/* Copyright (c) 2007 Scott Lembcke* * Permission is hereby granted, free of charge, to any person obtaining a copy* of this software and associated documentation files (the "Software"), to deal* in the Software without restriction, including without limitation the rights* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell* copies of the Software, and to permit persons to whom the Software is* furnished to do so, subject to the following conditions:* * The above copyright notice and this permission notice shall be included in* all copies or substantial portions of the Software.* * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE* SOFTWARE.*/// TODO: Comment me!	extern cpFloat cp_joint_bias_coef;typedef enum cpJointType {	CP_PIN_JOINT,	CP_PIVOT_JOINT,	CP_SLIDE_JOINT,	CP_GROOVE_JOINT,	CP_CUSTOM_JOINT, // For user definable joint types.} cpJointType;struct cpJoint;struct cpJointClass;typedef struct cpJointClass {	cpJointType type;		void (*preStep)(struct cpJoint *joint, cpFloat dt_inv);	void (*applyImpulse)(struct cpJoint *joint);} cpJointClass;typedef struct cpJoint {	const cpJointClass *klass;		cpBody *a, *b;} cpJoint;void cpJointDestroy(cpJoint *joint);void cpJointFree(cpJoint *joint);typedef struct cpPinJoint {	cpJoint joint;	cpVect anchr1, anchr2;	cpFloat dist;		cpVect r1, r2;	cpVect n;	cpFloat nMass;		cpFloat jnAcc, jBias;	cpFloat bias;} cpPinJoint;cpPinJoint *cpPinJointAlloc(void);cpPinJoint *cpPinJointInit(cpPinJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2);cpJoint *cpPinJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2);typedef struct cpSlideJoint {	cpJoint joint;	cpVect anchr1, anchr2;	cpFloat min, max;		cpVect r1, r2;	cpVect n;	cpFloat nMass;		cpFloat jnAcc, jBias;	cpFloat bias;} cpSlideJoint;cpSlideJoint *cpSlideJointAlloc(void);cpSlideJoint *cpSlideJointInit(cpSlideJoint *joint, cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max);cpJoint *cpSlideJointNew(cpBody *a, cpBody *b, cpVect anchr1, cpVect anchr2, cpFloat min, cpFloat max);typedef struct cpPivotJoint {	cpJoint joint;	cpVect anchr1, anchr2;		cpVect r1, r2;	cpVect k1, k2;		cpVect jAcc, jBias;	cpVect bias;} cpPivotJoint;cpPivotJoint *cpPivotJointAlloc(void);cpPivotJoint *cpPivotJointInit(cpPivotJoint *joint, cpBody *a, cpBody *b, cpVect pivot);cpJoint *cpPivotJointNew(cpBody *a, cpBody *b, cpVect pivot);typedef struct cpGrooveJoint {	cpJoint joint;	cpVect grv_n, grv_a, grv_b;	cpVect  anchr2;		cpVect grv_tn;	cpFloat clamp;	cpVect r1, r2;	cpVect k1, k2;		cpVect jAcc, jBias;	cpVect bias;} cpGrooveJoint;cpGrooveJoint *cpGrooveJointAlloc(void);cpGrooveJoint *cpGrooveJointInit(cpGrooveJoint *joint, cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2);cpJoint *cpGrooveJointNew(cpBody *a, cpBody *b, cpVect groove_a, cpVect groove_b, cpVect anchr2);