cpBody.h

/* Copyright (c) 2025 Victor Blomqvist
 * Copyright (c) 2007-2024 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.
*/
 
 
typedef enum cpBodyType {
  CP_BODY_TYPE_DYNAMIC,
  CP_BODY_TYPE_KINEMATIC,
  CP_BODY_TYPE_STATIC,
} cpBodyType;
 
typedef void (*cpBodyVelocityFunc)(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt);
typedef void (*cpBodyPositionFunc)(cpBody *body, cpFloat dt);
 
CP_EXPORT cpBody* cpBodyAlloc(void);
CP_EXPORT cpBody* cpBodyInit(cpBody *body, cpFloat mass, cpFloat moment);
CP_EXPORT cpBody* cpBodyNew(cpFloat mass, cpFloat moment);
 
CP_EXPORT cpBody* cpBodyNewKinematic(void);
CP_EXPORT cpBody* cpBodyNewStatic(void);
 
CP_EXPORT void cpBodyDestroy(cpBody *body);
CP_EXPORT void cpBodyFree(cpBody *body);
 
// Defined in cpSpace.c
CP_EXPORT void cpBodyActivate(cpBody *body);
CP_EXPORT void cpBodyActivateStatic(cpBody *body, cpShape *filter);
 
CP_EXPORT void cpBodySleep(cpBody *body);
CP_EXPORT void cpBodySleepWithGroup(cpBody *body, cpBody *group);
 
CP_EXPORT cpBool cpBodyIsSleeping(const cpBody *body);
 
CP_EXPORT cpBodyType cpBodyGetType(cpBody *body);
CP_EXPORT void cpBodySetType(cpBody *body, cpBodyType type);
 
CP_EXPORT cpSpace* cpBodyGetSpace(const cpBody *body);
 
CP_EXPORT cpFloat cpBodyGetMass(const cpBody *body);
CP_EXPORT void cpBodySetMass(cpBody *body, cpFloat m);
 
CP_EXPORT cpFloat cpBodyGetMoment(const cpBody *body);
CP_EXPORT void cpBodySetMoment(cpBody *body, cpFloat i);
 
CP_EXPORT cpVect cpBodyGetPosition(const cpBody *body);
CP_EXPORT void cpBodySetPosition(cpBody *body, cpVect pos);
 
CP_EXPORT cpVect cpBodyGetCenterOfGravity(const cpBody *body);
CP_EXPORT void cpBodySetCenterOfGravity(cpBody *body, cpVect cog);
 
CP_EXPORT cpVect cpBodyGetVelocity(const cpBody *body);
CP_EXPORT void cpBodySetVelocity(cpBody *body, cpVect velocity);
 
CP_EXPORT cpVect cpBodyGetForce(const cpBody *body);
CP_EXPORT void cpBodySetForce(cpBody *body, cpVect force);
 
CP_EXPORT cpFloat cpBodyGetAngle(const cpBody *body);
CP_EXPORT void cpBodySetAngle(cpBody *body, cpFloat a);
 
CP_EXPORT cpFloat cpBodyGetAngularVelocity(const cpBody *body);
CP_EXPORT void cpBodySetAngularVelocity(cpBody *body, cpFloat angularVelocity);
 
CP_EXPORT cpFloat cpBodyGetTorque(const cpBody *body);
CP_EXPORT void cpBodySetTorque(cpBody *body, cpFloat torque);
 
CP_EXPORT cpVect cpBodyGetRotation(const cpBody *body);
 
CP_EXPORT cpDataPointer cpBodyGetUserData(const cpBody *body);
CP_EXPORT void cpBodySetUserData(cpBody *body, cpDataPointer userData);
 
CP_EXPORT void cpBodySetVelocityUpdateFunc(cpBody *body, cpBodyVelocityFunc velocityFunc);
CP_EXPORT void cpBodySetPositionUpdateFunc(cpBody *body, cpBodyPositionFunc positionFunc);
 
CP_EXPORT void cpBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt);
CP_EXPORT void cpBodyUpdatePosition(cpBody *body, cpFloat dt);
 
CP_EXPORT cpVect cpBodyLocalToWorld(const cpBody *body, const cpVect point);
CP_EXPORT cpVect cpBodyWorldToLocal(const cpBody *body, const cpVect point);
 
CP_EXPORT void cpBodyApplyForceAtWorldPoint(cpBody *body, cpVect force, cpVect point);
CP_EXPORT void cpBodyApplyForceAtLocalPoint(cpBody *body, cpVect force, cpVect point);
 
CP_EXPORT void cpBodyApplyImpulseAtWorldPoint(cpBody *body, cpVect impulse, cpVect point);
CP_EXPORT void cpBodyApplyImpulseAtLocalPoint(cpBody *body, cpVect impulse, cpVect point);
 
CP_EXPORT cpVect cpBodyGetVelocityAtWorldPoint(const cpBody *body, cpVect point);
CP_EXPORT cpVect cpBodyGetVelocityAtLocalPoint(const cpBody *body, cpVect point);
 
CP_EXPORT cpFloat cpBodyKineticEnergy(const cpBody *body);
 
typedef void (*cpBodyShapeIteratorFunc)(cpBody *body, cpShape *shape, void *data);
CP_EXPORT void cpBodyEachShape(cpBody *body, cpBodyShapeIteratorFunc func, void *data);
 
typedef void (*cpBodyConstraintIteratorFunc)(cpBody *body, cpConstraint *constraint, void *data);
CP_EXPORT void cpBodyEachConstraint(cpBody *body, cpBodyConstraintIteratorFunc func, void *data);
 
typedef void (*cpBodyArbiterIteratorFunc)(cpBody *body, cpArbiter *arbiter, void *data);
CP_EXPORT void cpBodyEachArbiter(cpBody *body, cpBodyArbiterIteratorFunc func, void *data);