Hipmunk-0.2.2: A Haskell binding for Chipmunk.

Portabilityportable (needs FFI)




Rigid bodies and their properties.



data Body Source

A rigid body representing the physical properties of an object, but without a shape. It may help to think as a particle that is able to rotate.


newBody :: CpFloat -> CpFloat -> IO BodySource

newBody mass inertia creates a new Body with the given mass and moment of inertia.

It is recommended to call setPosition afterwards.

Static properties



Moment of inertia

Linear components of motion


setPosition :: Body -> Position -> IO ()Source

Note that using this function to change the position on every step is not recommended as it may leave the velocity out of sync.



Angular components of motion


Angular velocity


Dynamic properties

slew :: Body -> Position -> Time -> IO ()Source

slew b newpos dt changes the body b's velocity so that it reaches newpos in dt time.

It is usually used to change the position of a static body in the world. In that case, remember to reset the velocity to zero afterwards!

updateVelocity :: Body -> Vector -> CpFloat -> Time -> IO ()Source

updateVelocity b gravity damping dt redefines body b's linear and angular velocity to account for the force/torque being applied to it, the gravity and a damping factor during dt time using Euler integration.

Note that this function only needs to be called if you are not adding the body to a space.

updatePosition :: Body -> Time -> IO ()Source

updatePosition b dt redefines the body position like updateVelocity (and it also shouldn't be called if you are adding this body to a space).

resetForces :: Body -> IO ()Source

resetForces b redefines as zero all forces and torque acting on body b.

applyForce :: Body -> Vector -> Position -> IO ()Source

applyForce b f r applies to the body b the force f with offset r, both vectors in world coordinates. This is the most stable way to change a body's velocity.

Note that the force is accumulated in the body, so you may need to call applyOnlyForce.

applyOnlyForce :: Body -> Vector -> Position -> IO ()Source

applyOnlyForce b f r applies a force like applyForce, but calling resetForces before. Note that using this function is preferable as it is optimized over this common case.

applyImpulse :: Body -> Vector -> Position -> IO ()Source

applyImpulse b j r applies to the body b the impulse j with offset r, both vectors in world coordinates.

dampedSpring :: (Body, Position) -> (Body, Position) -> CpFloat -> CpFloat -> CpFloat -> Time -> IO ()Source

dampedSpring (b1,a1) (b2,a2) rlen k dmp dt applies a damped spring force between bodies b1 and b2 at anchors a1 and a2, respectively. k is the spring constant (force/distance), rlen is the rest length of the spring, dmp is the damping constant (force/velocity), and dt is the time step to apply the force over. Both anchors are in body coordinates.

Note: not solving the damping forces in the impulse solver causes problems with large damping values. This function will eventually be replaced by a new constraint (joint) type.


localToWorld :: Body -> Position -> IO PositionSource

For a vector p in body b's coordinates, localToWorld b p returns the corresponding vector in world coordinates.

worldToLocal :: Body -> Position -> IO PositionSource

For a vector p in world coordinates, worldToLocal b p returns the corresponding vector in body b's coordinates.