp_mat2x2.html">cpMat2x2</a> k;</div>
<div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  </div>
<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  <a class="code" href="structcp_vect.html">cpVect</a> jAcc;</div>
<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  <a class="code" href="structcp_vect.html">cpVect</a> bias;</div>
<div class="line"><a name="l00440"></a><span class="lineno"> 440</span> };</div>
<div class="line"><a name="l00441"></a><span class="lineno"> 441</span> </div>
<div class="line"><a name="l00442"></a><span class="lineno"><a class="code" href="structcp_groove_joint.html"> 442</a></span> <span class="keyword">struct </span><a class="code" href="structcp_groove_joint.html">cpGrooveJoint</a> {</div>
<div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  <a class="code" href="structcp_constraint.html">cpConstraint</a> constraint;</div>
<div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  <a class="code" href="structcp_vect.html">cpVect</a> grv_n, grv_a, grv_b;</div>
<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  <a class="code" href="structcp_vect.html">cpVect</a> anchorB;</div>
<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  </div>
<div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  <a class="code" href="structcp_vect.html">cpVect</a> grv_tn;</div>
<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> clamp;</div>
<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  <a class="code" href="structcp_vect.html">cpVect</a> r1, r2;</div>
<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  <a class="code" href="structcp_mat2x2.html">cpMat2x2</a> k;</div>
<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  </div>
<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  <a class="code" href="structcp_vect.html">cpVect</a> jAcc;</div>
<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  <a class="code" href="structcp_vect.html">cpVect</a> bias;</div>
<div class="line"><a name="l00454"></a><span class="lineno"> 454</span> };</div>
<div class="line"><a name="l00455"></a><span class="lineno"> 455</span> </div>
<div class="line"><a name="l00456"></a><span class="lineno"><a class="code" href="structcp_damped_spring.html"> 456</a></span> <span class="keyword">struct </span><a class="code" href="structcp_damped_spring.html">cpDampedSpring</a> {</div>
<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  <a class="code" href="structcp_constraint.html">cpConstraint</a> constraint;</div>
<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  <a class="code" href="structcp_vect.html">cpVect</a> anchorA, anchorB;</div>
<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> restLength;</div>
<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> stiffness;</div>
<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> damping;</div>
<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  <a class="code" href="group__cp_damped_spring.html#ga8c832b87ce13dbcada285305105486e0" title="Function type used for damped spring force callbacks.">cpDampedSpringForceFunc</a> springForceFunc;</div>
<div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  </div>
<div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> target_vrn;</div>
<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> v_coef;</div>
<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  </div>
<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  <a class="code" href="structcp_vect.html">cpVect</a> r1, r2;</div>
<div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> nMass;</div>
<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  <a class="code" href="structcp_vect.html">cpVect</a> n;</div>
<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  </div>
<div class="line"><a name="l00471"></a><span class="lineno"> 471</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> jAcc;</div>
<div class="line"><a name="l00472"></a><span class="lineno"> 472</span> };</div>
<div class="line"><a name="l00473"></a><span class="lineno"> 473</span> </div>
<div class="line"><a name="l00474"></a><span class="lineno"><a class="code" href="structcp_damped_rotary_spring.html"> 474</a></span> <span class="keyword">struct </span><a class="code" href="structcp_damped_rotary_spring.html">cpDampedRotarySpring</a> {</div>
<div class="line"><a name="l00475"></a><span class="lineno"> 475</span>  <a class="code" href="structcp_constraint.html">cpConstraint</a> constraint;</div>
<div class="line"><a name="l00476"></a><span class="lineno"> 476</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> restAngle;</div>
<div class="line"><a name="l00477"></a><span class="lineno"> 477</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> stiffness;</div>
<div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> damping;</div>
<div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  <a class="code" href="group__cp_damped_rotary_spring.html#ga27ca887de53076daf6d9e849d6f9838a" title="Function type used for damped rotary spring force callbacks.">cpDampedRotarySpringTorqueFunc</a> springTorqueFunc;</div>
<div class="line"><a name="l00480"></a><span class="lineno"> 480</span>  </div>
<div class="line"><a name="l00481"></a><span class="lineno"> 481</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> target_wrn;</div>
<div class="line"><a name="l00482"></a><span class="lineno"> 482</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> w_coef;</div>
<div class="line"><a name="l00483"></a><span class="lineno"> 483</span>  </div>
<div class="line"><a name="l00484"></a><span class="lineno"> 484</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> iSum;</div>
<div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> jAcc;</div>
<div class="line"><a name="l00486"></a><span class="lineno"> 486</span> };</div>
<div class="line"><a name="l00487"></a><span class="lineno"> 487</span> </div>
<div class="line"><a name="l00488"></a><span class="lineno"><a class="code" href="structcp_rotary_limit_joint.html"> 488</a></span> <span class="keyword">struct </span><a class="code" href="structcp_rotary_limit_joint.html">cpRotaryLimitJoint</a> {</div>
<div class="line"><a name="l00489"></a><span class="lineno"> 489</span>  <a class="code" href="structcp_constraint.html">cpConstraint</a> constraint;</div>
<div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> min, max;</div>
<div class="line"><a name="l00491"></a><span class="lineno"> 491</span>  </div>
<div class="line"><a name="l00492"></a><span class="lineno"> 492</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> iSum;</div>
<div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  </div>
<div class="line"><a name="l00494"></a><span class="lineno"> 494</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> bias;</div>
<div class="line"><a name="l00495"></a><span class="lineno"> 495</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> jAcc;</div>
<div class="line"><a name="l00496"></a><span class="lineno"> 496</span> };</div>
<div class="line"><a name="l00497"></a><span class="lineno"> 497</span> </div>
<div class="line"><a name="l00498"></a><span class="lineno"><a class="code" href="structcp_ratchet_joint.html"> 498</a></span> <span class="keyword">struct </span><a class="code" href="structcp_ratchet_joint.html">cpRatchetJoint</a> {</div>
<div class="line"><a name="l00499"></a><span class="lineno"> 499</span>  <a class="code" href="structcp_constraint.html">cpConstraint</a> constraint;</div>
<div class="line"><a name="l00500"></a><span class="lineno"> 500</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> angle, phase, ratchet;</div>
<div class="line"><a name="l00501"></a><span class="lineno"> 501</span>  </div>
<div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> iSum;</div>
<div class="line"><a name="l00503"></a><span class="lineno"> 503</span>  </div>
<div class="line"><a name="l00504"></a><span class="lineno"> 504</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> bias;</div>
<div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> jAcc;</div>
<div class="line"><a name="l00506"></a><span class="lineno"> 506</span> };</div>
<div class="line"><a name="l00507"></a><span class="lineno"> 507</span> </div>
<div class="line"><a name="l00508"></a><span class="lineno"><a class="code" href="structcp_gear_joint.html"> 508</a></span> <span class="keyword">struct </span><a class="code" href="structcp_gear_joint.html">cpGearJoint</a> {</div>
<div class="line"><a name="l00509"></a><span class="lineno"> 509</span>  <a class="code" href="structcp_constraint.html">cpConstraint</a> constraint;</div>
<div class="line"><a name="l00510"></a><span class="lineno"> 510</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> phase, ratio;</div>
<div class="line"><a name="l00511"></a><span class="lineno"> 511</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> ratio_inv;</div>
<div class="line"><a name="l00512"></a><span class="lineno"> 512</span>  </div>
<div class="line"><a name="l00513"></a><span class="lineno"> 513</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> iSum;</div>
<div class="line"><a name="l00514"></a><span class="lineno"> 514</span>  </div>
<div class="line"><a name="l00515"></a><span class="lineno"> 515</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> bias;</div>
<div class="line"><a name="l00516"></a><span class="lineno"> 516</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> jAcc;</div>
<div class="line"><a name="l00517"></a><span class="lineno"> 517</span> };</div>
<div class="line"><a name="l00518"></a><span class="lineno"> 518</span> </div>
<div class="line"><a name="l00519"></a><span class="lineno"><a class="code" href="structcp_simple_motor.html"> 519</a></span> <span class="keyword">struct </span><a class="code" href="structcp_simple_motor.html">cpSimpleMotor</a> {</div>
<div class="line"><a name="l00520"></a><span class="lineno"> 520</span>  <a class="code" href="structcp_constraint.html">cpConstraint</a> constraint;</div>
<div class="line"><a name="l00521"></a><span class="lineno"> 521</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> rate;</div>
<div class="line"><a name="l00522"></a><span class="lineno"> 522</span>  </div>
<div class="line"><a name="l00523"></a><span class="lineno"> 523</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> iSum;</div>
<div class="line"><a name="l00524"></a><span class="lineno"> 524</span>  </div>
<div class="line"><a name="l00525"></a><span class="lineno"> 525</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> jAcc;</div>
<div class="line"><a name="l00526"></a><span class="lineno"> 526</span> };</div>
<div class="line"><a name="l00527"></a><span class="lineno"> 527</span> </div>
<div class="line"><a name="l00528"></a><span class="lineno"> 528</span> <span class="keywordtype">void</span> cpConstraintInit(<a class="code" href="structcp_constraint.html">cpConstraint</a> *constraint, <span class="keyword">const</span> <span class="keyword">struct</span> <a class="code" href="structcp_constraint_class.html">cpConstraintClass</a> *klass, <a class="code" href="structcp_body.html">cpBody</a> *a, <a class="code" href="structcp_body.html">cpBody</a> *b);</div>
<div class="line"><a name="l00529"></a><span class="lineno"> 529</span> </div>
<div class="line"><a name="l00530"></a><span class="lineno"> 530</span> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00531"></a><span class="lineno"> 531</span> cpConstraintActivateBodies(<a class="code" href="structcp_constraint.html">cpConstraint</a> *constraint)</div>
<div class="line"><a name="l00532"></a><span class="lineno"> 532</span> {</div>
<div class="line"><a name="l00533"></a><span class="lineno"> 533</span>  <a class="code" href="structcp_body.html">cpBody</a> *a = constraint->a; <a class="code" href="group__cp_body.html#ga23741f9682e268913d9f6f8a72b64cf0" title="Wake up a sleeping or idle body.">cpBodyActivate</a>(a);</div>
<div class="line"><a name="l00534"></a><span class="lineno"> 534</span>  <a class="code" href="structcp_body.html">cpBody</a> *b = constraint->b; <a class="code" href="group__cp_body.html#ga23741f9682e268913d9f6f8a72b64cf0" title="Wake up a sleeping or idle body.">cpBodyActivate</a>(b);</div>
<div class="line"><a name="l00535"></a><span class="lineno"> 535</span> }</div>
<div class="line"><a name="l00536"></a><span class="lineno"> 536</span> </div>
<div class="line"><a name="l00537"></a><span class="lineno"> 537</span> <span class="keyword">static</span> <span class="keyword">inline</span> <a class="code" href="structcp_vect.html">cpVect</a></div>
<div class="line"><a name="l00538"></a><span class="lineno"> 538</span> relative_velocity(<a class="code" href="structcp_body.html">cpBody</a> *a, <a class="code" href="structcp_body.html">cpBody</a> *b, <a class="code" href="structcp_vect.html">cpVect</a> r1, <a class="code" href="structcp_vect.html">cpVect</a> r2){</div>
<div class="line"><a name="l00539"></a><span class="lineno"> 539</span>  <a class="code" href="structcp_vect.html">cpVect</a> v1_sum = <a class="code" href="group__cp_vect.html#ga167e0bde13a745299bd5d4164d7c796b" title="Add two vectors.">cpvadd</a>(a->CP_PRIVATE(v), <a class="code" href="group__cp_vect.html#ga717188d925550baf62188b5e1e602047" title="Scalar multiplication.">cpvmult</a>(<a class="code" href="group__cp_vect.html#gac4a0ba2873900342126c0449918764bc" title="Returns a perpendicular vector. (90 degree rotation)">cpvperp</a>(r1), a->CP_PRIVATE(w)));</div>
<div class="line"><a name="l00540"></a><span class="lineno"> 540</span>  <a class="code" href="structcp_vect.html">cpVect</a> v2_sum = <a class="code" href="group__cp_vect.html#ga167e0bde13a745299bd5d4164d7c796b" title="Add two vectors.">cpvadd</a>(b->CP_PRIVATE(v), <a class="code" href="group__cp_vect.html#ga717188d925550baf62188b5e1e602047" title="Scalar multiplication.">cpvmult</a>(<a class="code" href="group__cp_vect.html#gac4a0ba2873900342126c0449918764bc" title="Returns a perpendicular vector. (90 degree rotation)">cpvperp</a>(r2), b->CP_PRIVATE(w)));</div>
<div class="line"><a name="l00541"></a><span class="lineno"> 541</span>  </div>
<div class="line"><a name="l00542"></a><span class="lineno"> 542</span>  <span class="keywordflow">return</span> <a class="code" href="group__cp_vect.html#gafd88a5bbd4b5de25aa31e44fdf01e259" title="Subtract two vectors.">cpvsub</a>(v2_sum, v1_sum);</div>
<div class="line"><a name="l00543"></a><span class="lineno"> 543</span> }</div>
<div class="line"><a name="l00544"></a><span class="lineno"> 544</span> </div>
<div class="line"><a name="l00545"></a><span class="lineno"> 545</span> <span class="keyword">static</span> <span class="keyword">inline</span> <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a></div>
<div class="line"><a name="l00546"></a><span class="lineno"> 546</span> normal_relative_velocity(<a class="code" href="structcp_body.html">cpBody</a> *a, <a class="code" href="structcp_body.html">cpBody</a> *b, <a class="code" href="structcp_vect.html">cpVect</a> r1, <a class="code" href="structcp_vect.html">cpVect</a> r2, <a class="code" href="structcp_vect.html">cpVect</a> n){</div>
<div class="line"><a name="l00547"></a><span class="lineno"> 547</span>  <span class="keywordflow">return</span> <a class="code" href="group__cp_vect.html#ga3e76653b018d47f864c339092cf482f1" title="Vector dot product.">cpvdot</a>(relative_velocity(a, b, r1, r2), n);</div>
<div class="line"><a name="l00548"></a><span class="lineno"> 548</span> }</div>
<div class="line"><a name="l00549"></a><span class="lineno"> 549</span> </div>
<div class="line"><a name="l00550"></a><span class="lineno"> 550</span> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00551"></a><span class="lineno"> 551</span> apply_impulse(<a class="code" href="structcp_body.html">cpBody</a> *body, <a class="code" href="structcp_vect.html">cpVect</a> j, <a class="code" href="structcp_vect.html">cpVect</a> r){</div>
<div class="line"><a name="l00552"></a><span class="lineno"> 552</span>  body->CP_PRIVATE(v) = <a class="code" href="group__cp_vect.html#ga167e0bde13a745299bd5d4164d7c796b" title="Add two vectors.">cpvadd</a>(body->CP_PRIVATE(v), <a class="code" href="group__cp_vect.html#ga717188d925550baf62188b5e1e602047" title="Scalar multiplication.">cpvmult</a>(j, body->CP_PRIVATE(m_inv)));</div>
<div class="line"><a name="l00553"></a><span class="lineno"> 553</span>  body->CP_PRIVATE(w) += body->CP_PRIVATE(i_inv)*<a class="code" href="group__cp_vect.html#gaf9618b7690ad0c67dbe143c640590f7b" title="2D vector cross product analog.">cpvcross</a>(r, j);</div>
<div class="line"><a name="l00554"></a><span class="lineno"> 554</span> }</div>
<div class="line"><a name="l00555"></a><span class="lineno"> 555</span> </div>
<div class="line"><a name="l00556"></a><span class="lineno"> 556</span> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00557"></a><span class="lineno"> 557</span> apply_impulses(<a class="code" href="structcp_body.html">cpBody</a> *a , <a class="code" href="structcp_body.html">cpBody</a> *b, <a class="code" href="structcp_vect.html">cpVect</a> r1, <a class="code" href="structcp_vect.html">cpVect</a> r2, <a class="code" href="structcp_vect.html">cpVect</a> j)</div>
<div class="line"><a name="l00558"></a><span class="lineno"> 558</span> {</div>
<div class="line"><a name="l00559"></a><span class="lineno"> 559</span>  apply_impulse(a, <a class="code" href="group__cp_vect.html#gab79a1d52de40bf0f7db5134da436426b" title="Negate a vector.">cpvneg</a>(j), r1);</div>
<div class="line"><a name="l00560"></a><span class="lineno"> 560</span>  apply_impulse(b, j, r2);</div>
<div class="line"><a name="l00561"></a><span class="lineno"> 561</span> }</div>
<div class="line"><a name="l00562"></a><span class="lineno"> 562</span> </div>
<div class="line"><a name="l00563"></a><span class="lineno"> 563</span> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00564"></a><span class="lineno"> 564</span> apply_bias_impulse(<a class="code" href="structcp_body.html">cpBody</a> *body, <a class="code" href="structcp_vect.html">cpVect</a> j, <a class="code" href="structcp_vect.html">cpVect</a> r)</div>
<div class="line"><a name="l00565"></a><span class="lineno"> 565</span> {</div>
<div class="line"><a name="l00566"></a><span class="lineno"> 566</span>  body->CP_PRIVATE(v_bias) = <a class="code" href="group__cp_vect.html#ga167e0bde13a745299bd5d4164d7c796b" title="Add two vectors.">cpvadd</a>(body->CP_PRIVATE(v_bias), <a class="code" href="group__cp_vect.html#ga717188d925550baf62188b5e1e602047" title="Scalar multiplication.">cpvmult</a>(j, body->CP_PRIVATE(m_inv)));</div>
<div class="line"><a name="l00567"></a><span class="lineno"> 567</span>  body->CP_PRIVATE(w_bias) += body->CP_PRIVATE(i_inv)*<a class="code" href="group__cp_vect.html#gaf9618b7690ad0c67dbe143c640590f7b" title="2D vector cross product analog.">cpvcross</a>(r, j);</div>
<div class="line"><a name="l00568"></a><span class="lineno"> 568</span> }</div>
<div class="line"><a name="l00569"></a><span class="lineno"> 569</span> </div>
<div class="line"><a name="l00570"></a><span class="lineno"> 570</span> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00571"></a><span class="lineno"> 571</span> apply_bias_impulses(<a class="code" href="structcp_body.html">cpBody</a> *a , <a class="code" href="structcp_body.html">cpBody</a> *b, <a class="code" href="structcp_vect.html">cpVect</a> r1, <a class="code" href="structcp_vect.html">cpVect</a> r2, <a class="code" href="structcp_vect.html">cpVect</a> j)</div>
<div class="line"><a name="l00572"></a><span class="lineno"> 572</span> {</div>
<div class="line"><a name="l00573"></a><span class="lineno"> 573</span>  apply_bias_impulse(a, <a class="code" href="group__cp_vect.html#gab79a1d52de40bf0f7db5134da436426b" title="Negate a vector.">cpvneg</a>(j), r1);</div>
<div class="line"><a name="l00574"></a><span class="lineno"> 574</span>  apply_bias_impulse(b, j, r2);</div>
<div class="line"><a name="l00575"></a><span class="lineno"> 575</span> }</div>
<div class="line"><a name="l00576"></a><span class="lineno"> 576</span> </div>
<div class="line"><a name="l00577"></a><span class="lineno"> 577</span> <span class="keyword">static</span> <span class="keyword">inline</span> <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a></div>
<div class="line"><a name="l00578"></a><span class="lineno"> 578</span> k_scalar_body(<a class="code" href="structcp_body.html">cpBody</a> *body, <a class="code" href="structcp_vect.html">cpVect</a> r, <a class="code" href="structcp_vect.html">cpVect</a> n)</div>
<div class="line"><a name="l00579"></a><span class="lineno"> 579</span> {</div>
<div class="line"><a name="l00580"></a><span class="lineno"> 580</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> rcn = <a class="code" href="group__cp_vect.html#gaf9618b7690ad0c67dbe143c640590f7b" title="2D vector cross product analog.">cpvcross</a>(r, n);</div>
<div class="line"><a name="l00581"></a><span class="lineno"> 581</span>  <span class="keywordflow">return</span> body->CP_PRIVATE(m_inv) + body->CP_PRIVATE(i_inv)*rcn*rcn;</div>
<div class="line"><a name="l00582"></a><span class="lineno"> 582</span> }</div>
<div class="line"><a name="l00583"></a><span class="lineno"> 583</span> </div>
<div class="line"><a name="l00584"></a><span class="lineno"> 584</span> <span class="keyword">static</span> <span class="keyword">inline</span> <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a></div>
<div class="line"><a name="l00585"></a><span class="lineno"> 585</span> k_scalar(<a class="code" href="structcp_body.html">cpBody</a> *a, <a class="code" href="structcp_body.html">cpBody</a> *b, <a class="code" href="structcp_vect.html">cpVect</a> r1, <a class="code" href="structcp_vect.html">cpVect</a> r2, <a class="code" href="structcp_vect.html">cpVect</a> n)</div>
<div class="line"><a name="l00586"></a><span class="lineno"> 586</span> {</div>
<div class="line"><a name="l00587"></a><span class="lineno"> 587</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> value = k_scalar_body(a, r1, n) + k_scalar_body(b, r2, n);</div>
<div class="line"><a name="l00588"></a><span class="lineno"> 588</span>  cpAssertSoft(value != 0.0, <span class="stringliteral">"Unsolvable collision or constraint."</span>);</div>
<div class="line"><a name="l00589"></a><span class="lineno"> 589</span>  </div>
<div class="line"><a name="l00590"></a><span class="lineno"> 590</span>  <span class="keywordflow">return</span> value;</div>
<div class="line"><a name="l00591"></a><span class="lineno"> 591</span> }</div>
<div class="line"><a name="l00592"></a><span class="lineno"> 592</span> </div>
<div class="line"><a name="l00593"></a><span class="lineno"> 593</span> <span class="keyword">static</span> <span class="keyword">inline</span> <a class="code" href="structcp_mat2x2.html">cpMat2x2</a></div>
<div class="line"><a name="l00594"></a><span class="lineno"> 594</span> k_tensor(<a class="code" href="structcp_body.html">cpBody</a> *a, <a class="code" href="structcp_body.html">cpBody</a> *b, <a class="code" href="structcp_vect.html">cpVect</a> r1, <a class="code" href="structcp_vect.html">cpVect</a> r2)</div>
<div class="line"><a name="l00595"></a><span class="lineno"> 595</span> {</div>
<div class="line"><a name="l00596"></a><span class="lineno"> 596</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> m_sum = a->CP_PRIVATE(m_inv) + b->CP_PRIVATE(m_inv);</div>
<div class="line"><a name="l00597"></a><span class="lineno"> 597</span>  </div>
<div class="line"><a name="l00598"></a><span class="lineno"> 598</span>  <span class="comment">// start with Identity*m_sum</span></div>
<div class="line"><a name="l00599"></a><span class="lineno"> 599</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> k11 = m_sum, k12 = 0.0f;</div>
<div class="line"><a name="l00600"></a><span class="lineno"> 600</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> k21 = 0.0f, k22 = m_sum;</div>
<div class="line"><a name="l00601"></a><span class="lineno"> 601</span>  </div>
<div class="line"><a name="l00602"></a><span class="lineno"> 602</span>  <span class="comment">// add the influence from r1</span></div>
<div class="line"><a name="l00603"></a><span class="lineno"> 603</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> a_i_inv = a->CP_PRIVATE(i_inv);</div>
<div class="line"><a name="l00604"></a><span class="lineno"> 604</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> r1xsq = r1.x * r1.x * a_i_inv;</div>
<div class="line"><a name="l00605"></a><span class="lineno"> 605</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> r1ysq = r1.y * r1.y * a_i_inv;</div>
<div class="line"><a name="l00606"></a><span class="lineno"> 606</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> r1nxy = -r1.x * r1.y * a_i_inv;</div>
<div class="line"><a name="l00607"></a><span class="lineno"> 607</span>  k11 += r1ysq; k12 += r1nxy;</div>
<div class="line"><a name="l00608"></a><span class="lineno"> 608</span>  k21 += r1nxy; k22 += r1xsq;</div>
<div class="line"><a name="l00609"></a><span class="lineno"> 609</span>  </div>
<div class="line"><a name="l00610"></a><span class="lineno"> 610</span>  <span class="comment">// add the influnce from r2</span></div>
<div class="line"><a name="l00611"></a><span class="lineno"> 611</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> b_i_inv = b->CP_PRIVATE(i_inv);</div>
<div class="line"><a name="l00612"></a><span class="lineno"> 612</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> r2xsq = r2.x * r2.x * b_i_inv;</div>
<div class="line"><a name="l00613"></a><span class="lineno"> 613</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> r2ysq = r2.y * r2.y * b_i_inv;</div>
<div class="line"><a name="l00614"></a><span class="lineno"> 614</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> r2nxy = -r2.x * r2.y * b_i_inv;</div>
<div class="line"><a name="l00615"></a><span class="lineno"> 615</span>  k11 += r2ysq; k12 += r2nxy;</div>
<div class="line"><a name="l00616"></a><span class="lineno"> 616</span>  k21 += r2nxy; k22 += r2xsq;</div>
<div class="line"><a name="l00617"></a><span class="lineno"> 617</span>  </div>
<div class="line"><a name="l00618"></a><span class="lineno"> 618</span>  <span class="comment">// invert</span></div>
<div class="line"><a name="l00619"></a><span class="lineno"> 619</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> det = k11*k22 - k12*k21;</div>
<div class="line"><a name="l00620"></a><span class="lineno"> 620</span>  cpAssertSoft(det != 0.0, <span class="stringliteral">"Unsolvable constraint."</span>);</div>
<div class="line"><a name="l00621"></a><span class="lineno"> 621</span>  </div>
<div class="line"><a name="l00622"></a><span class="lineno"> 622</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> det_inv = 1.0f/det;</div>
<div class="line"><a name="l00623"></a><span class="lineno"> 623</span>  <span class="keywordflow">return</span> cpMat2x2New(</div>
<div class="line"><a name="l00624"></a><span class="lineno"> 624</span>  k22*det_inv, -k12*det_inv,</div>
<div class="line"><a name="l00625"></a><span class="lineno"> 625</span>  -k21*det_inv, k11*det_inv</div>
<div class="line"><a name="l00626"></a><span class="lineno"> 626</span>  );</div>
<div class="line"><a name="l00627"></a><span class="lineno"> 627</span> }</div>
<div class="line"><a name="l00628"></a><span class="lineno"> 628</span> </div>
<div class="line"><a name="l00629"></a><span class="lineno"> 629</span> <span class="keyword">static</span> <span class="keyword">inline</span> <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a></div>
<div class="line"><a name="l00630"></a><span class="lineno"> 630</span> bias_coef(<a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> errorBias, <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> dt)</div>
<div class="line"><a name="l00631"></a><span class="lineno"> 631</span> {</div>
<div class="line"><a name="l00632"></a><span class="lineno"> 632</span>  <span class="keywordflow">return</span> 1.0f - cpfpow(errorBias, dt);</div>
<div class="line"><a name="l00633"></a><span class="lineno"> 633</span> }</div>
<div class="line"><a name="l00634"></a><span class="lineno"> 634</span> </div>
<div class="line"><a name="l00635"></a><span class="lineno"> 635</span> </div>
<div class="line"><a name="l00636"></a><span class="lineno"> 636</span> <span class="comment">//MARK: Spaces</span></div>
<div class="line"><a name="l00637"></a><span class="lineno"> 637</span> </div>
<div class="line"><a name="l00638"></a><span class="lineno"> 638</span> <span class="keyword">typedef</span> <span class="keyword">struct </span>cpContactBufferHeader cpContactBufferHeader;</div>
<div class="line"><a name="l00639"></a><span class="lineno"> 639</span> <span class="keyword">typedef</span> void (*cpSpaceArbiterApplyImpulseFunc)(<a class="code" href="structcp_arbiter.html">cpArbiter</a> *arb);</div>
<div class="line"><a name="l00640"></a><span class="lineno"> 640</span> </div>
<div class="line"><a name="l00641"></a><span class="lineno"><a class="code" href="structcp_space.html"> 641</a></span> <span class="keyword">struct </span><a class="code" href="structcp_space.html">cpSpace</a> {</div>
<div class="line"><a name="l00642"></a><span class="lineno"> 642</span>  <span class="keywordtype">int</span> iterations;</div>
<div class="line"><a name="l00643"></a><span class="lineno"> 643</span>  </div>
<div class="line"><a name="l00644"></a><span class="lineno"> 644</span>  <a class="code" href="structcp_vect.html">cpVect</a> gravity;</div>
<div class="line"><a name="l00645"></a><span class="lineno"> 645</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> damping;</div>
<div class="line"><a name="l00646"></a><span class="lineno"> 646</span>  </div>
<div class="line"><a name="l00647"></a><span class="lineno"> 647</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> idleSpeedThreshold;</div>
<div class="line"><a name="l00648"></a><span class="lineno"> 648</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> sleepTimeThreshold;</div>
<div class="line"><a name="l00649"></a><span class="lineno"> 649</span>  </div>
<div class="line"><a name="l00650"></a><span class="lineno"> 650</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> collisionSlop;</div>
<div class="line"><a name="l00651"></a><span class="lineno"> 651</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> collisionBias;</div>
<div class="line"><a name="l00652"></a><span class="lineno"> 652</span>  <a class="code" href="group__basic_types.html#gaa24652c104082d0725066ea5ac7dc83f" title="Type used for various timestamps in Chipmunk.">cpTimestamp</a> collisionPersistence;</div>
<div class="line"><a name="l00653"></a><span class="lineno"> 653</span>  </div>
<div class="line"><a name="l00654"></a><span class="lineno"> 654</span>  <a class="code" href="group__basic_types.html#ga2ac2c3c31e21893941f9e4f8ee279447" title="Type used for user data pointers.">cpDataPointer</a> userData;</div>
<div class="line"><a name="l00655"></a><span class="lineno"> 655</span>  </div>
<div class="line"><a name="l00656"></a><span class="lineno"> 656</span>  <a class="code" href="group__basic_types.html#gaa24652c104082d0725066ea5ac7dc83f" title="Type used for various timestamps in Chipmunk.">cpTimestamp</a> stamp;</div>
<div class="line"><a name="l00657"></a><span class="lineno"> 657</span>  <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> curr_dt;</div>
<div class="line"><a name="l00658"></a><span class="lineno"> 658</span> </div>
<div class="line"><a name="l00659"></a><span class="lineno"> 659</span>  <a class="code" href="structcp_array.html">cpArray</a> *dynamicBodies;</div>
<div class="line"><a name="l00660"></a><span class="lineno"> 660</span>  <a class="code" href="structcp_array.html">cpArray</a> *staticBodies;</div>
<div class="line"><a name="l00661"></a><span class="lineno"> 661</span>  <a class="code" href="structcp_array.html">cpArray</a> *rousedBodies;</div>
<div class="line"><a name="l00662"></a><span class="lineno"> 662</span>  <a class="code" href="structcp_array.html">cpArray</a> *sleepingComponents;</div>
<div class="line"><a name="l00663"></a><span class="lineno"> 663</span>  </div>
<div class="line"><a name="l00664"></a><span class="lineno"> 664</span>  <a class="code" href="group__basic_types.html#gae7eb4775a9f43914a15553ca65a048f4" title="Hash value type.">cpHashValue</a> shapeIDCounter;</div>
<div class="line"><a name="l00665"></a><span class="lineno"> 665</span>  cpSpatialIndex *staticShapes;</div>
<div class="line"><a name="l00666"></a><span class="lineno"> 666</span>  cpSpatialIndex *dynamicShapes;</div>
<div class="line"><a name="l00667"></a><span class="lineno"> 667</span>  </div>
<div class="line"><a name="l00668"></a><span class="lineno"> 668</span>  <a class="code" href="structcp_array.html">cpArray</a> *constraints;</div>
<div class="line"><a name="l00669"></a><span class="lineno"> 669</span>  </div>
<div class="line"><a name="l00670"></a><span class="lineno"> 670</span>  <a class="code" href="structcp_array.html">cpArray</a> *arbiters;</div>
<div class="line"><a name="l00671"></a><span class="lineno"> 671</span>  cpContactBufferHeader *contactBuffersHead;</div>
<div class="line"><a name="l00672"></a><span class="lineno"> 672</span>  cpHashSet *cachedArbiters;</div>
<div class="line"><a name="l00673"></a><span class="lineno"> 673</span>  <a class="code" href="structcp_array.html">cpArray</a> *pooledArbiters;</div>
<div class="line"><a name="l00674"></a><span class="lineno"> 674</span>  </div>
<div class="line"><a name="l00675"></a><span class="lineno"> 675</span>  <a class="code" href="structcp_array.html">cpArray</a> *allocatedBuffers;</div>
<div class="line"><a name="l00676"></a><span class="lineno"> 676</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> locked;</div>
<div class="line"><a name="l00677"></a><span class="lineno"> 677</span>  </div>
<div class="line"><a name="l00678"></a><span class="lineno"> 678</span>  <a class="code" href="group__basic_types.html#gabc5e752c48f3449ca26ef413ecbd647e" title="Chipmunk's boolean type.">cpBool</a> usesWildcards;</div>
<div class="line"><a name="l00679"></a><span class="lineno"> 679</span>  cpHashSet *collisionHandlers;</div>
<div class="line"><a name="l00680"></a><span class="lineno"> 680</span>  <a class="code" href="structcp_collision_handler.html" title="Struct that holds function callback pointers to configure custom collision handling.">cpCollisionHandler</a> defaultHandler;</div>
<div class="line"><a name="l00681"></a><span class="lineno"> 681</span>  </div>
<div class="line"><a name="l00682"></a><span class="lineno"> 682</span>  <a class="code" href="group__basic_types.html#gabc5e752c48f3449ca26ef413ecbd647e" title="Chipmunk's boolean type.">cpBool</a> skipPostStep;</div>
<div class="line"><a name="l00683"></a><span class="lineno"> 683</span>  <a class="code" href="structcp_array.html">cpArray</a> *postStepCallbacks;</div>
<div class="line"><a name="l00684"></a><span class="lineno"> 684</span>  </div>
<div class="line"><a name="l00685"></a><span class="lineno"> 685</span>  <a class="code" href="structcp_body.html">cpBody</a> *staticBody;</div>
<div class="line"><a name="l00686"></a><span class="lineno"> 686</span>  <a class="code" href="structcp_body.html">cpBody</a> _staticBody;</div>
<div class="line"><a name="l00687"></a><span class="lineno"> 687</span> };</div>
<div class="line"><a name="l00688"></a><span class="lineno"> 688</span> </div>
<div class="line"><a name="l00689"></a><span class="lineno"> 689</span> <span class="preprocessor">#define cpAssertSpaceUnlocked(space) \</span></div>
<div class="line"><a name="l00690"></a><span class="lineno"> 690</span> <span class="preprocessor"> cpAssertHard(!space->locked, \</span></div>
<div class="line"><a name="l00691"></a><span class="lineno"> 691</span> <span class="preprocessor"> "This operation cannot be done safely during a call to cpSpaceStep() or during a query. " \</span></div>
<div class="line"><a name="l00692"></a><span class="lineno"> 692</span> <span class="preprocessor"> "Put these calls into a post-step callback." \</span></div>
<div class="line"><a name="l00693"></a><span class="lineno"> 693</span> <span class="preprocessor"> );</span></div>
<div class="line"><a name="l00694"></a><span class="lineno"> 694</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00695"></a><span class="lineno"> 695</span> <span class="keywordtype">void</span> cpSpaceSetStaticBody(<a class="code" href="structcp_space.html">cpSpace</a> *space, <a class="code" href="structcp_body.html">cpBody</a> *body);</div>
<div class="line"><a name="l00696"></a><span class="lineno"> 696</span> </div>
<div class="line"><a name="l00697"></a><span class="lineno"> 697</span> <span class="keyword">extern</span> <a class="code" href="structcp_collision_handler.html" title="Struct that holds function callback pointers to configure custom collision handling.">cpCollisionHandler</a> cpCollisionHandlerDoNothing;</div>
<div class="line"><a name="l00698"></a><span class="lineno"> 698</span> </div>
<div class="line"><a name="l00699"></a><span class="lineno"> 699</span> <span class="keywordtype">void</span> cpSpaceProcessComponents(<a class="code" href="structcp_space.html">cpSpace</a> *space, <a class="code" href="group__basic_types.html#gac1ed65573e035bf892505768c852d8d3" title="Chipmunk's floating point type.">cpFloat</a> dt);</div>
<div class="line"><a name="l00700"></a><span class="lineno"> 700</span> </div>
<div class="line"><a name="l00701"></a><span class="lineno"> 701</span> <span class="keywordtype">void</span> cpSpacePushFreshContactBuffer(<a class="code" href="structcp_space.html">cpSpace</a> *space);</div>
<div class="line"><a name="l00702"></a><span class="lineno"> 702</span> <span class="keyword">struct </span><a class="code" href="structcp_contact.html">cpContact</a> *cpContactBufferGetArray(<a class="code" href="structcp_space.html">cpSpace</a> *space);</div>
<div class="line"><a name="l00703"></a><span class="lineno"> 703</span> <span class="keywordtype">void</span> cpSpacePushContacts(<a class="code" href="structcp_space.html">cpSpace</a> *space, <span class="keywordtype">int</span> count);</div>
<div class="line"><a name="l00704"></a><span class="lineno"> 704</span> </div>
<div class="line"><a name="l00705"></a><span class="lineno"><a class="code" href="structcp_post_step_callback.html"> 705</a></span> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structcp_post_step_callback.html">cpPostStepCallback</a> {</div>
<div class="line"><a name="l00706"></a><span class="lineno"> 706</span>  <a class="code" href="group__cp_space.html#ga54254190b156e3b786c3f256fcc12348" title="Post Step callback function type.">cpPostStepFunc</a> func;</div>
<div class="line"><a name="l00707"></a><span class="lineno"> 707</span>  <span class="keywordtype">void</span> *key;</div>
<div class="line"><a name="l00708"></a><span class="lineno"> 708</span>  <span class="keywordtype">void</span> *data;</div>
<div class="line"><a name="l00709"></a><span class="lineno"> 709</span> } <a class="code" href="structcp_post_step_callback.html">cpPostStepCallback</a>;</div>
<div class="line"><a name="l00710"></a><span class="lineno"> 710</span> </div>
<div class="line"><a name="l00711"></a><span class="lineno"> 711</span> <a class="code" href="structcp_post_step_callback.html">cpPostStepCallback</a> *cpSpaceGetPostStepCallback(<a class="code" href="structcp_space.html">cpSpace</a> *space, <span class="keywordtype">void</span> *key);</div>
<div class="line"><a name="l00712"></a><span class="lineno"> 712</span> </div>
<div class="line"><a name="l00713"></a><span class="lineno"> 713</span> <a class="code" href="group__basic_types.html#gabc5e752c48f3449ca26ef413ecbd647e" title="Chipmunk's boolean type.">cpBool</a> cpSpaceArbiterSetFilter(<a class="code" href="structcp_arbiter.html">cpArbiter</a> *arb, <a class="code" href="structcp_space.html">cpSpace</a> *space);</div>
<div class="line"><a name="l00714"></a><span class="lineno"> 714</span> <span class="keywordtype">void</span> cpSpaceFilterArbiters(<a class="code" href="structcp_space.html">cpSpace</a> *space, <a class="code" href="structcp_body.html">cpBody</a> *body, <a class="code" href="structcp_shape.html">cpShape</a> *filter);</div>
<div class="line"><a name="l00715"></a><span class="lineno"> 715</span> </div>
<div class="line"><a name="l00716"></a><span class="lineno"> 716</span> <span class="keywordtype">void</span> cpSpaceActivateBody(<a class="code" href="structcp_space.html">cpSpace</a> *space, <a class="code" href="structcp_body.html">cpBody</a> *body);</div>
<div class="line"><a name="l00717"></a><span class="lineno"> 717</span> <span class="keywordtype">void</span> cpSpaceLock(<a class="code" href="structcp_space.html">cpSpace</a> *space);</div>
<div class="line"><a name="l00718"></a><span class="lineno"> 718</span> <span class="keywordtype">void</span> cpSpaceUnlock(<a class="code" href="structcp_space.html">cpSpace</a> *space, <a class="code" href="group__basic_types.html#gabc5e752c48f3449ca26ef413ecbd647e" title="Chipmunk's boolean type.">cpBool</a> runPostStep);</div>
<div class="line"><a name="l00719"></a><span class="lineno"> 719</span> </div>
<div class="line"><a name="l00720"></a><span class="lineno"> 720</span> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00721"></a><span class="lineno"> 721</span> cpSpaceUncacheArbiter(<a class="code" href="structcp_space.html">cpSpace</a> *space, <a class="code" href="structcp_arbiter.html">cpArbiter</a> *arb)</div>
<div class="line"><a name="l00722"></a><span class="lineno"> 722</span> {</div>
<div class="line"><a name="l00723"></a><span class="lineno"> 723</span>  <span class="keyword">const</span> <a class="code" href="structcp_shape.html">cpShape</a> *a = arb->a, *b = arb->b;</div>
<div class="line"><a name="l00724"></a><span class="lineno"> 724</span>  <span class="keyword">const</span> <a class="code" href="structcp_shape.html">cpShape</a> *shape_pair[] = {a, b};</div>
<div class="line"><a name="l00725"></a><span class="lineno"> 725</span>  <a class="code" href="group__basic_types.html#gae7eb4775a9f43914a15553ca65a048f4" title="Hash value type.">cpHashValue</a> arbHashID = CP_HASH_PAIR((<a class="code" href="group__basic_types.html#gae7eb4775a9f43914a15553ca65a048f4" title="Hash value type.">cpHashValue</a>)a, (<a class="code" href="group__basic_types.html#gae7eb4775a9f43914a15553ca65a048f4" title="Hash value type.">cpHashValue</a>)b);</div>
<div class="line"><a name="l00726"></a><span class="lineno"> 726</span>  cpHashSetRemove(space->cachedArbiters, arbHashID, shape_pair);</div>
<div class="line"><a name="l00727"></a><span class="lineno"> 727</span>  cpArrayDeleteObj(space->arbiters, arb);</div>
<div class="line"><a name="l00728"></a><span class="lineno"> 728</span> }</div>
<div class="line"><a name="l00729"></a><span class="lineno"> 729</span> </div>
<div class="line"><a name="l00730"></a><span class="lineno"> 730</span> <span class="keyword">static</span> <span class="keyword">inline</span> <a class="code" href="structcp_array.html">cpArray</a> *</div>
<div class="line"><a name="l00731"></a><span class="lineno"> 731</span> cpSpaceArrayForBodyType(<a class="code" href="structcp_space.html">cpSpace</a> *space, <a class="code" href="group__cp_body.html#ga3581b128fd3e2734952aeac8545fd5ca">cpBodyType</a> type)</div>
<div class="line"><a name="l00732"></a><span class="lineno"> 732</span> {</div>
<div class="line"><a name="l00733"></a><span class="lineno"> 733</span>  <span class="keywordflow">return</span> (type == <a class="code" href="group__cp_body.html#gga3581b128fd3e2734952aeac8545fd5caaa594879f082bbabce4bd16944f73456b" title="A static body is a body that never (or rarely) moves.">CP_BODY_TYPE_STATIC</a> ? space->staticBodies : space->dynamicBodies);</div>
<div class="line"><a name="l00734"></a><span class="lineno"> 734</span> }</div>
<div class="line"><a name="l00735"></a><span class="lineno"> 735</span> </div>
<div class="line"><a name="l00736"></a><span class="lineno"> 736</span> <span class="keywordtype">void</span> cpShapeUpdateFunc(<a class="code" href="structcp_shape.html">cpShape</a> *shape, <span class="keywordtype">void</span> *unused);</div>
<div class="line"><a name="l00737"></a><span class="lineno"> 737</span> <a class="code" href="group__basic_types.html#ga89d4043ca0567e947aaca19cf9600df5" title="Type used internally to cache colliding object info for cpCollideShapes().">cpCollisionID</a> cpSpaceCollideShapes(<a class="code" href="structcp_shape.html">cpShape</a> *a, <a class="code" href="structcp_shape.html">cpShape</a> *b, <a class="code" href="group__basic_types.html#ga89d4043ca0567e947aaca19cf9600df5" title="Type used internally to cache colliding object info for cpCollideShapes().">cpCollisionID</a> <span class="keywordtype">id</span>, <a class="code" href="structcp_space.html">cpSpace</a> *space);</div>
<div class="line"><a name="l00738"></a><span class="lineno"> 738</span> </div>
<div class="line"><a name="l00739"></a><span class="lineno"> 739</span> </div>
<div class="line"><a name="l00740"></a><span class="lineno"> 740</span> <span class="comment">//MARK: Foreach loops</span></div>
<div class="line"><a name="l00741"></a><span class="lineno"> 741</span> </div>
<div class="line"><a name="l00742"></a><span class="lineno"> 742</span> <span class="keyword">static</span> <span class="keyword">inline</span> <a class="code" href="structcp_constraint.html">cpConstraint</a> *</div>
<div class="line"><a name="l00743"></a><span class="lineno"> 743</span> cpConstraintNext(<a class="code" href="structcp_constraint.html">cpConstraint</a> *node, <a class="code" href="structcp_body.html">cpBody</a> *body)</div>
<div class="line"><a name="l00744"></a><span class="lineno"> 744</span> {</div>
<div class="line"><a name="l00745"></a><span class="lineno"> 745</span>  <span class="keywordflow">return</span> (node->a == body ? node->next_a : node->next_b);</div>
<div class="line"><a name="l00746"></a><span class="lineno"> 746</span> }</div>
<div class="line"><a name="l00747"></a><span class="lineno"> 747</span> </div>
<div class="line"><a name="l00748"></a><span class="lineno"> 748</span> <span class="preprocessor">#define CP_BODY_FOREACH_CONSTRAINT(bdy, var)\</span></div>
<div class="line"><a name="l00749"></a><span class="lineno"> 749</span> <span class="preprocessor"> for(cpConstraint *var = bdy->constraintList; var; var = cpConstraintNext(var, bdy))</span></div>
<div class="line"><a name="l00750"></a><span class="lineno"> 750</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00751"></a><span class="lineno"> 751</span> <span class="keyword">static</span> <span class="keyword">inline</span> <a class="code" href="structcp_arbiter.html">cpArbiter</a> *</div>
<div class="line"><a name="l00752"></a><span class="lineno"> 752</span> cpArbiterNext(<a class="code" href="structcp_arbiter.html">cpArbiter</a> *node, <a class="code" href="structcp_body.html">cpBody</a> *body)</div>
<div class="line"><a name="l00753"></a><span class="lineno"> 753</span> {</div>
<div class="line"><a name="l00754"></a><span class="lineno"> 754</span>  <span class="keywordflow">return</span> (node->body_a == body ? node->thread_a.next : node->thread_b.next);</div>
<div class="line"><a name="l00755"></a><span class="lineno"> 755</span> }</div>
<div class="line"><a name="l00756"></a><span class="lineno"> 756</span> </div>
<div class="line"><a name="l00757"></a><span class="lineno"> 757</span> <span class="preprocessor">#define CP_BODY_FOREACH_ARBITER(bdy, var)\</span></div>
<div class="line"><a name="l00758"></a><span class="lineno"> 758</span> <span class="preprocessor"> for(cpArbiter *var = bdy->arbiterList; var; var = cpArbiterNext(var, bdy))</span></div>
<div class="line"><a name="l00759"></a><span class="lineno"> 759</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00760"></a><span class="lineno"> 760</span> <span class="preprocessor">#define CP_BODY_FOREACH_SHAPE(body, var)\</span></div>
<div class="line"><a name="l00761"></a><span class="lineno"> 761</span> <span class="preprocessor"> for(cpShape *var = body->shapeList; var; var = var->next)</span></div>
<div class="line"><a name="l00762"></a><span class="lineno"> 762</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00763"></a><span class="lineno"> 763</span> <span class="preprocessor">#define CP_BODY_FOREACH_COMPONENT(root, var)\</span></div>
<div class="line"><a name="l00764"></a><span class="lineno"> 764</span> <span class="preprocessor"> for(cpBody *var = root; var; var = var->sleeping.next)</span></div>
<div class="line"><a name="l00765"></a><span class="lineno"> 765</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00766"></a><span class="lineno"> 766</span> <span class="preprocessor">#endif</span></div>
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