void
cpRatchetJointSetAngle(cpConstraint *constraint, cpFloat angle)
{
cpAssertHard(cpConstraintIsRatchetJoint(constraint), "Constraint is not a ratchet joint.");
cpConstraintActivateBodies(constraint);
((cpRatchetJoint *)constraint)->angle = angle;
}
void
cpDampedRotarySpringSetDamping(cpConstraint *constraint, cpFloat damping)
{
cpAssertHard(cpConstraintIsDampedRotarySpring(constraint), "Constraint is not a damped rotary spring.");
cpConstraintActivateBodies(constraint);
((cpDampedRotarySpring *)constraint)->damping = damping;
}
void
cpDampedRotarySpringSetSpringTorqueFunc(cpConstraint *constraint, cpDampedRotarySpringTorqueFunc springTorqueFunc)
{
cpAssertHard(cpConstraintIsDampedRotarySpring(constraint), "Constraint is not a damped rotary spring.");
cpConstraintActivateBodies(constraint);
((cpDampedRotarySpring *)constraint)->springTorqueFunc = springTorqueFunc;
}
void
cpDampedRotarySpringSetStiffness(cpConstraint *constraint, cpFloat stiffness)
{
cpAssertHard(cpConstraintIsDampedRotarySpring(constraint), "Constraint is not a damped rotary spring.");
cpConstraintActivateBodies(constraint);
((cpDampedRotarySpring *)constraint)->stiffness = stiffness;
}
void
cpDampedRotarySpringSetRestAngle(cpConstraint *constraint, cpFloat restAngle)
{
cpAssertHard(cpConstraintIsDampedRotarySpring(constraint), "Constraint is not a damped rotary spring.");
cpConstraintActivateBodies(constraint);
((cpDampedRotarySpring *)constraint)->restAngle = restAngle;
}
void
cpPinJointSetDist(cpConstraint *constraint, cpFloat dist)
{
cpAssertHard(cpConstraintIsPinJoint(constraint), "Constraint is not a pin joint.");
cpConstraintActivateBodies(constraint);
((cpPinJoint *)constraint)->dist = dist;
}
void
cpRatchetJointSetRatchet(cpConstraint *constraint, cpFloat ratchet)
{
cpAssertHard(cpConstraintIsRatchetJoint(constraint), "Constraint is not a ratchet joint.");
cpConstraintActivateBodies(constraint);
((cpRatchetJoint *)constraint)->ratchet = ratchet;
}
void
cpSimpleMotorSetRate(cpConstraint *constraint, cpFloat rate)
{
cpAssertHard(cpConstraintIsSimpleMotor(constraint), "Constraint is not a pin joint.");
cpConstraintActivateBodies(constraint);
((cpSimpleMotor *)constraint)->rate = rate;
}
void
cpPivotJointSetAnchorB(cpConstraint *constraint, cpVect anchorB)
{
cpAssertHard(cpConstraintIsPivotJoint(constraint), "Constraint is not a pivot joint.");
cpConstraintActivateBodies(constraint);
((cpPivotJoint *)constraint)->anchorB = anchorB;
}
void
cpRotaryLimitJointSetMax(cpConstraint *constraint, cpFloat max)
{
cpAssertHard(cpConstraintIsRotaryLimitJoint(constraint), "Constraint is not a rotary limit joint.");
cpConstraintActivateBodies(constraint);
((cpRotaryLimitJoint *)constraint)->max = max;
}
void
cpConstraintSetErrorBias(cpConstraint *constraint, cpFloat errorBias)
{
cpAssertHard(errorBias >= 0.0f, "errorBias must be positive.");
cpConstraintActivateBodies(constraint);
constraint->errorBias = errorBias;
}
void
cpGrooveJointSetAnchorB(cpConstraint *constraint, cpVect anchorB)
{
cpAssertHard(cpConstraintIsGrooveJoint(constraint), "Constraint is not a groove joint.");
cpConstraintActivateBodies(constraint);
((cpGrooveJoint *)constraint)->anchorB = anchorB;
}
void
cpConstraintSetMaxBias(cpConstraint *constraint, cpFloat maxBias)
{
cpAssertHard(maxBias >= 0.0f, "maxBias must be positive.");
cpConstraintActivateBodies(constraint);
constraint->maxBias = maxBias;
}
void
cpConstraintSetMaxForce(cpConstraint *constraint, cpFloat maxForce)
{
cpAssertHard(maxForce >= 0.0f, "maxForce must be positive.");
cpConstraintActivateBodies(constraint);
constraint->maxForce = maxForce;
}
void
cpGearJointSetPhase(cpConstraint *constraint, cpFloat phase)
{
cpAssertHard(cpConstraintIsGearJoint(constraint), "Constraint is not a ratchet joint.");
cpConstraintActivateBodies(constraint);
((cpGearJoint *)constraint)->phase = phase;
}
void
cpPinJointSetAnchorA(cpConstraint *constraint, cpVect anchorA)
{
cpAssertHard(cpConstraintIsPinJoint(constraint), "Constraint is not a pin joint.");
cpConstraintActivateBodies(constraint);
((cpPinJoint *)constraint)->anchorA = anchorA;
}
void
cpGearJointSetRatio(cpConstraint *constraint, cpFloat ratio)
{
cpAssertHard(cpConstraintIsGearJoint(constraint), "Constraint is not a ratchet joint.");
cpConstraintActivateBodies(constraint);
((cpGearJoint *)constraint)->ratio = ratio;
((cpGearJoint *)constraint)->ratio_inv = 1.0f/ratio;
}
void
cpGearJointSetRatio(cpConstraint *constraint, cpFloat value)
{
cpConstraintCheckCast(constraint, cpGearJoint);
((cpGearJoint *)constraint)->ratio = value;
((cpGearJoint *)constraint)->ratio_inv = 1.0f/value;
cpConstraintActivateBodies(constraint);
}
void
cpGrooveJointSetGrooveB(cpConstraint *constraint, cpVect value)
{
cpAssertHard(cpConstraintIsGrooveJoint(constraint), "Constraint is not a groove joint.");
cpGrooveJoint *g = (cpGrooveJoint *)constraint;
g->grv_b = value;
g->grv_n = cpvperp(cpvnormalize(cpvsub(value, g->grv_a)));
cpConstraintActivateBodies(constraint);
}
void
cpGrooveJointSetGrooveB(cpConstraint *constraint, cpVect value)
{
cpGrooveJoint *g = (cpGrooveJoint *)constraint;
cpConstraintCheckCast(constraint, cpGrooveJoint);
g->grv_b = value;
g->grv_n = cpvperp(cpvnormalize(cpvsub(value, g->grv_a)));
cpConstraintActivateBodies(constraint);
}
void
cpConstraintSetCollideBodies(cpConstraint *constraint, cpBool collideBodies)
{
cpConstraintActivateBodies(constraint);
constraint->collideBodies = collideBodies;
}
