253 lines
11 KiB
C
253 lines
11 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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#ifndef _ODE_OBJECTS_H_
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#define _ODE_OBJECTS_H_
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#include <ode/common.h>
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#include <ode/mass.h>
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#include <ode/contact.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* world */
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dWorldID dWorldCreate();
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void dWorldDestroy (dWorldID);
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void dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z);
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void dWorldGetGravity (dWorldID, dVector3 gravity);
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void dWorldSetERP (dWorldID, dReal erp);
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dReal dWorldGetERP (dWorldID);
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void dWorldSetCFM (dWorldID, dReal cfm);
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dReal dWorldGetCFM (dWorldID);
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void dWorldStep (dWorldID, dReal stepsize);
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void dWorldImpulseToForce (dWorldID, dReal stepsize,
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dReal ix, dReal iy, dReal iz, dVector3 force);
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/* StepFast1 functions */
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void dWorldStepFast1(dWorldID, dReal stepsize, int maxiterations);
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void dWorldSetAutoEnableDepthSF1(dWorldID, int autoEnableDepth);
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int dWorldGetAutoEnableDepthSF1(dWorldID);
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void dBodySetAutoDisableThresholdSF1(dBodyID, dReal autoDisableThreshold);
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/* These functions are not yet implemented by ODE. */
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/*
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dReal dBodyGetAutoDisableThresholdSF1(dBodyID);
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void dBodySetAutoDisableStepsSF1(dBodyID, int AutoDisableSteps);
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int dBodyGetAutoDisableStepsSF1(dBodyID);
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void dBodySetAutoDisableSF1(dBodyID, int doAutoDisable);
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int dBodyGetAutoDisableSF1(dBodyID);
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*/
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/* bodies */
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dBodyID dBodyCreate (dWorldID);
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void dBodyDestroy (dBodyID);
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void dBodySetData (dBodyID, void *data);
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void *dBodyGetData (dBodyID);
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void dBodySetPosition (dBodyID, dReal x, dReal y, dReal z);
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void dBodySetRotation (dBodyID, const dMatrix3 R);
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void dBodySetQuaternion (dBodyID, const dQuaternion q);
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void dBodySetLinearVel (dBodyID, dReal x, dReal y, dReal z);
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void dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z);
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const dReal * dBodyGetPosition (dBodyID);
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const dReal * dBodyGetRotation (dBodyID); /* ptr to 4x3 rot matrix */
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const dReal * dBodyGetQuaternion (dBodyID);
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const dReal * dBodyGetLinearVel (dBodyID);
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const dReal * dBodyGetAngularVel (dBodyID);
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void dBodySetMass (dBodyID, const dMass *mass);
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void dBodyGetMass (dBodyID, dMass *mass);
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void dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz);
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void dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz);
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void dBodyAddRelForce (dBodyID, dReal fx, dReal fy, dReal fz);
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void dBodyAddRelTorque (dBodyID, dReal fx, dReal fy, dReal fz);
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void dBodyAddForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz,
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dReal px, dReal py, dReal pz);
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void dBodyAddForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz,
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dReal px, dReal py, dReal pz);
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void dBodyAddRelForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz,
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dReal px, dReal py, dReal pz);
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void dBodyAddRelForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz,
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dReal px, dReal py, dReal pz);
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const dReal * dBodyGetForce (dBodyID);
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const dReal * dBodyGetTorque (dBodyID);
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void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z);
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void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z);
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void dBodyGetRelPointPos (dBodyID, dReal px, dReal py, dReal pz,
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dVector3 result);
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void dBodyGetRelPointVel (dBodyID, dReal px, dReal py, dReal pz,
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dVector3 result);
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void dBodyGetPointVel (dBodyID, dReal px, dReal py, dReal pz,
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dVector3 result);
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void dBodyGetPosRelPoint (dBodyID, dReal px, dReal py, dReal pz,
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dVector3 result);
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void dBodyVectorToWorld (dBodyID, dReal px, dReal py, dReal pz,
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dVector3 result);
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void dBodyVectorFromWorld (dBodyID, dReal px, dReal py, dReal pz,
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dVector3 result);
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void dBodySetFiniteRotationMode (dBodyID, int mode);
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void dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z);
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int dBodyGetFiniteRotationMode (dBodyID);
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void dBodyGetFiniteRotationAxis (dBodyID, dVector3 result);
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int dBodyGetNumJoints (dBodyID b);
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dJointID dBodyGetJoint (dBodyID, int index);
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void dBodyEnable (dBodyID);
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void dBodyDisable (dBodyID);
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int dBodyIsEnabled (dBodyID);
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void dBodySetGravityMode (dBodyID b, int mode);
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int dBodyGetGravityMode (dBodyID b);
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/* joints */
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dJointID dJointCreateBall (dWorldID, dJointGroupID);
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dJointID dJointCreateHinge (dWorldID, dJointGroupID);
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dJointID dJointCreateSlider (dWorldID, dJointGroupID);
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dJointID dJointCreateContact (dWorldID, dJointGroupID, const dContact *);
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dJointID dJointCreateHinge2 (dWorldID, dJointGroupID);
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dJointID dJointCreateUniversal (dWorldID, dJointGroupID);
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dJointID dJointCreateFixed (dWorldID, dJointGroupID);
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dJointID dJointCreateNull (dWorldID, dJointGroupID);
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dJointID dJointCreateAMotor (dWorldID, dJointGroupID);
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void dJointDestroy (dJointID);
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dJointGroupID dJointGroupCreate (int max_size);
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void dJointGroupDestroy (dJointGroupID);
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void dJointGroupEmpty (dJointGroupID);
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void dJointAttach (dJointID, dBodyID body1, dBodyID body2);
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void dJointSetData (dJointID, void *data);
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void *dJointGetData (dJointID);
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int dJointGetType (dJointID);
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dBodyID dJointGetBody (dJointID, int index);
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void dJointSetFeedback (dJointID, dJointFeedback *);
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dJointFeedback *dJointGetFeedback (dJointID);
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/******************** breakable joint contribution ***********************/
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void dJointSetBreakable (dJointID, int b);
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void dJointSetBreakCallback (dJointID, dJointBreakCallback *callbackFunc);
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void dJointSetBreakMode (dJointID, int mode);
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int dJointGetBreakMode (dJointID);
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void dJointSetBreakForce (dJointID, int body, dReal x, dReal y, dReal z);
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void dJointSetBreakTorque (dJointID, int body, dReal x, dReal y, dReal z);
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int dJointIsBreakable (dJointID);
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void dJointGetBreakForce (dJointID, int body, dReal *force);
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void dJointGetBreakTorque (dJointID, int body, dReal *torque);
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/*************************************************************************/
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void dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z);
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void dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z);
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void dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z);
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void dJointSetHingeParam (dJointID, int parameter, dReal value);
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void dJointAddHingeTorque(dJointID joint, dReal torque);
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void dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z);
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void dJointSetSliderParam (dJointID, int parameter, dReal value);
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void dJointAddSliderForce(dJointID joint, dReal force);
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void dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z);
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void dJointSetHinge2Axis1 (dJointID, dReal x, dReal y, dReal z);
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void dJointSetHinge2Axis2 (dJointID, dReal x, dReal y, dReal z);
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void dJointSetHinge2Param (dJointID, int parameter, dReal value);
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void dJointAddHinge2Torques(dJointID joint, dReal torque1, dReal torque2);
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void dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z);
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void dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z);
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void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z);
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void dJointSetUniversalParam (dJointID, int parameter, dReal value);
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void dJointAddUniversalTorques(dJointID joint, dReal torque1, dReal torque2);
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void dJointSetFixed (dJointID);
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void dJointSetAMotorNumAxes (dJointID, int num);
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void dJointSetAMotorAxis (dJointID, int anum, int rel,
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dReal x, dReal y, dReal z);
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void dJointSetAMotorAngle (dJointID, int anum, dReal angle);
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void dJointSetAMotorParam (dJointID, int parameter, dReal value);
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void dJointSetAMotorMode (dJointID, int mode);
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void dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3);
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void dJointGetBallAnchor (dJointID, dVector3 result);
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void dJointGetBallAnchor2 (dJointID, dVector3 result);
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void dJointGetHingeAnchor (dJointID, dVector3 result);
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void dJointGetHingeAnchor2 (dJointID, dVector3 result);
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void dJointGetHingeAxis (dJointID, dVector3 result);
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dReal dJointGetHingeParam (dJointID, int parameter);
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dReal dJointGetHingeAngle (dJointID);
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dReal dJointGetHingeAngleRate (dJointID);
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dReal dJointGetSliderPosition (dJointID);
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dReal dJointGetSliderPositionRate (dJointID);
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void dJointGetSliderAxis (dJointID, dVector3 result);
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dReal dJointGetSliderParam (dJointID, int parameter);
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void dJointGetHinge2Anchor (dJointID, dVector3 result);
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void dJointGetHinge2Anchor2 (dJointID, dVector3 result);
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void dJointGetHinge2Axis1 (dJointID, dVector3 result);
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void dJointGetHinge2Axis2 (dJointID, dVector3 result);
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dReal dJointGetHinge2Param (dJointID, int parameter);
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dReal dJointGetHinge2Angle1 (dJointID);
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dReal dJointGetHinge2Angle1Rate (dJointID);
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dReal dJointGetHinge2Angle2Rate (dJointID);
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void dJointGetUniversalAnchor (dJointID, dVector3 result);
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void dJointGetUniversalAnchor2 (dJointID, dVector3 result);
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void dJointGetUniversalAxis1 (dJointID, dVector3 result);
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void dJointGetUniversalAxis2 (dJointID, dVector3 result);
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dReal dJointGetUniversalParam (dJointID, int parameter);
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dReal dJointGetUniversalAngle1 (dJointID);
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dReal dJointGetUniversalAngle2 (dJointID);
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dReal dJointGetUniversalAngle1Rate (dJointID);
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dReal dJointGetUniversalAngle2Rate (dJointID);
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int dJointGetAMotorNumAxes (dJointID);
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void dJointGetAMotorAxis (dJointID, int anum, dVector3 result);
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int dJointGetAMotorAxisRel (dJointID, int anum);
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dReal dJointGetAMotorAngle (dJointID, int anum);
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dReal dJointGetAMotorAngleRate (dJointID, int anum);
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dReal dJointGetAMotorParam (dJointID, int parameter);
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int dJointGetAMotorMode (dJointID);
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int dAreConnected (dBodyID, dBodyID);
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int dAreConnectedExcluding (dBodyID, dBodyID, int joint_type);
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#ifdef __cplusplus
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}
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#endif
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#endif
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