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from the start... checking in ode-0.9
2007-10-19 05:24:38 +00:00
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<title>Open Dynamics Engine: Rigid Bodies</title>
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<h1>Rigid Bodies</h1><table border="0" cellpadding="0" cellspacing="0">
<tr><td></td></tr>
<tr><td colspan="2"><br><h2>Functions</h2></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API dReal&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g57c1e1b1bd50fdcafc5140c1ed89c7d7">dBodyGetAutoDisableLinearThreshold</a> (dBodyID)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get auto disable linear average threshold. <a href="#g57c1e1b1bd50fdcafc5140c1ed89c7d7"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#gb8f6e736830cfea86c35e7a0cdfa3112">dBodySetAutoDisableLinearThreshold</a> (dBodyID, dReal linear_average_threshold)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set auto disable linear average threshold. <a href="#gb8f6e736830cfea86c35e7a0cdfa3112"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API dReal&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g5b988719423e9bc3af1be2146872e2d6">dBodyGetAutoDisableAngularThreshold</a> (dBodyID)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get auto disable angular average threshold. <a href="#g5b988719423e9bc3af1be2146872e2d6"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g206ccf22f027a62aaf5e45a16ddc4040">dBodySetAutoDisableAngularThreshold</a> (dBodyID, dReal angular_average_threshold)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set auto disable angular average threshold. <a href="#g206ccf22f027a62aaf5e45a16ddc4040"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#gf398254a02ab5bedcdf7e4fb2918a902">dBodyGetAutoDisableAverageSamplesCount</a> (dBodyID)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get auto disable average size (samples count). <a href="#gf398254a02ab5bedcdf7e4fb2918a902"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g4bce13aaa5ffb7d4b3452191974c3be6">dBodySetAutoDisableAverageSamplesCount</a> (dBodyID, unsigned int average_samples_count)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set auto disable average buffer size (average steps). <a href="#g4bce13aaa5ffb7d4b3452191974c3be6"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g797ad84c737a2ae4ef3f8a37dfa02183">dBodyGetAutoDisableSteps</a> (dBodyID)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get auto steps a body must be thought of as idle to disable. <a href="#g797ad84c737a2ae4ef3f8a37dfa02183"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g03cc329bdc8e19e59c4bfe62cf736578">dBodySetAutoDisableSteps</a> (dBodyID, int steps)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set auto disable steps. <a href="#g03cc329bdc8e19e59c4bfe62cf736578"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API dReal&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#ga2f4d01a8fb5c4d7e77efd5f0e4dd72b">dBodyGetAutoDisableTime</a> (dBodyID)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get auto disable time. <a href="#ga2f4d01a8fb5c4d7e77efd5f0e4dd72b"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g0ae2f08bb38359934151f9420cdef341">dBodySetAutoDisableTime</a> (dBodyID, dReal time)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set auto disable time. <a href="#g0ae2f08bb38359934151f9420cdef341"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#gfe44b3ae620abb1091472089cb07f64e">dBodyGetAutoDisableFlag</a> (dBodyID)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get auto disable flag. <a href="#gfe44b3ae620abb1091472089cb07f64e"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#ge352fdcd8851224f07da53f35691ceb7">dBodySetAutoDisableFlag</a> (dBodyID, int do_auto_disable)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set auto disable flag. <a href="#ge352fdcd8851224f07da53f35691ceb7"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g00969db4aebc2e8629cd9c45f3b7385e">dBodySetAutoDisableDefaults</a> (dBodyID)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set auto disable defaults. <a href="#g00969db4aebc2e8629cd9c45f3b7385e"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API dWorldID&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#gb044b0a466f2ec2af3fd29ae399e822e">dBodyGetWorld</a> (dBodyID)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Retrives the world attached to te given body. <a href="#gb044b0a466f2ec2af3fd29ae399e822e"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API dBodyID&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g578137bbaf82d4b8896d2baee3a032a6">dBodyCreate</a> (dWorldID)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Create a body in given world. <a href="#g578137bbaf82d4b8896d2baee3a032a6"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#gc1a0ee96898f14017a29b2afa0eafe13">dBodyDestroy</a> (dBodyID)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Destroy a body. <a href="#gc1a0ee96898f14017a29b2afa0eafe13"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#gf9cbe9e1ed1bd4559bb5603b8d0f92f2">dBodySetData</a> (dBodyID, void *data)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set the body's user-data pointer. <a href="#gf9cbe9e1ed1bd4559bb5603b8d0f92f2"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void *&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g68d3d80c7476776dd4512d577bf70325">dBodyGetData</a> (dBodyID)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the body's user-data pointer. <a href="#g68d3d80c7476776dd4512d577bf70325"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#gb84612b793366f18ff5b5cbdbed092da">dBodySetPosition</a> (dBodyID, dReal x, dReal y, dReal z)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set position of a body. <a href="#gb84612b793366f18ff5b5cbdbed092da"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#gb5f04968ec37ef46d2aaffad6c344468">dBodySetRotation</a> (dBodyID, const dMatrix3 R)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set the orientation of a body. <a href="#gb5f04968ec37ef46d2aaffad6c344468"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#ga5f51dd3605c402320e9eae4231d7ad4">dBodySetQuaternion</a> (dBodyID, const dQuaternion q)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set the orientation of a body. <a href="#ga5f51dd3605c402320e9eae4231d7ad4"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gafe72e03c1df0f2150e2d7b8677e1460"></a><!-- doxytag: member="bodies::dBodySetLinearVel" ref="gafe72e03c1df0f2150e2d7b8677e1460" args="(dBodyID, dReal x, dReal y, dReal z)" -->
ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#gafe72e03c1df0f2150e2d7b8677e1460">dBodySetLinearVel</a> (dBodyID, dReal x, dReal y, dReal z)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set the linear velocity of a body. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g7b4f90c1986333395375c086c4f3ec41"></a><!-- doxytag: member="bodies::dBodySetAngularVel" ref="g7b4f90c1986333395375c086c4f3ec41" args="(dBodyID, dReal x, dReal y, dReal z)" -->
ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g7b4f90c1986333395375c086c4f3ec41">dBodySetAngularVel</a> (dBodyID, dReal x, dReal y, dReal z)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set the angular velocity of a body. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API const dReal *&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g2bddae29591b9f14c5175411b783d570">dBodyGetPosition</a> (dBodyID)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the position of a body. <a href="#g2bddae29591b9f14c5175411b783d570"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#gf69c1ebd1c8d7d165fe740c9f1146217">dBodyCopyPosition</a> (dBodyID body, dVector3 pos)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Copy the position of a body into a vector. <a href="#gf69c1ebd1c8d7d165fe740c9f1146217"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API const dReal *&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g2374da7ff88a2bac607e2fbce529ad27">dBodyGetRotation</a> (dBodyID)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the rotation of a body. <a href="#g2374da7ff88a2bac607e2fbce529ad27"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#ga992006681bc720c6c6ef644768226e5">dBodyCopyRotation</a> (dBodyID, dMatrix3 R)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Copy the rotation of a body. <a href="#ga992006681bc720c6c6ef644768226e5"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API const dReal *&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g36b7e19622ed47fe6b9dcfbac20237e7">dBodyGetQuaternion</a> (dBodyID)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the rotation of a body. <a href="#g36b7e19622ed47fe6b9dcfbac20237e7"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#gd906c3ad061b7f70d1c60d6957aa2d0f">dBodyCopyQuaternion</a> (dBodyID body, dQuaternion quat)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Copy the orientation of a body into a quaternion. <a href="#gd906c3ad061b7f70d1c60d6957aa2d0f"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g2a0a986c12d53efd5a3753dd4b509cac"></a><!-- doxytag: member="bodies::dBodyGetLinearVel" ref="g2a0a986c12d53efd5a3753dd4b509cac" args="(dBodyID)" -->
ODE_API const dReal *&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g2a0a986c12d53efd5a3753dd4b509cac">dBodyGetLinearVel</a> (dBodyID)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the linear velocity of a body. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g54dc73be9562cdece52d0a7d8decd1d0"></a><!-- doxytag: member="bodies::dBodyGetAngularVel" ref="g54dc73be9562cdece52d0a7d8decd1d0" args="(dBodyID)" -->
ODE_API const dReal *&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g54dc73be9562cdece52d0a7d8decd1d0">dBodyGetAngularVel</a> (dBodyID)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the angular velocity of a body. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gf3609b58548e34471ef8ad4727b33e52"></a><!-- doxytag: member="bodies::dBodySetMass" ref="gf3609b58548e34471ef8ad4727b33e52" args="(dBodyID, const dMass *mass)" -->
ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#gf3609b58548e34471ef8ad4727b33e52">dBodySetMass</a> (dBodyID, const dMass *mass)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set the mass of a body. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g7aa7944f6e36a96d3e578f3369ac4171"></a><!-- doxytag: member="bodies::dBodyGetMass" ref="g7aa7944f6e36a96d3e578f3369ac4171" args="(dBodyID, dMass *mass)" -->
ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g7aa7944f6e36a96d3e578f3369ac4171">dBodyGetMass</a> (dBodyID, dMass *mass)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the mass of a body. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g1e1352dc350ad42bff5818f2200ba792"></a><!-- doxytag: member="bodies::dBodyAddForce" ref="g1e1352dc350ad42bff5818f2200ba792" args="(dBodyID, dReal fx, dReal fy, dReal fz)" -->
ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g1e1352dc350ad42bff5818f2200ba792">dBodyAddForce</a> (dBodyID, dReal fx, dReal fy, dReal fz)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Add force at centre of mass of body in absolute coordinates. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g8378560dd168ee8d7a4b74e3de510ebc"></a><!-- doxytag: member="bodies::dBodyAddTorque" ref="g8378560dd168ee8d7a4b74e3de510ebc" args="(dBodyID, dReal fx, dReal fy, dReal fz)" -->
ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g8378560dd168ee8d7a4b74e3de510ebc">dBodyAddTorque</a> (dBodyID, dReal fx, dReal fy, dReal fz)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Add torque at centre of mass of body in absolute coordinates. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g0a91e5416c5af7729177c465346837ad"></a><!-- doxytag: member="bodies::dBodyAddRelForce" ref="g0a91e5416c5af7729177c465346837ad" args="(dBodyID, dReal fx, dReal fy, dReal fz)" -->
ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g0a91e5416c5af7729177c465346837ad">dBodyAddRelForce</a> (dBodyID, dReal fx, dReal fy, dReal fz)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Add force at centre of mass of body in coordinates relative to body. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g172a59e64f6dfa4a59bcd45b694585de"></a><!-- doxytag: member="bodies::dBodyAddRelTorque" ref="g172a59e64f6dfa4a59bcd45b694585de" args="(dBodyID, dReal fx, dReal fy, dReal fz)" -->
ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g172a59e64f6dfa4a59bcd45b694585de">dBodyAddRelTorque</a> (dBodyID, dReal fx, dReal fy, dReal fz)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Add torque at centre of mass of body in coordinates relative to body. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gfa134c6b7b455680b890b677c5789c2b"></a><!-- doxytag: member="bodies::dBodyAddForceAtPos" ref="gfa134c6b7b455680b890b677c5789c2b" args="(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz)" -->
ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#gfa134c6b7b455680b890b677c5789c2b">dBodyAddForceAtPos</a> (dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Add force at specified point in body in global coordinates. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g77606cdb23029337a7ed43dee5a59ee1"></a><!-- doxytag: member="bodies::dBodyAddForceAtRelPos" ref="g77606cdb23029337a7ed43dee5a59ee1" args="(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz)" -->
ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g77606cdb23029337a7ed43dee5a59ee1">dBodyAddForceAtRelPos</a> (dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Add force at specified point in body in local coordinates. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ga024b08f8dfb85705b86e18b99a0ef8e"></a><!-- doxytag: member="bodies::dBodyAddRelForceAtPos" ref="ga024b08f8dfb85705b86e18b99a0ef8e" args="(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz)" -->
ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#ga024b08f8dfb85705b86e18b99a0ef8e">dBodyAddRelForceAtPos</a> (dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Add force at specified point in body in global coordinates. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g7e5d20b6bb36f74d0dedb08f5eefddcb"></a><!-- doxytag: member="bodies::dBodyAddRelForceAtRelPos" ref="g7e5d20b6bb36f74d0dedb08f5eefddcb" args="(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz)" -->
ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g7e5d20b6bb36f74d0dedb08f5eefddcb">dBodyAddRelForceAtRelPos</a> (dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Add force at specified point in body in local coordinates. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API const dReal *&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g3b458397a79f09b1957cb6e5a85e9eba">dBodyGetForce</a> (dBodyID)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Return the current accumulated force vector. <a href="#g3b458397a79f09b1957cb6e5a85e9eba"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API const dReal *&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#gfe88a5bc363fc812c8f154e3d5f8ea5d">dBodyGetTorque</a> (dBodyID)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Return the current accumulated torque vector. <a href="#gfe88a5bc363fc812c8f154e3d5f8ea5d"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#gbd56079db36d4562db0e18aebea4f95f">dBodySetForce</a> (dBodyID b, dReal x, dReal y, dReal z)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set the body force accumulation vector. <a href="#gbd56079db36d4562db0e18aebea4f95f"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#gfcd3e44223a878ba52428ad3a124fa94">dBodySetTorque</a> (dBodyID b, dReal x, dReal y, dReal z)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set the body torque accumulation vector. <a href="#gfcd3e44223a878ba52428ad3a124fa94"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#gfcf00cd9c4c754c82189fb9d1eb9f102">dBodyGetRelPointPos</a> (dBodyID, dReal px, dReal py, dReal pz, dVector3 result)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get world position of a relative point on body. <a href="#gfcf00cd9c4c754c82189fb9d1eb9f102"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g7fd4f4c7e70c59380da11277b2e97510">dBodyGetRelPointVel</a> (dBodyID, dReal px, dReal py, dReal pz, dVector3 result)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get velocity vector in global coords of a relative point on body. <a href="#g7fd4f4c7e70c59380da11277b2e97510"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g89dd6a4a3c6f3cd98c8377e8d4dec015">dBodyGetPointVel</a> (dBodyID, dReal px, dReal py, dReal pz, dVector3 result)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get velocity vector in global coords of a globally specified point on a body. <a href="#g89dd6a4a3c6f3cd98c8377e8d4dec015"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g0334d9d523cbfeec742ac4a814834199">dBodyGetPosRelPoint</a> (dBodyID, dReal px, dReal py, dReal pz, dVector3 result)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">takes a point in global coordinates and returns the point's position in body-relative coordinates. <a href="#g0334d9d523cbfeec742ac4a814834199"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g0a2cd6f7499bcfeb8275cbb981465bbf">dBodyVectorToWorld</a> (dBodyID, dReal px, dReal py, dReal pz, dVector3 result)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Convert from local to world coordinates. <a href="#g0a2cd6f7499bcfeb8275cbb981465bbf"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g1e3ac3ef038e806d4942ea8b399ab575">dBodyVectorFromWorld</a> (dBodyID, dReal px, dReal py, dReal pz, dVector3 result)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Convert from world to local coordinates. <a href="#g1e3ac3ef038e806d4942ea8b399ab575"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#gc474ca36d734fb67b8bd504b672527fa">dBodySetFiniteRotationMode</a> (dBodyID, int mode)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">controls the way a body's orientation is updated at each timestep. <a href="#gc474ca36d734fb67b8bd504b672527fa"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#ga9546c1ea6119fcbf80c71a96f56d052">dBodySetFiniteRotationAxis</a> (dBodyID, dReal x, dReal y, dReal z)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">sets the finite rotation axis for a body. <a href="#ga9546c1ea6119fcbf80c71a96f56d052"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g3fb10ac984d64c92e4f138e50b704f9e">dBodyGetFiniteRotationMode</a> (dBodyID)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the way a body's orientation is updated each timestep. <a href="#g3fb10ac984d64c92e4f138e50b704f9e"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#gfc8853ff678be731881665ff7abf61ad">dBodyGetFiniteRotationAxis</a> (dBodyID, dVector3 result)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the finite rotation axis. <a href="#gfc8853ff678be731881665ff7abf61ad"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g79fd517a57ac9c3594cb71850f649af7">dBodyGetNumJoints</a> (dBodyID b)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the number of joints that are attached to this body. <a href="#g79fd517a57ac9c3594cb71850f649af7"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API dJointID&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g095e41c5b5632b22aa9bd1a4bd051f8d">dBodyGetJoint</a> (dBodyID, int index)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Return a joint attached to this body, given by index. <a href="#g095e41c5b5632b22aa9bd1a4bd051f8d"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#gd0776c40f667b235f8642e10755543f8">dBodyEnable</a> (dBodyID)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Manually enable a body. <a href="#gd0776c40f667b235f8642e10755543f8"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#ga78092d7cadae36373441aa9be7e6157">dBodyDisable</a> (dBodyID)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Manually disable a body. <a href="#ga78092d7cadae36373441aa9be7e6157"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g7e7803132dfcfceee04a6ab0ca1e0bf8">dBodyIsEnabled</a> (dBodyID)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Check wether a body is enabled. <a href="#g7e7803132dfcfceee04a6ab0ca1e0bf8"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g5465d605e7fbe82d63a0d4e1000da731">dBodySetGravityMode</a> (dBodyID b, int mode)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set whether the body is influenced by the world's gravity or not. <a href="#g5465d605e7fbe82d63a0d4e1000da731"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__bodies.html#g0df2f4fed454c567f10fc8bbb8c70455">dBodyGetGravityMode</a> (dBodyID b)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get whether the body is influenced by the world's gravity or not. <a href="#g0df2f4fed454c567f10fc8bbb8c70455"></a><br></td></tr>
</table>
<hr><a name="_details"></a><h2>Detailed Description</h2>
A rigid body has various properties from the point of view of the simulation. Some properties change over time:<p>
<ul>
<li>Position vector (x,y,z) of the body's point of reference. Currently the point of reference must correspond to the body's center of mass. </li>
<li>Linear velocity of the point of reference, a vector (vx,vy,vz). </li>
<li>Orientation of a body, represented by a quaternion (qs,qx,qy,qz) or a 3x3 rotation matrix. </li>
<li>Angular velocity vector (wx,wy,wz) which describes how the orientation changes over time.</li>
</ul>
Other body properties are usually constant over time:<p>
<ul>
<li>Mass of the body. </li>
<li>Position of the center of mass with respect to the point of reference. In the current implementation the center of mass and the point of reference must coincide. </li>
<li>Inertia matrix. This is a 3x3 matrix that describes how the body's mass is distributed around the center of mass. Conceptually each body has an x-y-z coordinate frame embedded in it that moves and rotates with the body.</li>
</ul>
The origin of this coordinate frame is the body's point of reference. Some values in ODE (vectors, matrices etc) are relative to the body coordinate frame, and others are relative to the global coordinate frame.<p>
Note that the shape of a rigid body is not a dynamical property (except insofar as it influences the various mass properties). It is only collision detection that cares about the detailed shape of the body. <hr><h2>Function Documentation</h2>
<a class="anchor" name="gf69c1ebd1c8d7d165fe740c9f1146217"></a><!-- doxytag: member="objects.h::dBodyCopyPosition" ref="gf69c1ebd1c8d7d165fe740c9f1146217" args="(dBodyID body, dVector3 pos)" -->
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<td class="memname">ODE_API void dBodyCopyPosition </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> <em>body</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dVector3&nbsp;</td>
<td class="paramname"> <em>pos</em></td><td>&nbsp;</td>
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<p>
Copy the position of a body into a vector.
<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>body</em>&nbsp;</td><td>the body to query </td></tr>
<tr><td valign="top"></td><td valign="top"><em>pos</em>&nbsp;</td><td>a copy of the body position </td></tr>
</table>
</dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__bodies.html#g2bddae29591b9f14c5175411b783d570" title="Get the position of a body.">dBodyGetPosition</a> </dd></dl>
</div>
</div><p>
<a class="anchor" name="gd906c3ad061b7f70d1c60d6957aa2d0f"></a><!-- doxytag: member="objects.h::dBodyCopyQuaternion" ref="gd906c3ad061b7f70d1c60d6957aa2d0f" args="(dBodyID body, dQuaternion quat)" -->
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<td class="memname">ODE_API void dBodyCopyQuaternion </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> <em>body</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dQuaternion&nbsp;</td>
<td class="paramname"> <em>quat</em></td><td>&nbsp;</td>
</tr>
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<td></td>
<td>)</td>
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<p>
Copy the orientation of a body into a quaternion.
<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>body</em>&nbsp;</td><td>the body to query </td></tr>
<tr><td valign="top"></td><td valign="top"><em>quat</em>&nbsp;</td><td>a copy of the orientation quaternion </td></tr>
</table>
</dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__bodies.html#g36b7e19622ed47fe6b9dcfbac20237e7" title="Get the rotation of a body.">dBodyGetQuaternion</a> </dd></dl>
</div>
</div><p>
<a class="anchor" name="ga992006681bc720c6c6ef644768226e5"></a><!-- doxytag: member="objects.h::dBodyCopyRotation" ref="ga992006681bc720c6c6ef644768226e5" args="(dBodyID, dMatrix3 R)" -->
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<td class="memname">ODE_API void dBodyCopyRotation </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname">, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">dMatrix3&nbsp;</td>
<td class="paramname"> <em>R</em></td><td>&nbsp;</td>
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<td>)</td>
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<p>
Copy the rotation of a body.
<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>body</em>&nbsp;</td><td>the body to query </td></tr>
<tr><td valign="top"></td><td valign="top"><em>R</em>&nbsp;</td><td>a copy of the rotation matrix </td></tr>
</table>
</dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__bodies.html#g2374da7ff88a2bac607e2fbce529ad27" title="Get the rotation of a body.">dBodyGetRotation</a> </dd></dl>
</div>
</div><p>
<a class="anchor" name="g578137bbaf82d4b8896d2baee3a032a6"></a><!-- doxytag: member="objects.h::dBodyCreate" ref="g578137bbaf82d4b8896d2baee3a032a6" args="(dWorldID)" -->
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<td class="memname">ODE_API dBodyID dBodyCreate </td>
<td>(</td>
<td class="paramtype">dWorldID&nbsp;</td>
<td class="paramname"> </td>
<td>&nbsp;)&nbsp;</td>
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Create a body in given world.
<p>
<dl class="remark" compact><dt><b>Remarks:</b></dt><dd>Default mass parameters are at position (0,0,0). </dd></dl>
</div>
</div><p>
<a class="anchor" name="gc1a0ee96898f14017a29b2afa0eafe13"></a><!-- doxytag: member="objects.h::dBodyDestroy" ref="gc1a0ee96898f14017a29b2afa0eafe13" args="(dBodyID)" -->
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<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> </td>
<td>&nbsp;)&nbsp;</td>
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Destroy a body.
<p>
<dl class="remark" compact><dt><b>Remarks:</b></dt><dd>All joints that are attached to this body will be put into limbo: i.e. unattached and not affecting the simulation, but they will NOT be deleted. </dd></dl>
</div>
</div><p>
<a class="anchor" name="ga78092d7cadae36373441aa9be7e6157"></a><!-- doxytag: member="objects.h::dBodyDisable" ref="ga78092d7cadae36373441aa9be7e6157" args="(dBodyID)" -->
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<td class="memname">ODE_API void dBodyDisable </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> </td>
<td>&nbsp;)&nbsp;</td>
<td width="100%"></td>
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<p>
Manually disable a body.
<p>
<dl class="remark" compact><dt><b>Remarks:</b></dt><dd>A disabled body that is connected through a joint to an enabled body will be automatically re-enabled at the next simulation step. </dd></dl>
</div>
</div><p>
<a class="anchor" name="gd0776c40f667b235f8642e10755543f8"></a><!-- doxytag: member="objects.h::dBodyEnable" ref="gd0776c40f667b235f8642e10755543f8" args="(dBodyID)" -->
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<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> </td>
<td>&nbsp;)&nbsp;</td>
<td width="100%"></td>
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<p>
Manually enable a body.
<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>dBodyID</em>&nbsp;</td><td>identification of body. </td></tr>
</table>
</dl>
</div>
</div><p>
<a class="anchor" name="g5b988719423e9bc3af1be2146872e2d6"></a><!-- doxytag: member="objects.h::dBodyGetAutoDisableAngularThreshold" ref="g5b988719423e9bc3af1be2146872e2d6" args="(dBodyID)" -->
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<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> </td>
<td>&nbsp;)&nbsp;</td>
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<p>
Get auto disable angular average threshold.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>the threshold </dd></dl>
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</div><p>
<a class="anchor" name="gf398254a02ab5bedcdf7e4fb2918a902"></a><!-- doxytag: member="objects.h::dBodyGetAutoDisableAverageSamplesCount" ref="gf398254a02ab5bedcdf7e4fb2918a902" args="(dBodyID)" -->
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<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> </td>
<td>&nbsp;)&nbsp;</td>
<td width="100%"></td>
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<p>
Get auto disable average size (samples count).
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>the nr of steps/size. </dd></dl>
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</div><p>
<a class="anchor" name="gfe44b3ae620abb1091472089cb07f64e"></a><!-- doxytag: member="objects.h::dBodyGetAutoDisableFlag" ref="gfe44b3ae620abb1091472089cb07f64e" args="(dBodyID)" -->
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<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> </td>
<td>&nbsp;)&nbsp;</td>
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<p>
Get auto disable flag.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>0 or 1 </dd></dl>
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<a class="anchor" name="g57c1e1b1bd50fdcafc5140c1ed89c7d7"></a><!-- doxytag: member="objects.h::dBodyGetAutoDisableLinearThreshold" ref="g57c1e1b1bd50fdcafc5140c1ed89c7d7" args="(dBodyID)" -->
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<td class="memname">ODE_API dReal dBodyGetAutoDisableLinearThreshold </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> </td>
<td>&nbsp;)&nbsp;</td>
<td width="100%"></td>
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<p>
Get auto disable linear average threshold.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>the threshold </dd></dl>
</div>
</div><p>
<a class="anchor" name="g797ad84c737a2ae4ef3f8a37dfa02183"></a><!-- doxytag: member="objects.h::dBodyGetAutoDisableSteps" ref="g797ad84c737a2ae4ef3f8a37dfa02183" args="(dBodyID)" -->
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<td class="memname">ODE_API int dBodyGetAutoDisableSteps </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> </td>
<td>&nbsp;)&nbsp;</td>
<td width="100%"></td>
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<p>
Get auto steps a body must be thought of as idle to disable.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>the nr of steps </dd></dl>
</div>
</div><p>
<a class="anchor" name="ga2f4d01a8fb5c4d7e77efd5f0e4dd72b"></a><!-- doxytag: member="objects.h::dBodyGetAutoDisableTime" ref="ga2f4d01a8fb5c4d7e77efd5f0e4dd72b" args="(dBodyID)" -->
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<td class="memname">ODE_API dReal dBodyGetAutoDisableTime </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> </td>
<td>&nbsp;)&nbsp;</td>
<td width="100%"></td>
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<div class="memdoc">
<p>
Get auto disable time.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>nr of seconds </dd></dl>
</div>
</div><p>
<a class="anchor" name="g68d3d80c7476776dd4512d577bf70325"></a><!-- doxytag: member="objects.h::dBodyGetData" ref="g68d3d80c7476776dd4512d577bf70325" args="(dBodyID)" -->
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<td class="memname">ODE_API void* dBodyGetData </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> </td>
<td>&nbsp;)&nbsp;</td>
<td width="100%"></td>
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<p>
Get the body's user-data pointer.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>a pointer to the user's data. </dd></dl>
</div>
</div><p>
<a class="anchor" name="gfc8853ff678be731881665ff7abf61ad"></a><!-- doxytag: member="objects.h::dBodyGetFiniteRotationAxis" ref="gfc8853ff678be731881665ff7abf61ad" args="(dBodyID, dVector3 result)" -->
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<td class="memname">ODE_API void dBodyGetFiniteRotationAxis </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname">, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">dVector3&nbsp;</td>
<td class="paramname"> <em>result</em></td><td>&nbsp;</td>
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<td></td>
<td>)</td>
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<p>
Get the finite rotation axis.
<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>result</em>&nbsp;</td><td>will contain the axis. </td></tr>
</table>
</dl>
</div>
</div><p>
<a class="anchor" name="g3fb10ac984d64c92e4f138e50b704f9e"></a><!-- doxytag: member="objects.h::dBodyGetFiniteRotationMode" ref="g3fb10ac984d64c92e4f138e50b704f9e" args="(dBodyID)" -->
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<td class="memname">ODE_API int dBodyGetFiniteRotationMode </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> </td>
<td>&nbsp;)&nbsp;</td>
<td width="100%"></td>
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<p>
Get the way a body's orientation is updated each timestep.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>the mode 0 (infitesimal) or 1 (finite). </dd></dl>
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</div><p>
<a class="anchor" name="g3b458397a79f09b1957cb6e5a85e9eba"></a><!-- doxytag: member="objects.h::dBodyGetForce" ref="g3b458397a79f09b1957cb6e5a85e9eba" args="(dBodyID)" -->
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<td class="memname">ODE_API const dReal* dBodyGetForce </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> </td>
<td>&nbsp;)&nbsp;</td>
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<p>
Return the current accumulated force vector.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>points to an array of 3 reals. </dd></dl>
<dl class="remark" compact><dt><b>Remarks:</b></dt><dd>The returned values are pointers to internal data structures, so the vectors are only valid until any changes are made to the rigid body system. </dd></dl>
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<a class="anchor" name="g0df2f4fed454c567f10fc8bbb8c70455"></a><!-- doxytag: member="objects.h::dBodyGetGravityMode" ref="g0df2f4fed454c567f10fc8bbb8c70455" args="(dBodyID b)" -->
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<td class="memname">ODE_API int dBodyGetGravityMode </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> <em>b</em> </td>
<td>&nbsp;)&nbsp;</td>
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<p>
Get whether the body is influenced by the world's gravity or not.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>nonzero means gravity affects this body. </dd></dl>
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<a class="anchor" name="g095e41c5b5632b22aa9bd1a4bd051f8d"></a><!-- doxytag: member="objects.h::dBodyGetJoint" ref="g095e41c5b5632b22aa9bd1a4bd051f8d" args="(dBodyID, int index)" -->
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<td class="memname">ODE_API dJointID dBodyGetJoint </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname">, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int&nbsp;</td>
<td class="paramname"> <em>index</em></td><td>&nbsp;</td>
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<td>)</td>
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<p>
Return a joint attached to this body, given by index.
<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>index</em>&nbsp;</td><td>valid range is 0 to n-1 where n is the value returned by <a class="el" href="group__bodies.html#g79fd517a57ac9c3594cb71850f649af7" title="Get the number of joints that are attached to this body.">dBodyGetNumJoints()</a>. </td></tr>
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</dl>
</div>
</div><p>
<a class="anchor" name="g79fd517a57ac9c3594cb71850f649af7"></a><!-- doxytag: member="objects.h::dBodyGetNumJoints" ref="g79fd517a57ac9c3594cb71850f649af7" args="(dBodyID b)" -->
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<td class="memname">ODE_API int dBodyGetNumJoints </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> <em>b</em> </td>
<td>&nbsp;)&nbsp;</td>
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<p>
Get the number of joints that are attached to this body.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>nr of joints </dd></dl>
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</div><p>
<a class="anchor" name="g89dd6a4a3c6f3cd98c8377e8d4dec015"></a><!-- doxytag: member="objects.h::dBodyGetPointVel" ref="g89dd6a4a3c6f3cd98c8377e8d4dec015" args="(dBodyID, dReal px, dReal py, dReal pz, dVector3 result)" -->
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<td class="memname">ODE_API void dBodyGetPointVel </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname">, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>px</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>py</em>, </td>
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<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>pz</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">dVector3&nbsp;</td>
<td class="paramname"> <em>result</em></td><td>&nbsp;</td>
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<td></td>
<td>)</td>
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<p>
Get velocity vector in global coords of a globally specified point on a body.
<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>result</em>&nbsp;</td><td>will contain the result. </td></tr>
</table>
</dl>
</div>
</div><p>
<a class="anchor" name="g2bddae29591b9f14c5175411b783d570"></a><!-- doxytag: member="objects.h::dBodyGetPosition" ref="g2bddae29591b9f14c5175411b783d570" args="(dBodyID)" -->
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<td class="memname">ODE_API const dReal* dBodyGetPosition </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> </td>
<td>&nbsp;)&nbsp;</td>
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<p>
Get the position of a body.
<p>
<dl class="remark" compact><dt><b>Remarks:</b></dt><dd>When getting, the returned values are pointers to internal data structures, so the vectors are valid until any changes are made to the rigid body system structure. </dd></dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__bodies.html#gf69c1ebd1c8d7d165fe740c9f1146217" title="Copy the position of a body into a vector.">dBodyCopyPosition</a> </dd></dl>
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<a class="anchor" name="g0334d9d523cbfeec742ac4a814834199"></a><!-- doxytag: member="objects.h::dBodyGetPosRelPoint" ref="g0334d9d523cbfeec742ac4a814834199" args="(dBodyID, dReal px, dReal py, dReal pz, dVector3 result)" -->
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<td class="memname">ODE_API void dBodyGetPosRelPoint </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname">, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>px</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>py</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>pz</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">dVector3&nbsp;</td>
<td class="paramname"> <em>result</em></td><td>&nbsp;</td>
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<td>)</td>
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<p>
takes a point in global coordinates and returns the point's position in body-relative coordinates.
<p>
<dl class="remark" compact><dt><b>Remarks:</b></dt><dd>This is the inverse of <a class="el" href="group__bodies.html#gfcf00cd9c4c754c82189fb9d1eb9f102" title="Get world position of a relative point on body.">dBodyGetRelPointPos()</a></dd></dl>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>result</em>&nbsp;</td><td>will contain the result. </td></tr>
</table>
</dl>
</div>
</div><p>
<a class="anchor" name="g36b7e19622ed47fe6b9dcfbac20237e7"></a><!-- doxytag: member="objects.h::dBodyGetQuaternion" ref="g36b7e19622ed47fe6b9dcfbac20237e7" args="(dBodyID)" -->
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<td class="memname">ODE_API const dReal* dBodyGetQuaternion </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> </td>
<td>&nbsp;)&nbsp;</td>
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<p>
Get the rotation of a body.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>pointer to 4 scalars that represent the quaternion. </dd></dl>
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</div><p>
<a class="anchor" name="gfcf00cd9c4c754c82189fb9d1eb9f102"></a><!-- doxytag: member="objects.h::dBodyGetRelPointPos" ref="gfcf00cd9c4c754c82189fb9d1eb9f102" args="(dBodyID, dReal px, dReal py, dReal pz, dVector3 result)" -->
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<td class="memname">ODE_API void dBodyGetRelPointPos </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname">, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>px</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>py</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>pz</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">dVector3&nbsp;</td>
<td class="paramname"> <em>result</em></td><td>&nbsp;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td width="100%"></td>
</tr>
</table>
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<p>
Get world position of a relative point on body.
<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>result</em>&nbsp;</td><td>will contain the result. </td></tr>
</table>
</dl>
</div>
</div><p>
<a class="anchor" name="g7fd4f4c7e70c59380da11277b2e97510"></a><!-- doxytag: member="objects.h::dBodyGetRelPointVel" ref="g7fd4f4c7e70c59380da11277b2e97510" args="(dBodyID, dReal px, dReal py, dReal pz, dVector3 result)" -->
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<td class="memname">ODE_API void dBodyGetRelPointVel </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname">, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>px</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>py</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>pz</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">dVector3&nbsp;</td>
<td class="paramname"> <em>result</em></td><td>&nbsp;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td width="100%"></td>
</tr>
</table>
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<p>
Get velocity vector in global coords of a relative point on body.
<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>result</em>&nbsp;</td><td>will contain the result. </td></tr>
</table>
</dl>
</div>
</div><p>
<a class="anchor" name="g2374da7ff88a2bac607e2fbce529ad27"></a><!-- doxytag: member="objects.h::dBodyGetRotation" ref="g2374da7ff88a2bac607e2fbce529ad27" args="(dBodyID)" -->
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<td class="memname">ODE_API const dReal* dBodyGetRotation </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> </td>
<td>&nbsp;)&nbsp;</td>
<td width="100%"></td>
</tr>
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<p>
Get the rotation of a body.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>pointer to a 4x3 rotation matrix. </dd></dl>
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</div><p>
<a class="anchor" name="gfe88a5bc363fc812c8f154e3d5f8ea5d"></a><!-- doxytag: member="objects.h::dBodyGetTorque" ref="gfe88a5bc363fc812c8f154e3d5f8ea5d" args="(dBodyID)" -->
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<td class="memname">ODE_API const dReal* dBodyGetTorque </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> </td>
<td>&nbsp;)&nbsp;</td>
<td width="100%"></td>
</tr>
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<p>
Return the current accumulated torque vector.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>points to an array of 3 reals. </dd></dl>
<dl class="remark" compact><dt><b>Remarks:</b></dt><dd>The returned values are pointers to internal data structures, so the vectors are only valid until any changes are made to the rigid body system. </dd></dl>
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</div><p>
<a class="anchor" name="gb044b0a466f2ec2af3fd29ae399e822e"></a><!-- doxytag: member="objects.h::dBodyGetWorld" ref="gb044b0a466f2ec2af3fd29ae399e822e" args="(dBodyID)" -->
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<td class="memname">ODE_API dWorldID dBodyGetWorld </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> </td>
<td>&nbsp;)&nbsp;</td>
<td width="100%"></td>
</tr>
</table>
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<p>
Retrives the world attached to te given body.
<p>
<dl class="remark" compact><dt><b>Remarks:</b></dt><dd></dd></dl>
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</div><p>
<a class="anchor" name="g7e7803132dfcfceee04a6ab0ca1e0bf8"></a><!-- doxytag: member="objects.h::dBodyIsEnabled" ref="g7e7803132dfcfceee04a6ab0ca1e0bf8" args="(dBodyID)" -->
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<td class="memname">ODE_API int dBodyIsEnabled </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> </td>
<td>&nbsp;)&nbsp;</td>
<td width="100%"></td>
</tr>
</table>
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<p>
Check wether a body is enabled.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>1 if a body is currently enabled or 0 if it is disabled. </dd></dl>
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</div><p>
<a class="anchor" name="g206ccf22f027a62aaf5e45a16ddc4040"></a><!-- doxytag: member="objects.h::dBodySetAutoDisableAngularThreshold" ref="g206ccf22f027a62aaf5e45a16ddc4040" args="(dBodyID, dReal angular_average_threshold)" -->
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<td class="memname">ODE_API void dBodySetAutoDisableAngularThreshold </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname">, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>angular_average_threshold</em></td><td>&nbsp;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td width="100%"></td>
</tr>
</table>
</div>
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<p>
Set auto disable angular average threshold.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>the threshold </dd></dl>
</div>
</div><p>
<a class="anchor" name="g4bce13aaa5ffb7d4b3452191974c3be6"></a><!-- doxytag: member="objects.h::dBodySetAutoDisableAverageSamplesCount" ref="g4bce13aaa5ffb7d4b3452191974c3be6" args="(dBodyID, unsigned int average_samples_count)" -->
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<td class="memname">ODE_API void dBodySetAutoDisableAverageSamplesCount </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname">, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned int&nbsp;</td>
<td class="paramname"> <em>average_samples_count</em></td><td>&nbsp;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td width="100%"></td>
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<div class="memdoc">
<p>
Set auto disable average buffer size (average steps).
<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>average_samples_count</em>&nbsp;</td><td>the nr of samples to review. </td></tr>
</table>
</dl>
</div>
</div><p>
<a class="anchor" name="g00969db4aebc2e8629cd9c45f3b7385e"></a><!-- doxytag: member="objects.h::dBodySetAutoDisableDefaults" ref="g00969db4aebc2e8629cd9c45f3b7385e" args="(dBodyID)" -->
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<td class="memname">ODE_API void dBodySetAutoDisableDefaults </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> </td>
<td>&nbsp;)&nbsp;</td>
<td width="100%"></td>
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<div class="memdoc">
<p>
Set auto disable defaults.
<p>
<dl class="remark" compact><dt><b>Remarks:</b></dt><dd>Set the values for the body to those set as default for the world. </dd></dl>
</div>
</div><p>
<a class="anchor" name="ge352fdcd8851224f07da53f35691ceb7"></a><!-- doxytag: member="objects.h::dBodySetAutoDisableFlag" ref="ge352fdcd8851224f07da53f35691ceb7" args="(dBodyID, int do_auto_disable)" -->
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<td class="memname">ODE_API void dBodySetAutoDisableFlag </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname">, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int&nbsp;</td>
<td class="paramname"> <em>do_auto_disable</em></td><td>&nbsp;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td width="100%"></td>
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</table>
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<div class="memdoc">
<p>
Set auto disable flag.
<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>do_auto_disable</em>&nbsp;</td><td>0 or 1 </td></tr>
</table>
</dl>
</div>
</div><p>
<a class="anchor" name="gb8f6e736830cfea86c35e7a0cdfa3112"></a><!-- doxytag: member="objects.h::dBodySetAutoDisableLinearThreshold" ref="gb8f6e736830cfea86c35e7a0cdfa3112" args="(dBodyID, dReal linear_average_threshold)" -->
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<td class="memname">ODE_API void dBodySetAutoDisableLinearThreshold </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname">, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>linear_average_threshold</em></td><td>&nbsp;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td width="100%"></td>
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</table>
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<div class="memdoc">
<p>
Set auto disable linear average threshold.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>the threshold </dd></dl>
</div>
</div><p>
<a class="anchor" name="g03cc329bdc8e19e59c4bfe62cf736578"></a><!-- doxytag: member="objects.h::dBodySetAutoDisableSteps" ref="g03cc329bdc8e19e59c4bfe62cf736578" args="(dBodyID, int steps)" -->
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<td class="memname">ODE_API void dBodySetAutoDisableSteps </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname">, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int&nbsp;</td>
<td class="paramname"> <em>steps</em></td><td>&nbsp;</td>
</tr>
<tr>
<td></td>
<td>)</td>
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<p>
Set auto disable steps.
<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>steps</em>&nbsp;</td><td>the nr of steps. </td></tr>
</table>
</dl>
</div>
</div><p>
<a class="anchor" name="g0ae2f08bb38359934151f9420cdef341"></a><!-- doxytag: member="objects.h::dBodySetAutoDisableTime" ref="g0ae2f08bb38359934151f9420cdef341" args="(dBodyID, dReal time)" -->
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<td class="memname">ODE_API void dBodySetAutoDisableTime </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname">, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>time</em></td><td>&nbsp;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td width="100%"></td>
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</table>
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<div class="memdoc">
<p>
Set auto disable time.
<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>time</em>&nbsp;</td><td>nr of seconds. </td></tr>
</table>
</dl>
</div>
</div><p>
<a class="anchor" name="gf9cbe9e1ed1bd4559bb5603b8d0f92f2"></a><!-- doxytag: member="objects.h::dBodySetData" ref="gf9cbe9e1ed1bd4559bb5603b8d0f92f2" args="(dBodyID, void *data)" -->
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<td class="memname">ODE_API void dBodySetData </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname">, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">void *&nbsp;</td>
<td class="paramname"> <em>data</em></td><td>&nbsp;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td width="100%"></td>
</tr>
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<p>
Set the body's user-data pointer.
<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>data</em>&nbsp;</td><td>arbitraty pointer </td></tr>
</table>
</dl>
</div>
</div><p>
<a class="anchor" name="ga9546c1ea6119fcbf80c71a96f56d052"></a><!-- doxytag: member="objects.h::dBodySetFiniteRotationAxis" ref="ga9546c1ea6119fcbf80c71a96f56d052" args="(dBodyID, dReal x, dReal y, dReal z)" -->
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<td class="memname">ODE_API void dBodySetFiniteRotationAxis </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname">, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>z</em></td><td>&nbsp;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td width="100%"></td>
</tr>
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<p>
sets the finite rotation axis for a body.
<p>
<dl class="remark" compact><dt><b>Remarks:</b></dt><dd>This is axis only has meaning when the finite rotation mode is set If this axis is zero (0,0,0), full finite rotations are performed on the body. If this axis is nonzero, the body is rotated by performing a partial finite rotation along the axis direction followed by an infinitesimal rotation along an orthogonal direction. <p>
This can be useful to alleviate certain sources of error caused by quickly spinning bodies. For example, if a car wheel is rotating at high speed you can call this function with the wheel's hinge axis as the argument to try and improve its behavior. </dd></dl>
</div>
</div><p>
<a class="anchor" name="gc474ca36d734fb67b8bd504b672527fa"></a><!-- doxytag: member="objects.h::dBodySetFiniteRotationMode" ref="gc474ca36d734fb67b8bd504b672527fa" args="(dBodyID, int mode)" -->
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<td class="memname">ODE_API void dBodySetFiniteRotationMode </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname">, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int&nbsp;</td>
<td class="paramname"> <em>mode</em></td><td>&nbsp;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td width="100%"></td>
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<p>
controls the way a body's orientation is updated at each timestep.
<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>mode</em>&nbsp;</td><td>can be 0 or 1: <ul>
<li>0: An ``infinitesimal'' orientation update is used. This is fast to compute, but it can occasionally cause inaccuracies for bodies that are rotating at high speed, especially when those bodies are joined to other bodies. This is the default for every new body that is created. </li>
<li>1: A ``finite'' orientation update is used. This is more costly to compute, but will be more accurate for high speed rotations. </li>
</ul>
</td></tr>
</table>
</dl>
<dl class="remark" compact><dt><b>Remarks:</b></dt><dd>Note however that high speed rotations can result in many types of error in a simulation, and the finite mode will only fix one of those sources of error. </dd></dl>
</div>
</div><p>
<a class="anchor" name="gbd56079db36d4562db0e18aebea4f95f"></a><!-- doxytag: member="objects.h::dBodySetForce" ref="gbd56079db36d4562db0e18aebea4f95f" args="(dBodyID b, dReal x, dReal y, dReal z)" -->
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<td class="memname">ODE_API void dBodySetForce </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> <em>b</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>z</em></td><td>&nbsp;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td width="100%"></td>
</tr>
</table>
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<p>
Set the body force accumulation vector.
<p>
<dl class="remark" compact><dt><b>Remarks:</b></dt><dd>This is mostly useful to zero the force and torque for deactivated bodies before they are reactivated, in the case where the force-adding functions were called on them while they were deactivated. </dd></dl>
</div>
</div><p>
<a class="anchor" name="g5465d605e7fbe82d63a0d4e1000da731"></a><!-- doxytag: member="objects.h::dBodySetGravityMode" ref="g5465d605e7fbe82d63a0d4e1000da731" args="(dBodyID b, int mode)" -->
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<td class="memname">ODE_API void dBodySetGravityMode </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> <em>b</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int&nbsp;</td>
<td class="paramname"> <em>mode</em></td><td>&nbsp;</td>
</tr>
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<td></td>
<td>)</td>
<td></td><td></td><td width="100%"></td>
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<p>
Set whether the body is influenced by the world's gravity or not.
<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>mode</em>&nbsp;</td><td>when nonzero gravity affects this body. </td></tr>
</table>
</dl>
<dl class="remark" compact><dt><b>Remarks:</b></dt><dd>Newly created bodies are always influenced by the world's gravity. </dd></dl>
</div>
</div><p>
<a class="anchor" name="gb84612b793366f18ff5b5cbdbed092da"></a><!-- doxytag: member="objects.h::dBodySetPosition" ref="gb84612b793366f18ff5b5cbdbed092da" args="(dBodyID, dReal x, dReal y, dReal z)" -->
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<td class="memname">ODE_API void dBodySetPosition </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname">, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>z</em></td><td>&nbsp;</td>
</tr>
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<td></td>
<td>)</td>
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</tr>
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<p>
Set position of a body.
<p>
<dl class="remark" compact><dt><b>Remarks:</b></dt><dd>After setting, the outcome of the simulation is undefined if the new configuration is inconsistent with the joints/constraints that are present. </dd></dl>
</div>
</div><p>
<a class="anchor" name="ga5f51dd3605c402320e9eae4231d7ad4"></a><!-- doxytag: member="objects.h::dBodySetQuaternion" ref="ga5f51dd3605c402320e9eae4231d7ad4" args="(dBodyID, const dQuaternion q)" -->
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<td class="memname">ODE_API void dBodySetQuaternion </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname">, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const dQuaternion&nbsp;</td>
<td class="paramname"> <em>q</em></td><td>&nbsp;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td width="100%"></td>
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<p>
Set the orientation of a body.
<p>
<dl class="remark" compact><dt><b>Remarks:</b></dt><dd>After setting, the outcome of the simulation is undefined if the new configuration is inconsistent with the joints/constraints that are present. </dd></dl>
</div>
</div><p>
<a class="anchor" name="gb5f04968ec37ef46d2aaffad6c344468"></a><!-- doxytag: member="objects.h::dBodySetRotation" ref="gb5f04968ec37ef46d2aaffad6c344468" args="(dBodyID, const dMatrix3 R)" -->
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<td class="memname">ODE_API void dBodySetRotation </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname">, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const dMatrix3&nbsp;</td>
<td class="paramname"> <em>R</em></td><td>&nbsp;</td>
</tr>
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<td></td>
<td>)</td>
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<p>
Set the orientation of a body.
<p>
<dl class="remark" compact><dt><b>Remarks:</b></dt><dd>After setting, the outcome of the simulation is undefined if the new configuration is inconsistent with the joints/constraints that are present. </dd></dl>
</div>
</div><p>
<a class="anchor" name="gfcd3e44223a878ba52428ad3a124fa94"></a><!-- doxytag: member="objects.h::dBodySetTorque" ref="gfcd3e44223a878ba52428ad3a124fa94" args="(dBodyID b, dReal x, dReal y, dReal z)" -->
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<td class="memname">ODE_API void dBodySetTorque </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname"> <em>b</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>z</em></td><td>&nbsp;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td width="100%"></td>
</tr>
</table>
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<div class="memdoc">
<p>
Set the body torque accumulation vector.
<p>
<dl class="remark" compact><dt><b>Remarks:</b></dt><dd>This is mostly useful to zero the force and torque for deactivated bodies before they are reactivated, in the case where the force-adding functions were called on them while they were deactivated. </dd></dl>
</div>
</div><p>
<a class="anchor" name="g1e3ac3ef038e806d4942ea8b399ab575"></a><!-- doxytag: member="objects.h::dBodyVectorFromWorld" ref="g1e3ac3ef038e806d4942ea8b399ab575" args="(dBodyID, dReal px, dReal py, dReal pz, dVector3 result)" -->
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<td class="memname">ODE_API void dBodyVectorFromWorld </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname">, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>px</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>py</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>pz</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dVector3&nbsp;</td>
<td class="paramname"> <em>result</em></td><td>&nbsp;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td width="100%"></td>
</tr>
</table>
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<p>
Convert from world to local coordinates.
<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>result</em>&nbsp;</td><td>will contain the result. </td></tr>
</table>
</dl>
</div>
</div><p>
<a class="anchor" name="g0a2cd6f7499bcfeb8275cbb981465bbf"></a><!-- doxytag: member="objects.h::dBodyVectorToWorld" ref="g0a2cd6f7499bcfeb8275cbb981465bbf" args="(dBodyID, dReal px, dReal py, dReal pz, dVector3 result)" -->
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<td class="memname">ODE_API void dBodyVectorToWorld </td>
<td>(</td>
<td class="paramtype">dBodyID&nbsp;</td>
<td class="paramname">, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>px</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>py</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">dReal&nbsp;</td>
<td class="paramname"> <em>pz</em>, </td>
</tr>
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<td class="paramkey"></td>
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<td class="paramtype">dVector3&nbsp;</td>
<td class="paramname"> <em>result</em></td><td>&nbsp;</td>
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<td>)</td>
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Convert from local to world coordinates.
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<dl compact><dt><b>Parameters:</b></dt><dd>
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<tr><td valign="top"></td><td valign="top"><em>result</em>&nbsp;</td><td>will contain the result. </td></tr>
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<hr size="1"><address style="text-align: right;"><small>Generated on Fri Oct 12 08:36:51 2007 for Open Dynamics Engine by&nbsp;
<a href="http://www.doxygen.org/index.html">
<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.3 </small></address>
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