# Example Code Snippets:

## Getting a Transformation from a Rigid Body:

You can quickly and easily build a transformation matrix from a Chipmunk body. The following code is for OpenGL, but it should be trivial to modify for DirectX or affine transforms. (Note that OpenGL matrices are column-major)

    cpVect pos = body->p;
    cpVect rot = body->rot;

    GLFloat matrix[16] = {
       rot.x, rot.y, 0.0f, 0.0f,
      -rot.y, rot.x, 0.0f, 0.0f,
       0.0f,   0.0f, 1.0f, 0.0f,
       pos.x, pos.y, 0.0f, 1.0f,
    };

    glMultMatrixf(matrix.farr);

## Collision Callbacks:

This snippet demonstrates several Chipmunk collision callback features. It defines a collision handler that is called when collision shapes start touching and also a post-step callback to remove the collision shape and body.

    static void
    postStepRemove(cpSpace *space, cpShape *shape, void *unused)
    {
      cpSpaceRemoveBody(space, shape->body);
      cpBodyFree(shape->body);

      cpSpaceRemoveShape(space, shape);
      cpShapeFree(shape);
    }

    static int
    begin(cpArbiter *arb, cpSpace *space, void *unused)
    {
      // Get the cpShapes involved in the collision
      // The order will be the same as you defined in the handler definition
      // a->collision_type will be BULLET_TYPE and b->collision_type will be MONSTER_TYPE
      cpShape *a, *b; cpArbiterGetShapes(arb, &a, &b);

      // Alternatively you can use the CP_ARBITER_GET_SHAPES() macro
      // It defines and sets the variables for you.
      //CP_ARBITER_GET_SHAPES(arb, a, b);

      // Add a post step callback to safely remove the body and shape from the space.
      // Calling cpSpaceRemove*() directly from a collision handler callback can cause crashes.
      cpSpaceAddPostStepCallback(space, (cpPostStepFunc)postStepRemove, b, NULL);

      // The object is dead, don’t process the collision further
      return 0;
    }

    #define BULLET_TYPE 1
    #define MONSTER_TYPE 2

    // Define a collision handler for bullets and monsters
    // Kill the monster by removing it’s shape and body from the space as soon as it’s hit by a bullet
    cpSpaceAddCollisionHandler(space, BULLET_TYPE, MONSTER_TYPE, begin, NULL, NULL, NULL, NULL);

For more callback examples, see the One Way Platform Demo, Sensors Demo, or the Player Demo.

## Query Examples:

The following example is taken directly from ChipmunkDemo.c. When the mouse is clicked, a point query is performed to see if there is a shape under the mouse. If there is, it adds a joint to the body that links it to the mouse's movement.

    static void
    click(int button, int state, int x, int y)
    {
      if(button == GLUT_LEFT_BUTTON){
        if(state == GLUT_DOWN){
          cpVect point = mouseToSpace(x, y);

          cpShape *shape = cpSpacePointQueryFirst(space, point, GRABABLE_MASK_BIT, 0);
          if(shape){
            cpBody *body = shape->body;
            mouseJoint = cpPivotJointNew2(mouseBody, body, cpvzero, cpBodyWorld2Local(body, point));
            mouseJoint->maxForce = 50000.0f;
            mouseJoint->biasCoef = 0.15f;
            cpSpaceAddConstraint(space, mouseJoint);
          }
        } else if(mouseJoint){
          cpSpaceRemoveConstraint(space, mouseJoint);
          cpConstraintFree(mouseJoint);
          mouseJoint = NULL;
        }
      }
    }

Perform a segment query to see if a laser beam hits a shape. We want to draw particles at both the position where the beam enters and exits the shape.

    cpVect a = cpv(...), b = cpv(...);

    cpSegmentQueryInfo info = {};
    if(cpSpaceSegmentQueryFirst(space, a, b, -1, 0, &info)){
      cpSegmentQueryInfo info2;
      cpShapeSegmentQuery(info.shape, b, a, &info2);

      cpVect enterPoint = cpSegmentQueryHitPoint(a, b, info);
      cpVect exitPoint = cpSegmentQueryHitPoint(b, a, info2);
    }