text: /* 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.
   */
  
  #include "chipmunk_private.h"
  
  // TODO: Comment me!
  
  void cpConstraintDestroy(cpConstraint *constraint){}
  
  void
  cpConstraintFree(cpConstraint *constraint)
  {
  	if(constraint){
  		cpConstraintDestroy(constraint);
  		cpfree(constraint);
  	}
  }
  
  void
  cpConstraintInit(cpConstraint *constraint, const cpConstraintClass *klass, cpBody *a, cpBody *b)
  {
  	constraint->klass = klass;
  	
  	constraint->a = a;
  	constraint->b = b;
  	constraint->space = NULL;
  	
  	constraint->next_a = NULL;
  	constraint->next_b = NULL;
  	
  	constraint->maxForce = (cpFloat)INFINITY;
  	constraint->errorBias = cpfpow(1.0f - 0.1f, 60.0f);
  	constraint->maxBias = (cpFloat)INFINITY;
  	
  	constraint->collideBodies = cpTrue;
  	
  	constraint->preSolve = NULL;
  	constraint->postSolve = NULL;
  }
  
  cpSpace *
  cpConstraintGetSpace(const cpConstraint *constraint)
  {
  	return constraint->space;
  }
  
  cpBody *
  cpConstraintGetBodyA(const cpConstraint *constraint)
  {
  	return constraint->a;
  }
  
  cpBody *
  cpConstraintGetBodyB(const cpConstraint *constraint)
  {
  	return constraint->b;
  }
  
  cpFloat
  cpConstraintGetMaxForce(const cpConstraint *constraint)
  {
  	return constraint->maxForce;
  }
  
  void
  cpConstraintSetMaxForce(cpConstraint *constraint, cpFloat maxForce)
  {
  	cpAssertHard(maxForce >= 0.0f, "maxForce must be positive.");
  	cpConstraintActivateBodies(constraint);
  	constraint->maxForce = maxForce;
  }
  
  cpFloat
  cpConstraintGetErrorBias(const cpConstraint *constraint)
  {
  	return constraint->errorBias;
  }
  
  void
  cpConstraintSetErrorBias(cpConstraint *constraint, cpFloat errorBias)
  {
  	cpAssertHard(errorBias >= 0.0f, "errorBias must be positive.");
  	cpConstraintActivateBodies(constraint);
  	constraint->errorBias = errorBias;
  }
  
  cpFloat
  cpConstraintGetMaxBias(const cpConstraint *constraint)
  {
  	return constraint->maxBias;
  }
  
  void
  cpConstraintSetMaxBias(cpConstraint *constraint, cpFloat maxBias)
  {
  	cpAssertHard(maxBias >= 0.0f, "maxBias must be positive.");
  	cpConstraintActivateBodies(constraint);
  	constraint->maxBias = maxBias;
  }
  
  cpBool
  cpConstraintGetCollideBodies(const cpConstraint *constraint)
  {
  	return constraint->collideBodies;
  }
  
  void
  cpConstraintSetCollideBodies(cpConstraint *constraint, cpBool collideBodies)
  {
  	cpConstraintActivateBodies(constraint);
  	constraint->collideBodies = collideBodies;
  }
  
  cpConstraintPreSolveFunc
  cpConstraintGetPreSolveFunc(const cpConstraint *constraint)
  {
  	return constraint->preSolve;
  }
  
  void
  cpConstraintSetPreSolveFunc(cpConstraint *constraint, cpConstraintPreSolveFunc preSolveFunc)
  {
  	constraint->preSolve = preSolveFunc;
  }
  
  cpConstraintPostSolveFunc
  cpConstraintGetPostSolveFunc(const cpConstraint *constraint)
  {
  	return constraint->postSolve;
  }
  
  void
  cpConstraintSetPostSolveFunc(cpConstraint *constraint, cpConstraintPostSolveFunc postSolveFunc)
  {
  	constraint->postSolve = postSolveFunc;
  }
  
  cpDataPointer
  cpConstraintGetUserData(const cpConstraint *constraint)
  {
  	return constraint->userData;
  }
  
  void
  cpConstraintSetUserData(cpConstraint *constraint, cpDataPointer userData)
  {
  	constraint->userData = userData;
  }
  
  
  cpFloat
  cpConstraintGetImpulse(cpConstraint *constraint)
  {
  	return constraint->klass->getImpulse(constraint);
  }
  