ChipmunkConstraint.h

/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software
 * 
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 * 
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 * 
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 */

@interface ChipmunkConstraint : NSObject <ChipmunkBaseObject> {
@private
  id _userData;
}

@property(nonatomic, readonly) cpConstraint *constraint;

@property(nonatomic, readonly) ChipmunkBody *bodyA;

@property(nonatomic, readonly) ChipmunkBody *bodyB;

+(ChipmunkConstraint *)constraintFromCPConstraint:(cpConstraint *)constraint;

@property(nonatomic, assign) cpFloat maxForce;

@property(nonatomic, assign) cpFloat errorBias;

@property(nonatomic, assign) cpFloat maxBias;

@property(nonatomic, assign) BOOL collideBodies;

@property(nonatomic, readonly) cpFloat impulse;

@property(nonatomic, readonly) ChipmunkSpace *space;

@property(nonatomic, assign) id userData;

-(void)preSolve:(ChipmunkSpace *)space;

-(void)postSolve:(ChipmunkSpace *)space;

@end


@interface ChipmunkPinJoint : ChipmunkConstraint

+ (ChipmunkPinJoint *)pinJointWithBodyA:(ChipmunkBody *)a bodyB:(ChipmunkBody *)b anchorA:(cpVect)anchorA anchorB:(cpVect)anchorB;

- (id)initWithBodyA:(ChipmunkBody *)a bodyB:(ChipmunkBody *)b anchorA:(cpVect)anchorA anchorB:(cpVect)anchorB;

@property(nonatomic, assign) cpVect anchorA;

@property(nonatomic, assign) cpVect anchorB;

@property(nonatomic, assign) cpFloat dist;

@end


@interface ChipmunkSlideJoint : ChipmunkConstraint

+ (ChipmunkSlideJoint *)slideJointWithBodyA:(ChipmunkBody *)a bodyB:(ChipmunkBody *)b anchorA:(cpVect)anchorA anchorB:(cpVect)anchorB min:(cpFloat)min max:(cpFloat)max;

- (id)initWithBodyA:(ChipmunkBody *)a bodyB:(ChipmunkBody *)b anchorA:(cpVect)anchorA anchorB:(cpVect)anchorB min:(cpFloat)min max:(cpFloat)max;

@property(nonatomic, assign) cpVect anchorA;

@property(nonatomic, assign) cpVect anchorB;

@property(nonatomic, assign) cpFloat min;

@property(nonatomic, assign) cpFloat max;

@end


@interface ChipmunkPivotJoint : ChipmunkConstraint

+ (ChipmunkPivotJoint *)pivotJointWithBodyA:(ChipmunkBody *)a bodyB:(ChipmunkBody *)b anchorA:(cpVect)anchorA anchorB:(cpVect)anchorB;

+ (ChipmunkPivotJoint *)pivotJointWithBodyA:(ChipmunkBody *)a bodyB:(ChipmunkBody *)b pivot:(cpVect)pivot;

- (id)initWithBodyA:(ChipmunkBody *)a bodyB:(ChipmunkBody *)b anchorA:(cpVect)anchorA anchorB:(cpVect)anchorB;

- (id)initWithBodyA:(ChipmunkBody *)a bodyB:(ChipmunkBody *)b pivot:(cpVect)pivot;

@property(nonatomic, assign) cpVect anchorA;

@property(nonatomic, assign) cpVect anchorB;

@end


@interface ChipmunkGrooveJoint : ChipmunkConstraint

+ (ChipmunkGrooveJoint *)grooveJointWithBodyA:(ChipmunkBody *)a bodyB:(ChipmunkBody *)b grooveA:(cpVect)grooveA grooveB:(cpVect)grooveB anchorB:(cpVect)anchorB;

- (id)initWithBodyA:(ChipmunkBody *)a bodyB:(ChipmunkBody *)b grooveA:(cpVect)grooveA grooveB:(cpVect)grooveB anchorB:(cpVect)anchorB;

@property(nonatomic, assign) cpVect grooveA;
@property(nonatomic, assign) cpVect grooveB;

@property(nonatomic, assign) cpVect anchorB;

@end


@interface ChipmunkDampedSpring : ChipmunkConstraint

+ (ChipmunkDampedSpring *)dampedSpringWithBodyA:(ChipmunkBody *)a bodyB:(ChipmunkBody *)b anchorA:(cpVect)anchorA anchorB:(cpVect)anchorB restLength:(cpFloat)restLength stiffness:(cpFloat)stiffness damping:(cpFloat)damping;

- (id)initWithBodyA:(ChipmunkBody *)a bodyB:(ChipmunkBody *)b anchorA:(cpVect)anchorA anchorB:(cpVect)anchorB restLength:(cpFloat)restLength stiffness:(cpFloat)stiffness damping:(cpFloat)damping;

@property(nonatomic, assign) cpVect anchorA;

@property(nonatomic, assign) cpVect anchorB;

@property(nonatomic, assign) cpFloat restLength;

@property(nonatomic, assign) cpFloat stiffness;

@property(nonatomic, assign) cpFloat damping;

@end


@interface ChipmunkDampedRotarySpring : ChipmunkConstraint


+ (ChipmunkDampedRotarySpring *)dampedRotarySpringWithBodyA:(ChipmunkBody *)a bodyB:(ChipmunkBody *)b restAngle:(cpFloat)restAngle stiffness:(cpFloat)stiffness damping:(cpFloat)damping;

- (id)initWithBodyA:(ChipmunkBody *)a bodyB:(ChipmunkBody *)b restAngle:(cpFloat)restAngle stiffness:(cpFloat)stiffness damping:(cpFloat)damping;

@property(nonatomic, assign) cpFloat restAngle;

@property(nonatomic, assign) cpFloat stiffness;

@property(nonatomic, assign) cpFloat damping;

@end


@interface ChipmunkRotaryLimitJoint : ChipmunkConstraint

+ (ChipmunkRotaryLimitJoint *)rotaryLimitJointWithBodyA:(ChipmunkBody *)a bodyB:(ChipmunkBody *)b min:(cpFloat)min max:(cpFloat)max;

- (id)initWithBodyA:(ChipmunkBody *)a bodyB:(ChipmunkBody *)b min:(cpFloat)min max:(cpFloat)max;

@property(nonatomic, assign) cpFloat min;

@property(nonatomic, assign) cpFloat max;

@end


@interface ChipmunkSimpleMotor : ChipmunkConstraint

+ (ChipmunkSimpleMotor *)simpleMotorWithBodyA:(ChipmunkBody *)a bodyB:(ChipmunkBody *)b rate:(cpFloat)rate;

- (id)initWithBodyA:(ChipmunkBody *)a bodyB:(ChipmunkBody *)b rate:(cpFloat)rate;

@property(nonatomic, assign) cpFloat rate;

@end


@interface ChipmunkGearJoint : ChipmunkConstraint

+ (ChipmunkGearJoint *)gearJointWithBodyA:(ChipmunkBody *)a bodyB:(ChipmunkBody *)b phase:(cpFloat)phase ratio:(cpFloat)ratio;

- (id)initWithBodyA:(ChipmunkBody *)a bodyB:(ChipmunkBody *)b phase:(cpFloat)phase ratio:(cpFloat)ratio;

@property(nonatomic, assign) cpFloat phase;
@property(nonatomic, assign) cpFloat ratio;

@end

@interface ChipmunkRatchetJoint : ChipmunkConstraint

+ (ChipmunkRatchetJoint *)ratchetJointWithBodyA:(ChipmunkBody *)a bodyB:(ChipmunkBody *)b phase:(cpFloat)phase ratchet:(cpFloat)ratchet;

- (id)initWithBodyA:(ChipmunkBody *)a bodyB:(ChipmunkBody *)b phase:(cpFloat)phase ratchet:(cpFloat)ratchet;

@property(nonatomic, assign) cpFloat angle;

@property(nonatomic, assign) cpFloat phase;

@property(nonatomic, assign) cpFloat ratchet;

@end