713 lines
22 KiB
C
713 lines
22 KiB
C
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/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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/* C++ interface for non-collision stuff */
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#ifndef _ODE_ODECPP_H_
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#define _ODE_ODECPP_H_
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#ifdef __cplusplus
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#include <ode/error.h>
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class dWorld {
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dWorldID _id;
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// intentionally undefined, don't use these
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dWorld (const dWorld &);
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void operator= (const dWorld &);
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public:
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dWorld()
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{ _id = dWorldCreate(); }
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~dWorld()
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{ dWorldDestroy (_id); }
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dWorldID id() const
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{ return _id; }
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operator dWorldID() const
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{ return _id; }
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void setGravity (dReal x, dReal y, dReal z)
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{ dWorldSetGravity (_id,x,y,z); }
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void getGravity (dVector3 g) const
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{ dWorldGetGravity (_id,g); }
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void setERP (dReal erp)
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{ dWorldSetERP(_id, erp); }
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dReal getERP() const
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{ return dWorldGetERP(_id); }
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void setCFM (dReal cfm)
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{ dWorldSetCFM(_id, cfm); }
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dReal getCFM() const
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{ return dWorldGetCFM(_id); }
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void step (dReal stepsize)
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{ dWorldStep (_id,stepsize); }
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void stepFast1 (dReal stepsize, int maxiterations)
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{ dWorldStepFast1 (_id,stepsize,maxiterations); }
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void setAutoEnableDepthSF1(dWorldID, int depth)
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{ dWorldSetAutoEnableDepthSF1 (_id, depth); }
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int getAutoEnableDepthSF1(dWorldID)
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{ return dWorldGetAutoEnableDepthSF1 (_id); }
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void setAutoDisableLinearThreshold (dReal threshold)
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{ dWorldSetAutoDisableLinearThreshold (_id,threshold); }
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dReal getAutoDisableLinearThreshold()
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{ return dWorldGetAutoDisableLinearThreshold (_id); }
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void setAutoDisableAngularThreshold (dReal threshold)
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{ dWorldSetAutoDisableAngularThreshold (_id,threshold); }
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dReal getAutoDisableAngularThreshold()
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{ return dWorldGetAutoDisableAngularThreshold (_id); }
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void setAutoDisableSteps (int steps)
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{ dWorldSetAutoDisableSteps (_id,steps); }
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int getAutoDisableSteps()
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{ return dWorldGetAutoDisableSteps (_id); }
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void setAutoDisableTime (dReal time)
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{ dWorldSetAutoDisableTime (_id,time); }
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dReal getAutoDisableTime()
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{ return dWorldGetAutoDisableTime (_id); }
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void setAutoDisableFlag (int do_auto_disable)
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{ dWorldSetAutoDisableFlag (_id,do_auto_disable); }
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int getAutoDisableFlag()
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{ return dWorldGetAutoDisableFlag (_id); }
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void impulseToForce (dReal stepsize, dReal ix, dReal iy, dReal iz,
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dVector3 force)
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{ dWorldImpulseToForce (_id,stepsize,ix,iy,iz,force); }
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};
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class dBody {
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dBodyID _id;
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// intentionally undefined, don't use these
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dBody (const dBody &);
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void operator= (const dBody &);
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public:
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dBody()
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{ _id = 0; }
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dBody (dWorldID world)
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{ _id = dBodyCreate (world); }
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~dBody()
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{ if (_id) dBodyDestroy (_id); }
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void create (dWorldID world) {
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if (_id) dBodyDestroy (_id);
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_id = dBodyCreate (world);
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}
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dBodyID id() const
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{ return _id; }
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operator dBodyID() const
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{ return _id; }
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void setData (void *data)
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{ dBodySetData (_id,data); }
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void *getData() const
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{ return dBodyGetData (_id); }
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void setPosition (dReal x, dReal y, dReal z)
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{ dBodySetPosition (_id,x,y,z); }
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void setRotation (const dMatrix3 R)
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{ dBodySetRotation (_id,R); }
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void setQuaternion (const dQuaternion q)
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{ dBodySetQuaternion (_id,q); }
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void setLinearVel (dReal x, dReal y, dReal z)
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{ dBodySetLinearVel (_id,x,y,z); }
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void setAngularVel (dReal x, dReal y, dReal z)
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{ dBodySetAngularVel (_id,x,y,z); }
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const dReal * getPosition() const
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{ return dBodyGetPosition (_id); }
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const dReal * getRotation() const
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{ return dBodyGetRotation (_id); }
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const dReal * getQuaternion() const
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{ return dBodyGetQuaternion (_id); }
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const dReal * getLinearVel() const
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{ return dBodyGetLinearVel (_id); }
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const dReal * getAngularVel() const
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{ return dBodyGetAngularVel (_id); }
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void setMass (const dMass *mass)
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{ dBodySetMass (_id,mass); }
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void getMass (dMass *mass) const
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{ dBodyGetMass (_id,mass); }
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void addForce (dReal fx, dReal fy, dReal fz)
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{ dBodyAddForce (_id, fx, fy, fz); }
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void addTorque (dReal fx, dReal fy, dReal fz)
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{ dBodyAddTorque (_id, fx, fy, fz); }
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void addRelForce (dReal fx, dReal fy, dReal fz)
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{ dBodyAddRelForce (_id, fx, fy, fz); }
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void addRelTorque (dReal fx, dReal fy, dReal fz)
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{ dBodyAddRelTorque (_id, fx, fy, fz); }
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void addForceAtPos (dReal fx, dReal fy, dReal fz,
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dReal px, dReal py, dReal pz)
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{ dBodyAddForceAtPos (_id, fx, fy, fz, px, py, pz); }
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void addForceAtRelPos (dReal fx, dReal fy, dReal fz,
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dReal px, dReal py, dReal pz)
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{ dBodyAddForceAtRelPos (_id, fx, fy, fz, px, py, pz); }
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void addRelForceAtPos (dReal fx, dReal fy, dReal fz,
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dReal px, dReal py, dReal pz)
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{ dBodyAddRelForceAtPos (_id, fx, fy, fz, px, py, pz); }
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void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz,
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dReal px, dReal py, dReal pz)
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{ dBodyAddRelForceAtRelPos (_id, fx, fy, fz, px, py, pz); }
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const dReal * getForce() const
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{ return dBodyGetForce(_id); }
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const dReal * getTorque() const
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{ return dBodyGetTorque(_id); }
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void setForce (dReal x, dReal y, dReal z)
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{ dBodySetForce (_id,x,y,z); }
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void setTorque (dReal x, dReal y, dReal z)
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{ dBodySetTorque (_id,x,y,z); }
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void enable()
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{ dBodyEnable (_id); }
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void disable()
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{ dBodyDisable (_id); }
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int isEnabled() const
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{ return dBodyIsEnabled (_id); }
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void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const
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{ dBodyGetRelPointPos (_id, px, py, pz, result); }
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void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result) const
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{ dBodyGetRelPointVel (_id, px, py, pz, result); }
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void getPointVel (dReal px, dReal py, dReal pz, dVector3 result) const
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{ dBodyGetPointVel (_id,px,py,pz,result); }
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void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const
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{ dBodyGetPosRelPoint (_id,px,py,pz,result); }
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void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const
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{ dBodyVectorToWorld (_id,px,py,pz,result); }
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void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const
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{ dBodyVectorFromWorld (_id,px,py,pz,result); }
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void setFiniteRotationMode (int mode)
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{ dBodySetFiniteRotationMode (_id, mode); }
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void setFiniteRotationAxis (dReal x, dReal y, dReal z)
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{ dBodySetFiniteRotationAxis (_id, x, y, z); }
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int getFiniteRotationMode() const
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{ return dBodyGetFiniteRotationMode (_id); }
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void getFiniteRotationAxis (dVector3 result) const
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{ dBodyGetFiniteRotationAxis (_id, result); }
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int getNumJoints() const
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{ return dBodyGetNumJoints (_id); }
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dJointID getJoint (int index) const
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{ return dBodyGetJoint (_id, index); }
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void setGravityMode (int mode)
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{ dBodySetGravityMode (_id,mode); }
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int getGravityMode() const
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{ return dBodyGetGravityMode (_id); }
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int isConnectedTo (dBodyID body) const
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{ return dAreConnected (_id, body); }
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void setAutoDisableLinearThreshold (dReal threshold)
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{ dBodySetAutoDisableLinearThreshold (_id,threshold); }
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dReal getAutoDisableLinearThreshold()
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{ return dBodyGetAutoDisableLinearThreshold (_id); }
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void setAutoDisableAngularThreshold (dReal threshold)
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{ dBodySetAutoDisableAngularThreshold (_id,threshold); }
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dReal getAutoDisableAngularThreshold()
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{ return dBodyGetAutoDisableAngularThreshold (_id); }
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void setAutoDisableSteps (int steps)
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{ dBodySetAutoDisableSteps (_id,steps); }
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int getAutoDisableSteps()
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{ return dBodyGetAutoDisableSteps (_id); }
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void setAutoDisableTime (dReal time)
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{ dBodySetAutoDisableTime (_id,time); }
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dReal getAutoDisableTime()
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{ return dBodyGetAutoDisableTime (_id); }
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void setAutoDisableFlag (int do_auto_disable)
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{ dBodySetAutoDisableFlag (_id,do_auto_disable); }
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int getAutoDisableFlag()
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{ return dBodyGetAutoDisableFlag (_id); }
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};
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class dJointGroup {
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dJointGroupID _id;
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// intentionally undefined, don't use these
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dJointGroup (const dJointGroup &);
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void operator= (const dJointGroup &);
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public:
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dJointGroup (int dummy_arg=0)
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{ _id = dJointGroupCreate (0); }
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~dJointGroup()
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{ dJointGroupDestroy (_id); }
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void create (int dummy_arg=0) {
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if (_id) dJointGroupDestroy (_id);
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_id = dJointGroupCreate (0);
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}
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dJointGroupID id() const
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{ return _id; }
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operator dJointGroupID() const
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{ return _id; }
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void empty()
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{ dJointGroupEmpty (_id); }
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};
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class dJoint {
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private:
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// intentionally undefined, don't use these
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dJoint (const dJoint &) ;
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void operator= (const dJoint &);
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protected:
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dJointID _id;
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public:
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dJoint()
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{ _id = 0; }
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~dJoint()
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{ if (_id) dJointDestroy (_id); }
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dJointID id() const
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{ return _id; }
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operator dJointID() const
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{ return _id; }
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void attach (dBodyID body1, dBodyID body2)
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{ dJointAttach (_id, body1, body2); }
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void setData (void *data)
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{ dJointSetData (_id, data); }
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void *getData() const
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{ return dJointGetData (_id); }
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int getType() const
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{ return dJointGetType (_id); }
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dBodyID getBody (int index) const
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{ return dJointGetBody (_id, index); }
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void setFeedback(dJointFeedback *fb)
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{ dJointSetFeedback(_id, fb); }
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dJointFeedback *getFeedback() const
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{ return dJointGetFeedback(_id); }
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};
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class dBallJoint : public dJoint {
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private:
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// intentionally undefined, don't use these
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dBallJoint (const dBallJoint &);
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void operator= (const dBallJoint &);
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public:
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dBallJoint() { }
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dBallJoint (dWorldID world, dJointGroupID group=0)
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{ _id = dJointCreateBall (world, group); }
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void create (dWorldID world, dJointGroupID group=0) {
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if (_id) dJointDestroy (_id);
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_id = dJointCreateBall (world, group);
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}
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void setAnchor (dReal x, dReal y, dReal z)
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{ dJointSetBallAnchor (_id, x, y, z); }
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void getAnchor (dVector3 result) const
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{ dJointGetBallAnchor (_id, result); }
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void getAnchor2 (dVector3 result) const
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{ dJointGetBallAnchor2 (_id, result); }
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void setParam (int parameter, dReal value)
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{ dJointSetBallParam (_id, parameter, value); }
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dReal getParam (int parameter) const
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{ return dJointGetBallParam (_id, parameter); }
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} ;
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class dHingeJoint : public dJoint {
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// intentionally undefined, don't use these
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dHingeJoint (const dHingeJoint &);
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void operator = (const dHingeJoint &);
|
||
|
|
|
||
|
|
public:
|
||
|
|
dHingeJoint() { }
|
||
|
|
dHingeJoint (dWorldID world, dJointGroupID group=0)
|
||
|
|
{ _id = dJointCreateHinge (world, group); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group=0) {
|
||
|
|
if (_id) dJointDestroy (_id);
|
||
|
|
_id = dJointCreateHinge (world, group);
|
||
|
|
}
|
||
|
|
|
||
|
|
void setAnchor (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetHingeAnchor (_id, x, y, z); }
|
||
|
|
void getAnchor (dVector3 result) const
|
||
|
|
{ dJointGetHingeAnchor (_id, result); }
|
||
|
|
void getAnchor2 (dVector3 result) const
|
||
|
|
{ dJointGetHingeAnchor2 (_id, result); }
|
||
|
|
|
||
|
|
void setAxis (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetHingeAxis (_id, x, y, z); }
|
||
|
|
void getAxis (dVector3 result) const
|
||
|
|
{ dJointGetHingeAxis (_id, result); }
|
||
|
|
|
||
|
|
dReal getAngle() const
|
||
|
|
{ return dJointGetHingeAngle (_id); }
|
||
|
|
dReal getAngleRate() const
|
||
|
|
{ return dJointGetHingeAngleRate (_id); }
|
||
|
|
|
||
|
|
void setParam (int parameter, dReal value)
|
||
|
|
{ dJointSetHingeParam (_id, parameter, value); }
|
||
|
|
dReal getParam (int parameter) const
|
||
|
|
{ return dJointGetHingeParam (_id, parameter); }
|
||
|
|
|
||
|
|
void addTorque (dReal torque)
|
||
|
|
{ dJointAddHingeTorque(_id, torque); }
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
class dSliderJoint : public dJoint {
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dSliderJoint (const dSliderJoint &);
|
||
|
|
void operator = (const dSliderJoint &);
|
||
|
|
|
||
|
|
public:
|
||
|
|
dSliderJoint() { }
|
||
|
|
dSliderJoint (dWorldID world, dJointGroupID group=0)
|
||
|
|
{ _id = dJointCreateSlider (world, group); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group=0) {
|
||
|
|
if (_id) dJointDestroy (_id);
|
||
|
|
_id = dJointCreateSlider (world, group);
|
||
|
|
}
|
||
|
|
|
||
|
|
void setAxis (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetSliderAxis (_id, x, y, z); }
|
||
|
|
void getAxis (dVector3 result) const
|
||
|
|
{ dJointGetSliderAxis (_id, result); }
|
||
|
|
|
||
|
|
dReal getPosition() const
|
||
|
|
{ return dJointGetSliderPosition (_id); }
|
||
|
|
dReal getPositionRate() const
|
||
|
|
{ return dJointGetSliderPositionRate (_id); }
|
||
|
|
|
||
|
|
void setParam (int parameter, dReal value)
|
||
|
|
{ dJointSetSliderParam (_id, parameter, value); }
|
||
|
|
dReal getParam (int parameter) const
|
||
|
|
{ return dJointGetSliderParam (_id, parameter); }
|
||
|
|
|
||
|
|
void addForce (dReal force)
|
||
|
|
{ dJointAddSliderForce(_id, force); }
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
class dUniversalJoint : public dJoint {
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dUniversalJoint (const dUniversalJoint &);
|
||
|
|
void operator = (const dUniversalJoint &);
|
||
|
|
|
||
|
|
public:
|
||
|
|
dUniversalJoint() { }
|
||
|
|
dUniversalJoint (dWorldID world, dJointGroupID group=0)
|
||
|
|
{ _id = dJointCreateUniversal (world, group); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group=0) {
|
||
|
|
if (_id) dJointDestroy (_id);
|
||
|
|
_id = dJointCreateUniversal (world, group);
|
||
|
|
}
|
||
|
|
|
||
|
|
void setAnchor (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetUniversalAnchor (_id, x, y, z); }
|
||
|
|
void setAxis1 (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetUniversalAxis1 (_id, x, y, z); }
|
||
|
|
void setAxis2 (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetUniversalAxis2 (_id, x, y, z); }
|
||
|
|
void setParam (int parameter, dReal value)
|
||
|
|
{ dJointSetUniversalParam (_id, parameter, value); }
|
||
|
|
|
||
|
|
void getAnchor (dVector3 result) const
|
||
|
|
{ dJointGetUniversalAnchor (_id, result); }
|
||
|
|
void getAnchor2 (dVector3 result) const
|
||
|
|
{ dJointGetUniversalAnchor2 (_id, result); }
|
||
|
|
void getAxis1 (dVector3 result) const
|
||
|
|
{ dJointGetUniversalAxis1 (_id, result); }
|
||
|
|
void getAxis2 (dVector3 result) const
|
||
|
|
{ dJointGetUniversalAxis2 (_id, result); }
|
||
|
|
dReal getParam (int parameter) const
|
||
|
|
{ return dJointGetUniversalParam (_id, parameter); }
|
||
|
|
void getAngles(dReal *angle1, dReal *angle2) const
|
||
|
|
{ dJointGetUniversalAngles (_id, angle1, angle2); }
|
||
|
|
|
||
|
|
dReal getAngle1() const
|
||
|
|
{ return dJointGetUniversalAngle1 (_id); }
|
||
|
|
dReal getAngle1Rate() const
|
||
|
|
{ return dJointGetUniversalAngle1Rate (_id); }
|
||
|
|
dReal getAngle2() const
|
||
|
|
{ return dJointGetUniversalAngle2 (_id); }
|
||
|
|
dReal getAngle2Rate() const
|
||
|
|
{ return dJointGetUniversalAngle2Rate (_id); }
|
||
|
|
|
||
|
|
void addTorques (dReal torque1, dReal torque2)
|
||
|
|
{ dJointAddUniversalTorques(_id, torque1, torque2); }
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
class dHinge2Joint : public dJoint {
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dHinge2Joint (const dHinge2Joint &);
|
||
|
|
void operator = (const dHinge2Joint &);
|
||
|
|
|
||
|
|
public:
|
||
|
|
dHinge2Joint() { }
|
||
|
|
dHinge2Joint (dWorldID world, dJointGroupID group=0)
|
||
|
|
{ _id = dJointCreateHinge2 (world, group); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group=0) {
|
||
|
|
if (_id) dJointDestroy (_id);
|
||
|
|
_id = dJointCreateHinge2 (world, group);
|
||
|
|
}
|
||
|
|
|
||
|
|
void setAnchor (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetHinge2Anchor (_id, x, y, z); }
|
||
|
|
void setAxis1 (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetHinge2Axis1 (_id, x, y, z); }
|
||
|
|
void setAxis2 (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetHinge2Axis2 (_id, x, y, z); }
|
||
|
|
|
||
|
|
void getAnchor (dVector3 result) const
|
||
|
|
{ dJointGetHinge2Anchor (_id, result); }
|
||
|
|
void getAnchor2 (dVector3 result) const
|
||
|
|
{ dJointGetHinge2Anchor2 (_id, result); }
|
||
|
|
void getAxis1 (dVector3 result) const
|
||
|
|
{ dJointGetHinge2Axis1 (_id, result); }
|
||
|
|
void getAxis2 (dVector3 result) const
|
||
|
|
{ dJointGetHinge2Axis2 (_id, result); }
|
||
|
|
|
||
|
|
dReal getAngle1() const
|
||
|
|
{ return dJointGetHinge2Angle1 (_id); }
|
||
|
|
dReal getAngle1Rate() const
|
||
|
|
{ return dJointGetHinge2Angle1Rate (_id); }
|
||
|
|
dReal getAngle2Rate() const
|
||
|
|
{ return dJointGetHinge2Angle2Rate (_id); }
|
||
|
|
|
||
|
|
void setParam (int parameter, dReal value)
|
||
|
|
{ dJointSetHinge2Param (_id, parameter, value); }
|
||
|
|
dReal getParam (int parameter) const
|
||
|
|
{ return dJointGetHinge2Param (_id, parameter); }
|
||
|
|
|
||
|
|
void addTorques(dReal torque1, dReal torque2)
|
||
|
|
{ dJointAddHinge2Torques(_id, torque1, torque2); }
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
class dPRJoint : public dJoint {
|
||
|
|
dPRJoint (const dPRJoint &);
|
||
|
|
void operator = (const dPRJoint &);
|
||
|
|
|
||
|
|
public:
|
||
|
|
dPRJoint() { }
|
||
|
|
dPRJoint (dWorldID world, dJointGroupID group=0)
|
||
|
|
{ _id = dJointCreatePR (world, group); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group=0) {
|
||
|
|
if (_id) dJointDestroy (_id);
|
||
|
|
_id = dJointCreatePR (world, group);
|
||
|
|
}
|
||
|
|
|
||
|
|
void setAnchor (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetPRAnchor (_id, x, y, z); }
|
||
|
|
void setAxis1 (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetPRAxis1 (_id, x, y, z); }
|
||
|
|
void setAxis2 (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetPRAxis2 (_id, x, y, z); }
|
||
|
|
|
||
|
|
void getAnchor (dVector3 result) const
|
||
|
|
{ dJointGetPRAnchor (_id, result); }
|
||
|
|
void getAxis1 (dVector3 result) const
|
||
|
|
{ dJointGetPRAxis1 (_id, result); }
|
||
|
|
void getAxis2 (dVector3 result) const
|
||
|
|
{ dJointGetPRAxis2 (_id, result); }
|
||
|
|
|
||
|
|
dReal getPosition() const
|
||
|
|
{ return dJointGetPRPosition (_id); }
|
||
|
|
dReal getPositionRate() const
|
||
|
|
{ return dJointGetPRPositionRate (_id); }
|
||
|
|
|
||
|
|
void setParam (int parameter, dReal value)
|
||
|
|
{ dJointSetPRParam (_id, parameter, value); }
|
||
|
|
dReal getParam (int parameter) const
|
||
|
|
{ return dJointGetPRParam (_id, parameter); }
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
class dFixedJoint : public dJoint {
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dFixedJoint (const dFixedJoint &);
|
||
|
|
void operator = (const dFixedJoint &);
|
||
|
|
|
||
|
|
public:
|
||
|
|
dFixedJoint() { }
|
||
|
|
dFixedJoint (dWorldID world, dJointGroupID group=0)
|
||
|
|
{ _id = dJointCreateFixed (world, group); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group=0) {
|
||
|
|
if (_id) dJointDestroy (_id);
|
||
|
|
_id = dJointCreateFixed (world, group);
|
||
|
|
}
|
||
|
|
|
||
|
|
void set()
|
||
|
|
{ dJointSetFixed (_id); }
|
||
|
|
|
||
|
|
void setParam (int parameter, dReal value)
|
||
|
|
{ dJointSetFixedParam (_id, parameter, value); }
|
||
|
|
|
||
|
|
dReal getParam (int parameter) const
|
||
|
|
{ return dJointGetFixedParam (_id, parameter); }
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
class dContactJoint : public dJoint {
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dContactJoint (const dContactJoint &);
|
||
|
|
void operator = (const dContactJoint &);
|
||
|
|
|
||
|
|
public:
|
||
|
|
dContactJoint() { }
|
||
|
|
dContactJoint (dWorldID world, dJointGroupID group, dContact *contact)
|
||
|
|
{ _id = dJointCreateContact (world, group, contact); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group, dContact *contact) {
|
||
|
|
if (_id) dJointDestroy (_id);
|
||
|
|
_id = dJointCreateContact (world, group, contact);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
class dNullJoint : public dJoint {
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dNullJoint (const dNullJoint &);
|
||
|
|
void operator = (const dNullJoint &);
|
||
|
|
|
||
|
|
public:
|
||
|
|
dNullJoint() { }
|
||
|
|
dNullJoint (dWorldID world, dJointGroupID group=0)
|
||
|
|
{ _id = dJointCreateNull (world, group); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group=0) {
|
||
|
|
if (_id) dJointDestroy (_id);
|
||
|
|
_id = dJointCreateNull (world, group);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
class dAMotorJoint : public dJoint {
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dAMotorJoint (const dAMotorJoint &);
|
||
|
|
void operator = (const dAMotorJoint &);
|
||
|
|
|
||
|
|
public:
|
||
|
|
dAMotorJoint() { }
|
||
|
|
dAMotorJoint (dWorldID world, dJointGroupID group=0)
|
||
|
|
{ _id = dJointCreateAMotor (world, group); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group=0) {
|
||
|
|
if (_id) dJointDestroy (_id);
|
||
|
|
_id = dJointCreateAMotor (world, group);
|
||
|
|
}
|
||
|
|
|
||
|
|
void setMode (int mode)
|
||
|
|
{ dJointSetAMotorMode (_id, mode); }
|
||
|
|
int getMode() const
|
||
|
|
{ return dJointGetAMotorMode (_id); }
|
||
|
|
|
||
|
|
void setNumAxes (int num)
|
||
|
|
{ dJointSetAMotorNumAxes (_id, num); }
|
||
|
|
int getNumAxes() const
|
||
|
|
{ return dJointGetAMotorNumAxes (_id); }
|
||
|
|
|
||
|
|
void setAxis (int anum, int rel, dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetAMotorAxis (_id, anum, rel, x, y, z); }
|
||
|
|
void getAxis (int anum, dVector3 result) const
|
||
|
|
{ dJointGetAMotorAxis (_id, anum, result); }
|
||
|
|
int getAxisRel (int anum) const
|
||
|
|
{ return dJointGetAMotorAxisRel (_id, anum); }
|
||
|
|
|
||
|
|
void setAngle (int anum, dReal angle)
|
||
|
|
{ dJointSetAMotorAngle (_id, anum, angle); }
|
||
|
|
dReal getAngle (int anum) const
|
||
|
|
{ return dJointGetAMotorAngle (_id, anum); }
|
||
|
|
dReal getAngleRate (int anum)
|
||
|
|
{ return dJointGetAMotorAngleRate (_id,anum); }
|
||
|
|
|
||
|
|
void setParam (int parameter, dReal value)
|
||
|
|
{ dJointSetAMotorParam (_id, parameter, value); }
|
||
|
|
dReal getParam (int parameter) const
|
||
|
|
{ return dJointGetAMotorParam (_id, parameter); }
|
||
|
|
|
||
|
|
void addTorques(dReal torque1, dReal torque2, dReal torque3)
|
||
|
|
{ dJointAddAMotorTorques(_id, torque1, torque2, torque3); }
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
class dLMotorJoint : public dJoint {
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dLMotorJoint (const dLMotorJoint &);
|
||
|
|
void operator = (const dLMotorJoint &);
|
||
|
|
|
||
|
|
public:
|
||
|
|
dLMotorJoint() { }
|
||
|
|
dLMotorJoint (dWorldID world, dJointGroupID group=0)
|
||
|
|
{ _id = dJointCreateLMotor (world, group); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group=0) {
|
||
|
|
if (_id) dJointDestroy (_id);
|
||
|
|
_id = dJointCreateLMotor (world, group);
|
||
|
|
}
|
||
|
|
|
||
|
|
void setNumAxes (int num)
|
||
|
|
{ dJointSetLMotorNumAxes (_id, num); }
|
||
|
|
int getNumAxes() const
|
||
|
|
{ return dJointGetLMotorNumAxes (_id); }
|
||
|
|
|
||
|
|
void setAxis (int anum, int rel, dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetLMotorAxis (_id, anum, rel, x, y, z); }
|
||
|
|
void getAxis (int anum, dVector3 result) const
|
||
|
|
{ dJointGetLMotorAxis (_id, anum, result); }
|
||
|
|
|
||
|
|
void setParam (int parameter, dReal value)
|
||
|
|
{ dJointSetLMotorParam (_id, parameter, value); }
|
||
|
|
dReal getParam (int parameter) const
|
||
|
|
{ return dJointGetLMotorParam (_id, parameter); }
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
#endif
|
||
|
|
#endif
|