190 lines
9.3 KiB
C
190 lines
9.3 KiB
C
/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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/// @defgroup cpBody cpBody
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/// Chipmunk's rigid body type. Rigid bodies hold the physical properties of an object like
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/// it's mass, and position and velocity of it's center of gravity. They don't have an shape on their own.
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/// They are given a shape by creating collision shapes (cpShape) that point to the body.
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/// @{
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typedef enum cpBodyType {
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/// A dynamic body is one that is affected by gravity, forces, and collisions.
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/// This is the default body type.
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CP_BODY_TYPE_DYNAMIC,
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/// A kinematic body is an infinite mass, user controlled body that is not affected by gravity, forces or collisions.
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/// Instead the body only moves based on it's velocity.
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/// Dynamic bodies collide normally with kinematic bodies, though the kinematic body will be unaffected.
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/// Collisions between two kinematic bodies, or a kinematic body and a static body produce collision callbacks, but no collision response.
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CP_BODY_TYPE_KINEMATIC,
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/// A static body is a body that never (or rarely) moves. If you move a static body, you must call one of the cpSpaceReindex*() functions.
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/// Chipmunk uses this information to optimize the collision detection.
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/// Static bodies do not produce collision callbacks when colliding with other static bodies.
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CP_BODY_TYPE_STATIC,
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} cpBodyType;
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/// Rigid body velocity update function type.
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typedef void (*cpBodyVelocityFunc)(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt);
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/// Rigid body position update function type.
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typedef void (*cpBodyPositionFunc)(cpBody *body, cpFloat dt);
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/// Allocate a cpBody.
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CP_EXPORT cpBody* cpBodyAlloc(void);
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/// Initialize a cpBody.
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CP_EXPORT cpBody* cpBodyInit(cpBody *body, cpFloat mass, cpFloat moment);
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/// Allocate and initialize a cpBody.
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CP_EXPORT cpBody* cpBodyNew(cpFloat mass, cpFloat moment);
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/// Allocate and initialize a cpBody, and set it as a kinematic body.
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CP_EXPORT cpBody* cpBodyNewKinematic(void);
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/// Allocate and initialize a cpBody, and set it as a static body.
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CP_EXPORT cpBody* cpBodyNewStatic(void);
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/// Destroy a cpBody.
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CP_EXPORT void cpBodyDestroy(cpBody *body);
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/// Destroy and free a cpBody.
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CP_EXPORT void cpBodyFree(cpBody *body);
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// Defined in cpSpace.c
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/// Wake up a sleeping or idle body.
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CP_EXPORT void cpBodyActivate(cpBody *body);
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/// Wake up any sleeping or idle bodies touching a static body.
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CP_EXPORT void cpBodyActivateStatic(cpBody *body, cpShape *filter);
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/// Force a body to fall asleep immediately.
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CP_EXPORT void cpBodySleep(cpBody *body);
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/// Force a body to fall asleep immediately along with other bodies in a group.
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CP_EXPORT void cpBodySleepWithGroup(cpBody *body, cpBody *group);
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/// Returns true if the body is sleeping.
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CP_EXPORT cpBool cpBodyIsSleeping(const cpBody *body);
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/// Get the type of the body.
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CP_EXPORT cpBodyType cpBodyGetType(cpBody *body);
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/// Set the type of the body.
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CP_EXPORT void cpBodySetType(cpBody *body, cpBodyType type);
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/// Get the space this body is added to.
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CP_EXPORT cpSpace* cpBodyGetSpace(const cpBody *body);
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/// Get the mass of the body.
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CP_EXPORT cpFloat cpBodyGetMass(const cpBody *body);
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/// Set the mass of the body.
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CP_EXPORT void cpBodySetMass(cpBody *body, cpFloat m);
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/// Get the moment of inertia of the body.
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CP_EXPORT cpFloat cpBodyGetMoment(const cpBody *body);
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/// Set the moment of inertia of the body.
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CP_EXPORT void cpBodySetMoment(cpBody *body, cpFloat i);
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/// Set the position of a body.
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CP_EXPORT cpVect cpBodyGetPosition(const cpBody *body);
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/// Set the position of the body.
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CP_EXPORT void cpBodySetPosition(cpBody *body, cpVect pos);
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/// Get the offset of the center of gravity in body local coordinates.
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CP_EXPORT cpVect cpBodyGetCenterOfGravity(const cpBody *body);
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/// Set the offset of the center of gravity in body local coordinates.
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CP_EXPORT void cpBodySetCenterOfGravity(cpBody *body, cpVect cog);
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/// Get the velocity of the body.
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CP_EXPORT cpVect cpBodyGetVelocity(const cpBody *body);
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/// Set the velocity of the body.
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CP_EXPORT void cpBodySetVelocity(cpBody *body, cpVect velocity);
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/// Get the force applied to the body for the next time step.
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CP_EXPORT cpVect cpBodyGetForce(const cpBody *body);
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/// Set the force applied to the body for the next time step.
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CP_EXPORT void cpBodySetForce(cpBody *body, cpVect force);
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/// Get the angle of the body.
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CP_EXPORT cpFloat cpBodyGetAngle(const cpBody *body);
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/// Set the angle of a body.
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CP_EXPORT void cpBodySetAngle(cpBody *body, cpFloat a);
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/// Get the angular velocity of the body.
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CP_EXPORT cpFloat cpBodyGetAngularVelocity(const cpBody *body);
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/// Set the angular velocity of the body.
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CP_EXPORT void cpBodySetAngularVelocity(cpBody *body, cpFloat angularVelocity);
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/// Get the torque applied to the body for the next time step.
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CP_EXPORT cpFloat cpBodyGetTorque(const cpBody *body);
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/// Set the torque applied to the body for the next time step.
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CP_EXPORT void cpBodySetTorque(cpBody *body, cpFloat torque);
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/// Get the rotation vector of the body. (The x basis vector of it's transform.)
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CP_EXPORT cpVect cpBodyGetRotation(const cpBody *body);
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/// Get the user data pointer assigned to the body.
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CP_EXPORT cpDataPointer cpBodyGetUserData(const cpBody *body);
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/// Set the user data pointer assigned to the body.
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CP_EXPORT void cpBodySetUserData(cpBody *body, cpDataPointer userData);
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/// Set the callback used to update a body's velocity.
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CP_EXPORT void cpBodySetVelocityUpdateFunc(cpBody *body, cpBodyVelocityFunc velocityFunc);
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/// Set the callback used to update a body's position.
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/// NOTE: It's not generally recommended to override this unless you call the default position update function.
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CP_EXPORT void cpBodySetPositionUpdateFunc(cpBody *body, cpBodyPositionFunc positionFunc);
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/// Default velocity integration function..
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CP_EXPORT void cpBodyUpdateVelocity(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt);
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/// Default position integration function.
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CP_EXPORT void cpBodyUpdatePosition(cpBody *body, cpFloat dt);
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/// Convert body relative/local coordinates to absolute/world coordinates.
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CP_EXPORT cpVect cpBodyLocalToWorld(const cpBody *body, const cpVect point);
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/// Convert body absolute/world coordinates to relative/local coordinates.
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CP_EXPORT cpVect cpBodyWorldToLocal(const cpBody *body, const cpVect point);
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/// Apply a force to a body. Both the force and point are expressed in world coordinates.
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CP_EXPORT void cpBodyApplyForceAtWorldPoint(cpBody *body, cpVect force, cpVect point);
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/// Apply a force to a body. Both the force and point are expressed in body local coordinates.
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CP_EXPORT void cpBodyApplyForceAtLocalPoint(cpBody *body, cpVect force, cpVect point);
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/// Apply an impulse to a body. Both the impulse and point are expressed in world coordinates.
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CP_EXPORT void cpBodyApplyImpulseAtWorldPoint(cpBody *body, cpVect impulse, cpVect point);
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/// Apply an impulse to a body. Both the impulse and point are expressed in body local coordinates.
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CP_EXPORT void cpBodyApplyImpulseAtLocalPoint(cpBody *body, cpVect impulse, cpVect point);
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/// Get the velocity on a body (in world units) at a point on the body in world coordinates.
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CP_EXPORT cpVect cpBodyGetVelocityAtWorldPoint(const cpBody *body, cpVect point);
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/// Get the velocity on a body (in world units) at a point on the body in local coordinates.
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CP_EXPORT cpVect cpBodyGetVelocityAtLocalPoint(const cpBody *body, cpVect point);
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/// Get the amount of kinetic energy contained by the body.
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CP_EXPORT cpFloat cpBodyKineticEnergy(const cpBody *body);
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/// Body/shape iterator callback function type.
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typedef void (*cpBodyShapeIteratorFunc)(cpBody *body, cpShape *shape, void *data);
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/// Call @c func once for each shape attached to @c body and added to the space.
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CP_EXPORT void cpBodyEachShape(cpBody *body, cpBodyShapeIteratorFunc func, void *data);
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/// Body/constraint iterator callback function type.
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typedef void (*cpBodyConstraintIteratorFunc)(cpBody *body, cpConstraint *constraint, void *data);
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/// Call @c func once for each constraint attached to @c body and added to the space.
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CP_EXPORT void cpBodyEachConstraint(cpBody *body, cpBodyConstraintIteratorFunc func, void *data);
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/// Body/arbiter iterator callback function type.
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typedef void (*cpBodyArbiterIteratorFunc)(cpBody *body, cpArbiter *arbiter, void *data);
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/// Call @c func once for each arbiter that is currently active on the body.
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CP_EXPORT void cpBodyEachArbiter(cpBody *body, cpBodyArbiterIteratorFunc func, void *data);
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///@}
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