chipmunk-dev 6.1.5-1build1 / usr / include / chipmunk / constraints / cpPivotJoint.h

/* Copyright (c) 2007 Scott Lembcke
 * 
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 * of this software and associated documentation files (the "Software"), to deal
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 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 * 
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 * 
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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 * SOFTWARE.
 */

/// @defgroup cpPivotJoint cpPivotJoint
/// @{

const cpConstraintClass *cpPivotJointGetClass(void);

/// @private
typedef struct cpPivotJoint {
	cpConstraint constraint;
	cpVect anchr1, anchr2;
	
	cpVect r1, r2;
	cpMat2x2 k;
	
	cpVect jAcc;
	cpVect bias;
} cpPivotJoint;

/// Allocate a pivot joint
cpPivotJoint* cpPivotJointAlloc(void);
/// Initialize a pivot joint.
cpPivotJoint* cpPivotJointInit(cpPivotJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2);
/// Allocate and initialize a pivot joint.
cpConstraint* cpPivotJointNew(cpBody *a, cpBody *b, cpVect pivot);
/// Allocate and initialize a pivot joint with specific anchors.
cpConstraint* cpPivotJointNew2(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2);

CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr1, Anchr1)
CP_DefineConstraintProperty(cpPivotJoint, cpVect, anchr2, Anchr2)

/// @}