1464 lines
56 KiB
C
1464 lines
56 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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//namespace ode {
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class dWorldSimpleIDContainer {
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protected:
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dWorldID _id;
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dWorldSimpleIDContainer(): _id(0) {}
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~dWorldSimpleIDContainer() { destroy(); }
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void destroy() {
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if (_id) {
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dWorldDestroy(_id);
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_id = 0;
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}
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}
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};
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class dWorldDynamicIDContainer: public dWorldSimpleIDContainer {
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protected:
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virtual ~dWorldDynamicIDContainer() {}
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};
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template <class dWorldTemplateBase>
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class dWorldTemplate: public dWorldTemplateBase {
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// intentionally undefined, don't use these
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dWorldTemplate (const dWorldTemplate<dWorldTemplateBase> &);
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void operator= (const dWorldTemplate<dWorldTemplateBase> &);
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protected:
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dWorldID get_id() const { return dWorldTemplateBase::_id; }
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void set_id(dWorldID value) { dWorldTemplateBase::_id = value; }
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public:
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dWorldTemplate()
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{ set_id(dWorldCreate()); }
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dWorldID id() const
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{ return get_id(); }
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operator dWorldID() const
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{ return get_id(); }
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void setGravity (dReal x, dReal y, dReal z)
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{ dWorldSetGravity (get_id(), x, y, z); }
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void setGravity (const dVector3 g)
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{ setGravity (g[0], g[1], g[2]); }
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void getGravity (dVector3 g) const
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{ dWorldGetGravity (get_id(), g); }
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void setERP (dReal erp)
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{ dWorldSetERP(get_id(), erp); }
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dReal getERP() const
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{ return dWorldGetERP(get_id()); }
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void setCFM (dReal cfm)
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{ dWorldSetCFM(get_id(), cfm); }
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dReal getCFM() const
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{ return dWorldGetCFM(get_id()); }
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void step (dReal stepsize)
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{ dWorldStep (get_id(), stepsize); }
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void quickStep(dReal stepsize)
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{ dWorldQuickStep (get_id(), stepsize); }
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void setQuickStepPreconIterations(int num)
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{ dWorldSetQuickStepPreconIterations (get_id(), num); }
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void setQuickStepNumIterations(int num)
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{ dWorldSetQuickStepNumIterations (get_id(), num); }
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int getQuickStepPreconIterations() const
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{ return dWorldGetQuickStepPreconIterations (get_id()); }
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int getQuickStepNumIterations() const
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{ return dWorldGetQuickStepNumIterations (get_id()); }
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dReal getQuickStepTolerance()
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{ return dWorldGetQuickStepTolerance (get_id()); }
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void setQuickStepTolerance(dReal tol)
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{ dWorldSetQuickStepTolerance (get_id(), tol); }
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void setQuickStepNumChunks (int num)
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{ dWorldSetQuickStepNumChunks (get_id(), num); }
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void setQuickStepNumOverlap (dWorldID, int num)
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{ dWorldSetQuickStepNumOverlap (get_id(), num); }
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void setQuickStepW(dReal over_relaxation)
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{ dWorldSetQuickStepW (get_id(), over_relaxation); }
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dReal getQuickStepW() const
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{ return dWorldGetQuickStepW (get_id()); }
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dReal *getQuickStepRMSError() const
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{ return dWorldGetQuickStepRMSDeltaLambda (get_id()); }
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dReal *getQuickStepRMSConstraintResidual() const
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{ return dWorldGetQuickStepRMSConstraintResidual (get_id()); }
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dReal getQuickStepNumContacts() const
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{ return dWorldGetQuickStepNumContacts (get_id()); }
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/* experimental PGS */
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bool getQuickStepInertiaRatioReduction() const
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{ return dWorldGetQuickStepInertiaRatioReduction (get_id()); }
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dReal getQuickStepContactResidualSmoothing() const
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{ return dWorldGetQuickStepContactResidualSmoothing (get_id()); }
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dReal getQuickStepContactSORScalingFactor() const
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{ return dWorldGetQuickStepContactSORScalingFactor (get_id()); }
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bool getQuickStepThreadPositionCorrection() const
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{ return dWorldGetQuickStepThreadPositionCorrection (get_id()); }
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bool getQuickStepExperimentalRowReordering() const
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{ return dWorldGetQuickStepExperimentalRowReordering (get_id()); }
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dReal getQuickStepWarmStartFactor() const
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{ return dWorldGetQuickStepWarmStartFactor (get_id()); }
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int getQuickStepExtraFrictionIterations() const
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{ return dWorldGetQuickStepExtraFrictionIterations (get_id()); }
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int getQuickStepFrictionModel() const
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{ return dWorldGetQuickStepFrictionModel(get_id()); }
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void setQuickStepInertiaRatioReduction(bool irr)
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{ dWorldSetQuickStepInertiaRatioReduction (get_id(), irr); }
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void setQuickStepContactResidualSmoothing(dReal smoo)
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{ dWorldSetQuickStepContactResidualSmoothing (get_id(), smoo); }
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void setQuickStepContactSORScalingFactor(dReal contact_sor_scale) const
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{ dWorldSetQuickStepContactSORScalingFactor (get_id(), contact_sor_scale); }
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void setQuickStepThreadPositionCorrection(bool thread)
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{ dWorldSetQuickStepThreadPositionCorrection (get_id(), thread); }
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void setQuickStepExperimentalRowReordering(bool order)
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{ dWorldSetQuickStepExperimentalRowReordering (get_id(), order); }
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void setQuickStepWarmStartFactor(dReal warm)
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{ dWorldSetQuickStepWarmStartFactor (get_id(), warm); }
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void setQuickStepExtraFrictionIterations(int iters)
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{ dWorldSetQuickStepExtraFrictionIterations (get_id(), iters); }
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void setQuickStepFrictionModel(int fricmodel)
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{ dWorldSetQuickStepFrictionModel(get_id(), fricmodel); }
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void setAutoDisableLinearThreshold (dReal threshold)
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{ dWorldSetAutoDisableLinearThreshold (get_id(), threshold); }
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dReal getAutoDisableLinearThreshold() const
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{ return dWorldGetAutoDisableLinearThreshold (get_id()); }
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void setAutoDisableAngularThreshold (dReal threshold)
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{ dWorldSetAutoDisableAngularThreshold (get_id(), threshold); }
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dReal getAutoDisableAngularThreshold() const
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{ return dWorldGetAutoDisableAngularThreshold (get_id()); }
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void setAutoDisableSteps (int steps)
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{ dWorldSetAutoDisableSteps (get_id(), steps); }
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int getAutoDisableSteps() const
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{ return dWorldGetAutoDisableSteps (get_id()); }
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void setAutoDisableTime (dReal time)
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{ dWorldSetAutoDisableTime (get_id(), time); }
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dReal getAutoDisableTime() const
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{ return dWorldGetAutoDisableTime (get_id()); }
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void setAutoDisableFlag (int do_auto_disable)
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{ dWorldSetAutoDisableFlag (get_id(), do_auto_disable); }
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int getAutoDisableFlag() const
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{ return dWorldGetAutoDisableFlag (get_id()); }
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dReal getLinearDampingThreshold() const
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{ return dWorldGetLinearDampingThreshold(get_id()); }
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void setLinearDampingThreshold(dReal threshold)
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{ dWorldSetLinearDampingThreshold(get_id(), threshold); }
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dReal getAngularDampingThreshold() const
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{ return dWorldGetAngularDampingThreshold(get_id()); }
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void setAngularDampingThreshold(dReal threshold)
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{ dWorldSetAngularDampingThreshold(get_id(), threshold); }
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dReal getLinearDamping() const
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{ return dWorldGetLinearDamping(get_id()); }
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void setLinearDamping(dReal scale)
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{ dWorldSetLinearDamping(get_id(), scale); }
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dReal getAngularDamping() const
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{ return dWorldGetAngularDamping(get_id()); }
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void setAngularDamping(dReal scale)
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{ dWorldSetAngularDamping(get_id(), scale); }
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void setDamping(dReal linear_scale, dReal angular_scale)
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{ dWorldSetDamping(get_id(), linear_scale, angular_scale); }
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dReal getMaxAngularSpeed() const
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{ return dWorldGetMaxAngularSpeed(get_id()); }
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void setMaxAngularSpeed(dReal max_speed)
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{ dWorldSetMaxAngularSpeed(get_id(), max_speed); }
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void setContactSurfaceLayer(dReal depth)
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{ dWorldSetContactSurfaceLayer (get_id(), depth); }
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dReal getContactSurfaceLayer() const
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{ return dWorldGetContactSurfaceLayer (get_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 (get_id(), stepsize, ix, iy, iz, force); }
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};
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class dBodySimpleIDContainer {
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protected:
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dBodyID _id;
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dBodySimpleIDContainer(): _id(0) {}
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~dBodySimpleIDContainer() { destroy(); }
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void destroy() {
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if (_id) {
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dBodyDestroy(_id);
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_id = 0;
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}
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}
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};
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class dBodyDynamicIDContainer: public dBodySimpleIDContainer {
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protected:
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virtual ~dBodyDynamicIDContainer() {}
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};
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template <class dBodyTemplateBase, class dWorldTemplateBase>
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class dBodyTemplate: public dBodyTemplateBase {
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// intentionally undefined, don't use these
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dBodyTemplate (const dBodyTemplate<dBodyTemplateBase, dWorldTemplateBase> &);
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void operator= (const dBodyTemplate<dBodyTemplateBase, dWorldTemplateBase> &);
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protected:
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dBodyID get_id() const { return dBodyTemplateBase::_id; }
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void set_id(dBodyID value) { dBodyTemplateBase::_id = value; }
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void destroy() { dBodyTemplateBase::destroy(); }
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public:
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dBodyTemplate()
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{ }
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dBodyTemplate (dWorldID world)
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{ set_id(dBodyCreate(world)); }
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dBodyTemplate (dWorldTemplate<dWorldTemplateBase>& world)
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{ set_id(dBodyCreate(world.id())); }
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void create (dWorldID world) {
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destroy();
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set_id(dBodyCreate(world));
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}
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void create (dWorldTemplate<dWorldTemplateBase>& world) {
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create(world.id());
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}
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dBodyID id() const
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{ return get_id(); }
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operator dBodyID() const
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{ return get_id(); }
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void setData (void *data)
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{ dBodySetData (get_id(), data); }
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void *getData() const
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{ return dBodyGetData (get_id()); }
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void setMinDepth (dReal min_depth)
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{ dBodySetMinDepth (get_id(), min_depth); }
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void setMaxVel (dReal max_vel)
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{ dBodySetMaxVel (get_id(), max_vel); }
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void setPosition (dReal x, dReal y, dReal z)
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{ dBodySetPosition (get_id(), x, y, z); }
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void setPosition (const dVector3 p)
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{ setPosition(p[0], p[1], p[2]); }
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void setRotation (const dMatrix3 R)
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{ dBodySetRotation (get_id(), R); }
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void setQuaternion (const dQuaternion q)
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{ dBodySetQuaternion (get_id(), q); }
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void setLinearVel (dReal x, dReal y, dReal z)
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{ dBodySetLinearVel (get_id(), x, y, z); }
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void setLinearVel (const dVector3 v)
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{ setLinearVel(v[0], v[1], v[2]); }
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void setAngularVel (dReal x, dReal y, dReal z)
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{ dBodySetAngularVel (get_id(), x, y, z); }
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void setAngularVel (const dVector3 v)
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{ setAngularVel (v[0], v[1], v[2]); }
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const dReal * getPosition() const
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{ return dBodyGetPosition (get_id()); }
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const dReal * getRotation() const
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{ return dBodyGetRotation (get_id()); }
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const dReal * getQuaternion() const
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{ return dBodyGetQuaternion (get_id()); }
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const dReal * getLinearVel() const
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{ return dBodyGetLinearVel (get_id()); }
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const dReal * getAngularVel() const
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{ return dBodyGetAngularVel (get_id()); }
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void setMass (const dMass *mass)
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{ dBodySetMass (get_id(), mass); }
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void setMass (const dMass &mass)
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{ setMass (&mass); }
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dMass getMass () const
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{ dMass mass; dBodyGetMass (get_id(), &mass); return mass; }
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void addForce (dReal fx, dReal fy, dReal fz)
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{ dBodyAddForce (get_id(), fx, fy, fz); }
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void addForce (const dVector3 f)
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{ addForce (f[0], f[1], f[2]); }
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void addTorque (dReal fx, dReal fy, dReal fz)
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{ dBodyAddTorque (get_id(), fx, fy, fz); }
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void addTorque (const dVector3 t)
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{ addTorque(t[0], t[1], t[2]); }
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void addRelForce (dReal fx, dReal fy, dReal fz)
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{ dBodyAddRelForce (get_id(), fx, fy, fz); }
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void addRelForce (const dVector3 f)
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{ addRelForce (f[0], f[1], f[2]); }
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void addRelTorque (dReal fx, dReal fy, dReal fz)
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{ dBodyAddRelTorque (get_id(), fx, fy, fz); }
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void addRelTorque (const dVector3 t)
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{ addRelTorque (t[0], t[1], t[2]); }
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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 (get_id(), fx, fy, fz, px, py, pz); }
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void addForceAtPos (const dVector3 f, const dVector3 p)
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{ addForceAtPos (f[0], f[1], f[2], p[0], p[1], p[2]); }
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void addForceAtRelPos (dReal fx, dReal fy, dReal fz,
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|
|
dReal px, dReal py, dReal pz)
|
||
|
|
{ dBodyAddForceAtRelPos (get_id(), fx, fy, fz, px, py, pz); }
|
||
|
|
void addForceAtRelPos (const dVector3 f, const dVector3 p)
|
||
|
|
{ addForceAtRelPos (f[0], f[1], f[2], p[0], p[1], p[2]); }
|
||
|
|
|
||
|
|
void addRelForceAtPos (dReal fx, dReal fy, dReal fz,
|
||
|
|
dReal px, dReal py, dReal pz)
|
||
|
|
{ dBodyAddRelForceAtPos (get_id(), fx, fy, fz, px, py, pz); }
|
||
|
|
void addRelForceAtPos (const dVector3 f, const dVector3 p)
|
||
|
|
{ addRelForceAtPos (f[0], f[1], f[2], p[0], p[1], p[2]); }
|
||
|
|
|
||
|
|
void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz,
|
||
|
|
dReal px, dReal py, dReal pz)
|
||
|
|
{ dBodyAddRelForceAtRelPos (get_id(), fx, fy, fz, px, py, pz); }
|
||
|
|
void addRelForceAtRelPos (const dVector3 f, const dVector3 p)
|
||
|
|
{ addRelForceAtRelPos (f[0], f[1], f[2], p[0], p[1], p[2]); }
|
||
|
|
|
||
|
|
const dReal * getForce() const
|
||
|
|
{ return dBodyGetForce(get_id()); }
|
||
|
|
const dReal * getTorque() const
|
||
|
|
{ return dBodyGetTorque(get_id()); }
|
||
|
|
void setForce (dReal x, dReal y, dReal z)
|
||
|
|
{ dBodySetForce (get_id(), x, y, z); }
|
||
|
|
void setForce (const dVector3 f)
|
||
|
|
{ setForce (f[0], f[1], f[2]); }
|
||
|
|
void setTorque (dReal x, dReal y, dReal z)
|
||
|
|
{ dBodySetTorque (get_id(), x, y, z); }
|
||
|
|
void setTorque (const dVector3 t)
|
||
|
|
{ setTorque (t[0], t[1], t[2]); }
|
||
|
|
|
||
|
|
void setDynamic()
|
||
|
|
{ dBodySetDynamic (get_id()); }
|
||
|
|
void setKinematic()
|
||
|
|
{ dBodySetKinematic (get_id()); }
|
||
|
|
bool isKinematic() const
|
||
|
|
{ return dBodyIsKinematic (get_id()) != 0; }
|
||
|
|
|
||
|
|
void enable()
|
||
|
|
{ dBodyEnable (get_id()); }
|
||
|
|
void disable()
|
||
|
|
{ dBodyDisable (get_id()); }
|
||
|
|
bool isEnabled() const
|
||
|
|
{ return dBodyIsEnabled (get_id()) != 0; }
|
||
|
|
|
||
|
|
void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const
|
||
|
|
{ dBodyGetRelPointPos (get_id(), px, py, pz, result); }
|
||
|
|
void getRelPointPos (const dVector3 p, dVector3 result) const
|
||
|
|
{ getRelPointPos (p[0], p[1], p[2], result); }
|
||
|
|
|
||
|
|
void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result) const
|
||
|
|
{ dBodyGetRelPointVel (get_id(), px, py, pz, result); }
|
||
|
|
void getRelPointVel (const dVector3 p, dVector3 result) const
|
||
|
|
{ getRelPointVel (p[0], p[1], p[2], result); }
|
||
|
|
|
||
|
|
void getPointVel (dReal px, dReal py, dReal pz, dVector3 result) const
|
||
|
|
{ dBodyGetPointVel (get_id(), px, py, pz, result); }
|
||
|
|
void getPointVel (const dVector3 p, dVector3 result) const
|
||
|
|
{ getPointVel (p[0], p[1], p[2], result); }
|
||
|
|
|
||
|
|
void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const
|
||
|
|
{ dBodyGetPosRelPoint (get_id(), px, py, pz, result); }
|
||
|
|
void getPosRelPoint (const dVector3 p, dVector3 result) const
|
||
|
|
{ getPosRelPoint (p[0], p[1], p[2], result); }
|
||
|
|
|
||
|
|
void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const
|
||
|
|
{ dBodyVectorToWorld (get_id(), px, py, pz, result); }
|
||
|
|
void vectorToWorld (const dVector3 p, dVector3 result) const
|
||
|
|
{ vectorToWorld (p[0], p[1], p[2], result); }
|
||
|
|
|
||
|
|
void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const
|
||
|
|
{ dBodyVectorFromWorld (get_id(), px, py, pz, result); }
|
||
|
|
void vectorFromWorld (const dVector3 p, dVector3 result) const
|
||
|
|
{ vectorFromWorld (p[0], p[1], p[2], result); }
|
||
|
|
|
||
|
|
void setFiniteRotationMode (bool mode)
|
||
|
|
{ dBodySetFiniteRotationMode (get_id(), mode); }
|
||
|
|
|
||
|
|
void setFiniteRotationAxis (dReal x, dReal y, dReal z)
|
||
|
|
{ dBodySetFiniteRotationAxis (get_id(), x, y, z); }
|
||
|
|
void setFiniteRotationAxis (const dVector3 a)
|
||
|
|
{ setFiniteRotationAxis (a[0], a[1], a[2]); }
|
||
|
|
|
||
|
|
bool getFiniteRotationMode() const
|
||
|
|
{ return dBodyGetFiniteRotationMode (get_id()) != 0; }
|
||
|
|
void getFiniteRotationAxis (dVector3 result) const
|
||
|
|
{ dBodyGetFiniteRotationAxis (get_id(), result); }
|
||
|
|
|
||
|
|
int getNumJoints() const
|
||
|
|
{ return dBodyGetNumJoints (get_id()); }
|
||
|
|
dJointID getJoint (int index) const
|
||
|
|
{ return dBodyGetJoint (get_id(), index); }
|
||
|
|
|
||
|
|
void setGravityMode (bool mode)
|
||
|
|
{ dBodySetGravityMode (get_id(), mode); }
|
||
|
|
bool getGravityMode() const
|
||
|
|
{ return dBodyGetGravityMode (get_id()) != 0; }
|
||
|
|
|
||
|
|
bool isConnectedTo (dBodyID body) const
|
||
|
|
{ return dAreConnected (get_id(), body) != 0; }
|
||
|
|
|
||
|
|
void setAutoDisableLinearThreshold (dReal threshold)
|
||
|
|
{ dBodySetAutoDisableLinearThreshold (get_id(), threshold); }
|
||
|
|
dReal getAutoDisableLinearThreshold() const
|
||
|
|
{ return dBodyGetAutoDisableLinearThreshold (get_id()); }
|
||
|
|
void setAutoDisableAngularThreshold (dReal threshold)
|
||
|
|
{ dBodySetAutoDisableAngularThreshold (get_id(), threshold); }
|
||
|
|
dReal getAutoDisableAngularThreshold() const
|
||
|
|
{ return dBodyGetAutoDisableAngularThreshold (get_id()); }
|
||
|
|
void setAutoDisableSteps (int steps)
|
||
|
|
{ dBodySetAutoDisableSteps (get_id(), steps); }
|
||
|
|
int getAutoDisableSteps() const
|
||
|
|
{ return dBodyGetAutoDisableSteps (get_id()); }
|
||
|
|
void setAutoDisableTime (dReal time)
|
||
|
|
{ dBodySetAutoDisableTime (get_id(), time); }
|
||
|
|
dReal getAutoDisableTime() const
|
||
|
|
{ return dBodyGetAutoDisableTime (get_id()); }
|
||
|
|
void setAutoDisableFlag (bool do_auto_disable)
|
||
|
|
{ dBodySetAutoDisableFlag (get_id(), do_auto_disable); }
|
||
|
|
bool getAutoDisableFlag() const
|
||
|
|
{ return dBodyGetAutoDisableFlag (get_id()) != 0; }
|
||
|
|
|
||
|
|
dReal getLinearDamping() const
|
||
|
|
{ return dBodyGetLinearDamping(get_id()); }
|
||
|
|
void setLinearDamping(dReal scale)
|
||
|
|
{ dBodySetLinearDamping(get_id(), scale); }
|
||
|
|
dReal getAngularDamping() const
|
||
|
|
{ return dBodyGetAngularDamping(get_id()); }
|
||
|
|
void setAngularDamping(dReal scale)
|
||
|
|
{ dBodySetAngularDamping(get_id(), scale); }
|
||
|
|
void setDamping(dReal linear_scale, dReal angular_scale)
|
||
|
|
{ dBodySetDamping(get_id(), linear_scale, angular_scale); }
|
||
|
|
dReal getLinearDampingThreshold() const
|
||
|
|
{ return dBodyGetLinearDampingThreshold(get_id()); }
|
||
|
|
void setLinearDampingThreshold(dReal threshold) const
|
||
|
|
{ dBodySetLinearDampingThreshold(get_id(), threshold); }
|
||
|
|
dReal getAngularDampingThreshold() const
|
||
|
|
{ return dBodyGetAngularDampingThreshold(get_id()); }
|
||
|
|
void setAngularDampingThreshold(dReal threshold)
|
||
|
|
{ dBodySetAngularDampingThreshold(get_id(), threshold); }
|
||
|
|
void setDampingDefaults()
|
||
|
|
{ dBodySetDampingDefaults(get_id()); }
|
||
|
|
|
||
|
|
dReal getMaxAngularSpeed() const
|
||
|
|
{ return dBodyGetMaxAngularSpeed(get_id()); }
|
||
|
|
void setMaxAngularSpeed(dReal max_speed)
|
||
|
|
{ dBodySetMaxAngularSpeed(get_id(), max_speed); }
|
||
|
|
|
||
|
|
bool getGyroscopicMode() const
|
||
|
|
{ return dBodyGetGyroscopicMode(get_id()) != 0; }
|
||
|
|
void setGyroscopicMode(bool mode)
|
||
|
|
{ dBodySetGyroscopicMode(get_id(), mode); }
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
class dJointGroupSimpleIDContainer {
|
||
|
|
protected:
|
||
|
|
dJointGroupID _id;
|
||
|
|
|
||
|
|
dJointGroupSimpleIDContainer(): _id(0) {}
|
||
|
|
~dJointGroupSimpleIDContainer() { destroy(); }
|
||
|
|
|
||
|
|
void destroy() {
|
||
|
|
if (_id) {
|
||
|
|
dJointGroupDestroy(_id);
|
||
|
|
_id = 0;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
class dJointGroupDynamicIDContainer: public dJointGroupSimpleIDContainer {
|
||
|
|
protected:
|
||
|
|
virtual ~dJointGroupDynamicIDContainer() {}
|
||
|
|
};
|
||
|
|
|
||
|
|
template <class dJointGroupTemplateBase>
|
||
|
|
class dJointGroupTemplate: public dJointGroupTemplateBase {
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dJointGroupTemplate (const dJointGroupTemplate<dJointGroupTemplateBase> &);
|
||
|
|
void operator= (const dJointGroupTemplate<dJointGroupTemplateBase> &);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
dJointGroupID get_id() const { return dJointGroupTemplateBase::_id; }
|
||
|
|
void set_id(dJointGroupID value) { dJointGroupTemplateBase::_id = value; }
|
||
|
|
|
||
|
|
void destroy() { dJointGroupTemplateBase::destroy(); }
|
||
|
|
|
||
|
|
public:
|
||
|
|
dJointGroupTemplate ()
|
||
|
|
{ set_id(dJointGroupCreate(0)); }
|
||
|
|
|
||
|
|
void create () {
|
||
|
|
destroy();
|
||
|
|
set_id(dJointGroupCreate(0));
|
||
|
|
}
|
||
|
|
|
||
|
|
dJointGroupID id() const
|
||
|
|
{ return get_id(); }
|
||
|
|
operator dJointGroupID() const
|
||
|
|
{ return get_id(); }
|
||
|
|
|
||
|
|
void empty()
|
||
|
|
{ dJointGroupEmpty (get_id()); }
|
||
|
|
void clear()
|
||
|
|
{ empty(); }
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
class dJointSimpleIDContainer {
|
||
|
|
protected:
|
||
|
|
dJointID _id;
|
||
|
|
|
||
|
|
dJointSimpleIDContainer(): _id(0) {}
|
||
|
|
~dJointSimpleIDContainer() { destroy(); }
|
||
|
|
|
||
|
|
void destroy() {
|
||
|
|
if (_id) {
|
||
|
|
dJointDestroy (_id);
|
||
|
|
_id = 0;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
class dJointDynamicIDContainer: public dJointSimpleIDContainer {
|
||
|
|
protected:
|
||
|
|
virtual ~dJointDynamicIDContainer() {}
|
||
|
|
};
|
||
|
|
|
||
|
|
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
|
||
|
|
class dJointTemplate: public dJointTemplateBase {
|
||
|
|
private:
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dJointTemplate (const dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &) ;
|
||
|
|
void operator= (const dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
dJointID get_id() const { return dJointTemplateBase::_id; }
|
||
|
|
void set_id(dJointID value) { dJointTemplateBase::_id = value; }
|
||
|
|
|
||
|
|
void destroy() { dJointTemplateBase::destroy(); }
|
||
|
|
|
||
|
|
protected:
|
||
|
|
dJointTemplate() // don't let user construct pure dJointTemplate objects
|
||
|
|
{ }
|
||
|
|
|
||
|
|
public:
|
||
|
|
dJointID id() const
|
||
|
|
{ return get_id(); }
|
||
|
|
operator dJointID() const
|
||
|
|
{ return get_id(); }
|
||
|
|
|
||
|
|
int getNumBodies() const
|
||
|
|
{ return dJointGetNumBodies(get_id()); }
|
||
|
|
|
||
|
|
void attach (dBodyID body1, dBodyID body2)
|
||
|
|
{ dJointAttach (get_id(), body1, body2); }
|
||
|
|
void attach (dBodyTemplate<dBodyTemplateBase, dWorldTemplateBase>& body1, dBodyTemplate<dBodyTemplateBase, dWorldTemplateBase>& body2)
|
||
|
|
{ attach(body1.id(), body2.id()); }
|
||
|
|
|
||
|
|
void enable()
|
||
|
|
{ dJointEnable (get_id()); }
|
||
|
|
void disable()
|
||
|
|
{ dJointDisable (get_id()); }
|
||
|
|
bool isEnabled() const
|
||
|
|
{ return dJointIsEnabled (get_id()) != 0; }
|
||
|
|
|
||
|
|
void setData (void *data)
|
||
|
|
{ dJointSetData (get_id(), data); }
|
||
|
|
void *getData() const
|
||
|
|
{ return dJointGetData (get_id()); }
|
||
|
|
|
||
|
|
dJointType getType() const
|
||
|
|
{ return dJointGetType (get_id()); }
|
||
|
|
|
||
|
|
dBodyID getBody (int index) const
|
||
|
|
{ return dJointGetBody (get_id(), index); }
|
||
|
|
|
||
|
|
void setFeedback(dJointFeedback *fb)
|
||
|
|
{ dJointSetFeedback(get_id(), fb); }
|
||
|
|
dJointFeedback *getFeedback() const
|
||
|
|
{ return dJointGetFeedback(get_id()); }
|
||
|
|
|
||
|
|
// If not implemented it will do nothing as describe in the doc
|
||
|
|
virtual void setParam (int, dReal) {};
|
||
|
|
virtual dReal getParam (int) const { return 0; }
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
|
||
|
|
class dBallJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
|
||
|
|
private:
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dBallJointTemplate (const dBallJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
void operator= (const dBallJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
|
||
|
|
|
||
|
|
dJointID get_id() const { return dBaseTemplate::get_id(); }
|
||
|
|
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
|
||
|
|
|
||
|
|
void destroy() { dBaseTemplate::destroy(); }
|
||
|
|
|
||
|
|
public:
|
||
|
|
dBallJointTemplate() { }
|
||
|
|
dBallJointTemplate (dWorldID world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreateBall(world, group)); }
|
||
|
|
dBallJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreateBall(world.id(), group)); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group=0) {
|
||
|
|
destroy();
|
||
|
|
set_id(dJointCreateBall(world, group));
|
||
|
|
}
|
||
|
|
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ create(world.id(), group); }
|
||
|
|
|
||
|
|
void setAnchor (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetBallAnchor (get_id(), x, y, z); }
|
||
|
|
void setAnchor (const dVector3 a)
|
||
|
|
{ setAnchor (a[0], a[1], a[2]); }
|
||
|
|
void getAnchor (dVector3 result) const
|
||
|
|
{ dJointGetBallAnchor (get_id(), result); }
|
||
|
|
void getAnchor2 (dVector3 result) const
|
||
|
|
{ dJointGetBallAnchor2 (get_id(), result); }
|
||
|
|
virtual void setParam (int parameter, dReal value)
|
||
|
|
{ dJointSetBallParam (get_id(), parameter, value); }
|
||
|
|
virtual dReal getParam (int parameter) const
|
||
|
|
{ return dJointGetBallParam (get_id(), parameter); }
|
||
|
|
// TODO: expose params through methods
|
||
|
|
} ;
|
||
|
|
|
||
|
|
|
||
|
|
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
|
||
|
|
class dHingeJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
|
||
|
|
private:
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dHingeJointTemplate (const dHingeJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
void operator = (const dHingeJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
|
||
|
|
|
||
|
|
dJointID get_id() const { return dBaseTemplate::get_id(); }
|
||
|
|
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
|
||
|
|
|
||
|
|
void destroy() { dBaseTemplate::destroy(); }
|
||
|
|
|
||
|
|
public:
|
||
|
|
dHingeJointTemplate() { }
|
||
|
|
dHingeJointTemplate (dWorldID world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreateHinge(world, group)); }
|
||
|
|
dHingeJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreateHinge(world.id(), group)); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group=0) {
|
||
|
|
destroy();
|
||
|
|
set_id(dJointCreateHinge (world, group));
|
||
|
|
}
|
||
|
|
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ create(world.id(), group); }
|
||
|
|
|
||
|
|
void setAnchor (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetHingeAnchor (get_id(), x, y, z); }
|
||
|
|
void setAnchor (const dVector3 a)
|
||
|
|
{ setAnchor (a[0], a[1], a[2]); }
|
||
|
|
void getAnchor (dVector3 result) const
|
||
|
|
{ dJointGetHingeAnchor (get_id(), result); }
|
||
|
|
void getAnchor2 (dVector3 result) const
|
||
|
|
{ dJointGetHingeAnchor2 (get_id(), result); }
|
||
|
|
|
||
|
|
void setAxis (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetHingeAxis (get_id(), x, y, z); }
|
||
|
|
void setAxis (const dVector3 a)
|
||
|
|
{ setAxis(a[0], a[1], a[2]); }
|
||
|
|
void getAxis (dVector3 result) const
|
||
|
|
{ dJointGetHingeAxis (get_id(), result); }
|
||
|
|
|
||
|
|
dReal getAngle() const
|
||
|
|
{ return dJointGetHingeAngle (get_id()); }
|
||
|
|
dReal getAngleRate() const
|
||
|
|
{ return dJointGetHingeAngleRate (get_id()); }
|
||
|
|
|
||
|
|
virtual void setParam (int parameter, dReal value)
|
||
|
|
{ dJointSetHingeParam (get_id(), parameter, value); }
|
||
|
|
virtual dReal getParam (int parameter) const
|
||
|
|
{ return dJointGetHingeParam (get_id(), parameter); }
|
||
|
|
// TODO: expose params through methods
|
||
|
|
|
||
|
|
void addTorque (dReal torque)
|
||
|
|
{ dJointAddHingeTorque(get_id(), torque); }
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
|
||
|
|
class dSliderJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
|
||
|
|
private:
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dSliderJointTemplate (const dSliderJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
void operator = (const dSliderJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
|
||
|
|
|
||
|
|
dJointID get_id() const { return dBaseTemplate::get_id(); }
|
||
|
|
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
|
||
|
|
|
||
|
|
void destroy() { dBaseTemplate::destroy(); }
|
||
|
|
|
||
|
|
public:
|
||
|
|
dSliderJointTemplate() { }
|
||
|
|
dSliderJointTemplate (dWorldID world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreateSlider(world, group)); }
|
||
|
|
dSliderJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreateSlider(world.id(), group)); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group=0) {
|
||
|
|
destroy();
|
||
|
|
set_id(dJointCreateSlider(world, group));
|
||
|
|
}
|
||
|
|
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ create(world.id(), group); }
|
||
|
|
|
||
|
|
void setAxis (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetSliderAxis (get_id(), x, y, z); }
|
||
|
|
void setAxis (const dVector3 a)
|
||
|
|
{ setAxis (a[0], a[1], a[2]); }
|
||
|
|
void getAxis (dVector3 result) const
|
||
|
|
{ dJointGetSliderAxis (get_id(), result); }
|
||
|
|
|
||
|
|
dReal getPosition() const
|
||
|
|
{ return dJointGetSliderPosition (get_id()); }
|
||
|
|
dReal getPositionRate() const
|
||
|
|
{ return dJointGetSliderPositionRate (get_id()); }
|
||
|
|
|
||
|
|
virtual void setParam (int parameter, dReal value)
|
||
|
|
{ dJointSetSliderParam (get_id(), parameter, value); }
|
||
|
|
virtual dReal getParam (int parameter) const
|
||
|
|
{ return dJointGetSliderParam (get_id(), parameter); }
|
||
|
|
// TODO: expose params through methods
|
||
|
|
|
||
|
|
void addForce (dReal force)
|
||
|
|
{ dJointAddSliderForce(get_id(), force); }
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
|
||
|
|
class dScrewJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
|
||
|
|
private:
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dScrewJointTemplate (const dScrewJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
void operator = (const dScrewJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
|
||
|
|
|
||
|
|
dJointID get_id() const { return dBaseTemplate::get_id(); }
|
||
|
|
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
|
||
|
|
|
||
|
|
void destroy() { dBaseTemplate::destroy(); }
|
||
|
|
|
||
|
|
public:
|
||
|
|
dScrewJointTemplate() { }
|
||
|
|
dScrewJointTemplate (dWorldID world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreateScrew(world, group)); }
|
||
|
|
dScrewJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreateScrew(world.id(), group)); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group=0) {
|
||
|
|
destroy();
|
||
|
|
set_id(dJointCreateScrew(world, group));
|
||
|
|
}
|
||
|
|
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ create(world.id(), group); }
|
||
|
|
|
||
|
|
void setAxis (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetScrewAxis (get_id(), x, y, z); }
|
||
|
|
void setAxis (const dVector3 a)
|
||
|
|
{ setAxis (a[0], a[1], a[2]); }
|
||
|
|
void getAxis (dVector3 result) const
|
||
|
|
{ dJointGetScrewAxis (get_id(), result); }
|
||
|
|
|
||
|
|
dReal getPosition() const
|
||
|
|
{ return dJointGetScrewPosition (get_id()); }
|
||
|
|
dReal getPositionRate() const
|
||
|
|
{ return dJointGetScrewPositionRate (get_id()); }
|
||
|
|
|
||
|
|
virtual void setParam (int parameter, dReal value)
|
||
|
|
{ dJointSetScrewParam (get_id(), parameter, value); }
|
||
|
|
virtual dReal getParam (int parameter) const
|
||
|
|
{ return dJointGetScrewParam (get_id(), parameter); }
|
||
|
|
// TODO: expose params through methods
|
||
|
|
|
||
|
|
void addForce (dReal force)
|
||
|
|
{ dJointAddScrewForce(get_id(), force); }
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
|
||
|
|
class dUniversalJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
|
||
|
|
private:
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dUniversalJointTemplate (const dUniversalJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
void operator = (const dUniversalJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
|
||
|
|
|
||
|
|
dJointID get_id() const { return dBaseTemplate::get_id(); }
|
||
|
|
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
|
||
|
|
|
||
|
|
void destroy() { dBaseTemplate::destroy(); }
|
||
|
|
|
||
|
|
public:
|
||
|
|
dUniversalJointTemplate() { }
|
||
|
|
dUniversalJointTemplate (dWorldID world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreateUniversal(world, group)); }
|
||
|
|
dUniversalJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreateUniversal(world.id(), group)); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group=0) {
|
||
|
|
destroy();
|
||
|
|
set_id(dJointCreateUniversal(world, group));
|
||
|
|
}
|
||
|
|
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ create(world.id(), group); }
|
||
|
|
|
||
|
|
void setAnchor (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetUniversalAnchor (get_id(), x, y, z); }
|
||
|
|
void setAnchor (const dVector3 a)
|
||
|
|
{ setAnchor(a[0], a[1], a[2]); }
|
||
|
|
void setAxis1 (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetUniversalAxis1 (get_id(), x, y, z); }
|
||
|
|
void setAxis1 (const dVector3 a)
|
||
|
|
{ setAxis1 (a[0], a[1], a[2]); }
|
||
|
|
void setAxis2 (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetUniversalAxis2 (get_id(), x, y, z); }
|
||
|
|
void setAxis2 (const dVector3 a)
|
||
|
|
{ setAxis2 (a[0], a[1], a[2]); }
|
||
|
|
|
||
|
|
void getAnchor (dVector3 result) const
|
||
|
|
{ dJointGetUniversalAnchor (get_id(), result); }
|
||
|
|
void getAnchor2 (dVector3 result) const
|
||
|
|
{ dJointGetUniversalAnchor2 (get_id(), result); }
|
||
|
|
void getAxis1 (dVector3 result) const
|
||
|
|
{ dJointGetUniversalAxis1 (get_id(), result); }
|
||
|
|
void getAxis2 (dVector3 result) const
|
||
|
|
{ dJointGetUniversalAxis2 (get_id(), result); }
|
||
|
|
|
||
|
|
virtual void setParam (int parameter, dReal value)
|
||
|
|
{ dJointSetUniversalParam (get_id(), parameter, value); }
|
||
|
|
virtual dReal getParam (int parameter) const
|
||
|
|
{ return dJointGetUniversalParam (get_id(), parameter); }
|
||
|
|
// TODO: expose params through methods
|
||
|
|
|
||
|
|
void getAngles(dReal *angle1, dReal *angle2) const
|
||
|
|
{ dJointGetUniversalAngles (get_id(), angle1, angle2); }
|
||
|
|
|
||
|
|
dReal getAngle1() const
|
||
|
|
{ return dJointGetUniversalAngle1 (get_id()); }
|
||
|
|
dReal getAngle1Rate() const
|
||
|
|
{ return dJointGetUniversalAngle1Rate (get_id()); }
|
||
|
|
dReal getAngle2() const
|
||
|
|
{ return dJointGetUniversalAngle2 (get_id()); }
|
||
|
|
dReal getAngle2Rate() const
|
||
|
|
{ return dJointGetUniversalAngle2Rate (get_id()); }
|
||
|
|
|
||
|
|
void addTorques (dReal torque1, dReal torque2)
|
||
|
|
{ dJointAddUniversalTorques(get_id(), torque1, torque2); }
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
|
||
|
|
class dHinge2JointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
|
||
|
|
private:
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dHinge2JointTemplate (const dHinge2JointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
void operator = (const dHinge2JointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
|
||
|
|
|
||
|
|
dJointID get_id() const { return dBaseTemplate::get_id(); }
|
||
|
|
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
|
||
|
|
|
||
|
|
void destroy() { dBaseTemplate::destroy(); }
|
||
|
|
|
||
|
|
public:
|
||
|
|
dHinge2JointTemplate() { }
|
||
|
|
dHinge2JointTemplate (dWorldID world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreateHinge2(world, group)); }
|
||
|
|
dHinge2JointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreateHinge2(world.id(), group)); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group=0) {
|
||
|
|
destroy();
|
||
|
|
set_id(dJointCreateHinge2(world, group));
|
||
|
|
}
|
||
|
|
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ create(world.id(), group); }
|
||
|
|
|
||
|
|
void setAnchor (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetHinge2Anchor (get_id(), x, y, z); }
|
||
|
|
void setAnchor (const dVector3 a)
|
||
|
|
{ setAnchor(a[0], a[1], a[2]); }
|
||
|
|
void setAxis1 (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetHinge2Axis1 (get_id(), x, y, z); }
|
||
|
|
void setAxis1 (const dVector3 a)
|
||
|
|
{ setAxis1 (a[0], a[1], a[2]); }
|
||
|
|
void setAxis2 (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetHinge2Axis2 (get_id(), x, y, z); }
|
||
|
|
void setAxis2 (const dVector3 a)
|
||
|
|
{ setAxis2 (a[0], a[1], a[2]); }
|
||
|
|
|
||
|
|
void getAnchor (dVector3 result) const
|
||
|
|
{ dJointGetHinge2Anchor (get_id(), result); }
|
||
|
|
void getAnchor2 (dVector3 result) const
|
||
|
|
{ dJointGetHinge2Anchor2 (get_id(), result); }
|
||
|
|
void getAxis1 (dVector3 result) const
|
||
|
|
{ dJointGetHinge2Axis1 (get_id(), result); }
|
||
|
|
void getAxis2 (dVector3 result) const
|
||
|
|
{ dJointGetHinge2Axis2 (get_id(), result); }
|
||
|
|
|
||
|
|
dReal getAngle1() const
|
||
|
|
{ return dJointGetHinge2Angle1 (get_id()); }
|
||
|
|
dReal getAngle1Rate() const
|
||
|
|
{ return dJointGetHinge2Angle1Rate (get_id()); }
|
||
|
|
dReal getAngle2Rate() const
|
||
|
|
{ return dJointGetHinge2Angle2Rate (get_id()); }
|
||
|
|
|
||
|
|
virtual void setParam (int parameter, dReal value)
|
||
|
|
{ dJointSetHinge2Param (get_id(), parameter, value); }
|
||
|
|
virtual dReal getParam (int parameter) const
|
||
|
|
{ return dJointGetHinge2Param (get_id(), parameter); }
|
||
|
|
// TODO: expose params through methods
|
||
|
|
|
||
|
|
void addTorques(dReal torque1, dReal torque2)
|
||
|
|
{ dJointAddHinge2Torques(get_id(), torque1, torque2); }
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
|
||
|
|
class dPRJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
|
||
|
|
private:
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dPRJointTemplate (const dPRJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
void operator = (const dPRJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
|
||
|
|
|
||
|
|
dJointID get_id() const { return dBaseTemplate::get_id(); }
|
||
|
|
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
|
||
|
|
|
||
|
|
void destroy() { dBaseTemplate::destroy(); }
|
||
|
|
|
||
|
|
public:
|
||
|
|
dPRJointTemplate() { }
|
||
|
|
dPRJointTemplate (dWorldID world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreatePR(world, group)); }
|
||
|
|
dPRJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreatePR(world.id(), group)); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group=0) {
|
||
|
|
destroy();
|
||
|
|
set_id(dJointCreatePR(world, group));
|
||
|
|
}
|
||
|
|
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ create(world.id(), group); }
|
||
|
|
|
||
|
|
void setAnchor (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetPRAnchor (get_id(), x, y, z); }
|
||
|
|
void setAnchor (const dVector3 a)
|
||
|
|
{ setAnchor (a[0], a[1], a[2]); }
|
||
|
|
void setAxis1 (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetPRAxis1 (get_id(), x, y, z); }
|
||
|
|
void setAxis1 (const dVector3 a)
|
||
|
|
{ setAxis1(a[0], a[1], a[2]); }
|
||
|
|
void setAxis2 (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetPRAxis2 (get_id(), x, y, z); }
|
||
|
|
void setAxis2 (const dVector3 a)
|
||
|
|
{ setAxis2(a[0], a[1], a[2]); }
|
||
|
|
|
||
|
|
void getAnchor (dVector3 result) const
|
||
|
|
{ dJointGetPRAnchor (get_id(), result); }
|
||
|
|
void getAxis1 (dVector3 result) const
|
||
|
|
{ dJointGetPRAxis1 (get_id(), result); }
|
||
|
|
void getAxis2 (dVector3 result) const
|
||
|
|
{ dJointGetPRAxis2 (get_id(), result); }
|
||
|
|
|
||
|
|
dReal getPosition() const
|
||
|
|
{ return dJointGetPRPosition (get_id()); }
|
||
|
|
dReal getPositionRate() const
|
||
|
|
{ return dJointGetPRPositionRate (get_id()); }
|
||
|
|
|
||
|
|
dReal getAngle() const
|
||
|
|
{ return dJointGetPRAngle (get_id()); }
|
||
|
|
dReal getAngleRate() const
|
||
|
|
{ return dJointGetPRAngleRate (get_id()); }
|
||
|
|
|
||
|
|
virtual void setParam (int parameter, dReal value)
|
||
|
|
{ dJointSetPRParam (get_id(), parameter, value); }
|
||
|
|
virtual dReal getParam (int parameter) const
|
||
|
|
{ return dJointGetPRParam (get_id(), parameter); }
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
|
||
|
|
class dPUJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase>
|
||
|
|
{
|
||
|
|
private:
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dPUJointTemplate (const dPUJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
void operator = (const dPUJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
|
||
|
|
|
||
|
|
dJointID get_id() const { return dBaseTemplate::get_id(); }
|
||
|
|
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
|
||
|
|
|
||
|
|
void destroy() { dBaseTemplate::destroy(); }
|
||
|
|
|
||
|
|
public:
|
||
|
|
dPUJointTemplate() { }
|
||
|
|
dPUJointTemplate (dWorldID world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreatePU(world, group)); }
|
||
|
|
dPUJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreatePU(world.id(), group)); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group=0)
|
||
|
|
{
|
||
|
|
destroy();
|
||
|
|
set_id(dJointCreatePU(world, group));
|
||
|
|
}
|
||
|
|
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ create(world.id(), group); }
|
||
|
|
|
||
|
|
void setAnchor (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetPUAnchor (get_id(), x, y, z); }
|
||
|
|
void setAnchor (const dVector3 a)
|
||
|
|
{ setAnchor (a[0], a[1], a[2]); }
|
||
|
|
void setAxis1 (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetPUAxis1 (get_id(), x, y, z); }
|
||
|
|
void setAxis1 (const dVector3 a)
|
||
|
|
{ setAxis1(a[0], a[1], a[2]); }
|
||
|
|
void setAxis2 (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetPUAxis2 (get_id(), x, y, z); }
|
||
|
|
void setAxis3 (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetPUAxis3 (get_id(), x, y, z); }
|
||
|
|
void setAxis3 (const dVector3 a)
|
||
|
|
{ setAxis3(a[0], a[1], a[2]); }
|
||
|
|
void setAxisP (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetPUAxis3 (get_id(), x, y, z); }
|
||
|
|
void setAxisP (const dVector3 a)
|
||
|
|
{ setAxisP(a[0], a[1], a[2]); }
|
||
|
|
|
||
|
|
virtual void getAnchor (dVector3 result) const
|
||
|
|
{ dJointGetPUAnchor (get_id(), result); }
|
||
|
|
void getAxis1 (dVector3 result) const
|
||
|
|
{ dJointGetPUAxis1 (get_id(), result); }
|
||
|
|
void getAxis2 (dVector3 result) const
|
||
|
|
{ dJointGetPUAxis2 (get_id(), result); }
|
||
|
|
void getAxis3 (dVector3 result) const
|
||
|
|
{ dJointGetPUAxis3 (get_id(), result); }
|
||
|
|
void getAxisP (dVector3 result) const
|
||
|
|
{ dJointGetPUAxis3 (get_id(), result); }
|
||
|
|
|
||
|
|
dReal getAngle1() const
|
||
|
|
{ return dJointGetPUAngle1 (get_id()); }
|
||
|
|
dReal getAngle1Rate() const
|
||
|
|
{ return dJointGetPUAngle1Rate (get_id()); }
|
||
|
|
dReal getAngle2() const
|
||
|
|
{ return dJointGetPUAngle2 (get_id()); }
|
||
|
|
dReal getAngle2Rate() const
|
||
|
|
{ return dJointGetPUAngle2Rate (get_id()); }
|
||
|
|
|
||
|
|
dReal getPosition() const
|
||
|
|
{ return dJointGetPUPosition (get_id()); }
|
||
|
|
dReal getPositionRate() const
|
||
|
|
{ return dJointGetPUPositionRate (get_id()); }
|
||
|
|
|
||
|
|
virtual void setParam (int parameter, dReal value)
|
||
|
|
{ dJointSetPUParam (get_id(), parameter, value); }
|
||
|
|
virtual dReal getParam (int parameter) const
|
||
|
|
{ return dJointGetPUParam (get_id(), parameter); }
|
||
|
|
// TODO: expose params through methods
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
|
||
|
|
class dPistonJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase>
|
||
|
|
{
|
||
|
|
private:
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dPistonJointTemplate (const dPistonJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
void operator = (const dPistonJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
|
||
|
|
|
||
|
|
dJointID get_id() const { return dBaseTemplate::get_id(); }
|
||
|
|
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
|
||
|
|
|
||
|
|
void destroy() { dBaseTemplate::destroy(); }
|
||
|
|
|
||
|
|
public:
|
||
|
|
dPistonJointTemplate() { }
|
||
|
|
dPistonJointTemplate (dWorldID world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreatePiston(world, group)); }
|
||
|
|
dPistonJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreatePiston(world, group)); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group=0)
|
||
|
|
{
|
||
|
|
destroy();
|
||
|
|
set_id(dJointCreatePiston(world, group));
|
||
|
|
}
|
||
|
|
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ create(world.id(), group); }
|
||
|
|
|
||
|
|
void setAnchor (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetPistonAnchor (get_id(), x, y, z); }
|
||
|
|
void setAnchor (const dVector3 a)
|
||
|
|
{ setAnchor (a[0], a[1], a[2]); }
|
||
|
|
void getAnchor (dVector3 result) const
|
||
|
|
{ dJointGetPistonAnchor (get_id(), result); }
|
||
|
|
void getAnchor2 (dVector3 result) const
|
||
|
|
{ dJointGetPistonAnchor2 (get_id(), result); }
|
||
|
|
|
||
|
|
void setAxis (dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetPistonAxis (get_id(), x, y, z); }
|
||
|
|
void setAxis (const dVector3 a)
|
||
|
|
{ setAxis(a[0], a[1], a[2]); }
|
||
|
|
void getAxis (dVector3 result) const
|
||
|
|
{ dJointGetPistonAxis (get_id(), result); }
|
||
|
|
|
||
|
|
dReal getPosition() const
|
||
|
|
{ return dJointGetPistonPosition (get_id()); }
|
||
|
|
dReal getPositionRate() const
|
||
|
|
{ return dJointGetPistonPositionRate (get_id()); }
|
||
|
|
|
||
|
|
virtual void setParam (int parameter, dReal value)
|
||
|
|
{ dJointSetPistonParam (get_id(), parameter, value); }
|
||
|
|
virtual dReal getParam (int parameter) const
|
||
|
|
{ return dJointGetPistonParam (get_id(), parameter); }
|
||
|
|
// TODO: expose params through methods
|
||
|
|
|
||
|
|
void addForce (dReal force)
|
||
|
|
{ dJointAddPistonForce (get_id(), force); }
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
|
||
|
|
class dFixedJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase>
|
||
|
|
{
|
||
|
|
private:
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dFixedJointTemplate (const dFixedJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
void operator = (const dFixedJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
|
||
|
|
|
||
|
|
dJointID get_id() const { return dBaseTemplate::get_id(); }
|
||
|
|
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
|
||
|
|
|
||
|
|
void destroy() { dBaseTemplate::destroy(); }
|
||
|
|
|
||
|
|
public:
|
||
|
|
dFixedJointTemplate() { }
|
||
|
|
dFixedJointTemplate (dWorldID world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreateFixed(world, group)); }
|
||
|
|
dFixedJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreateFixed(world, group)); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group=0) {
|
||
|
|
destroy();
|
||
|
|
set_id(dJointCreateFixed(world, group));
|
||
|
|
}
|
||
|
|
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ create(world.id(), group); }
|
||
|
|
|
||
|
|
void set()
|
||
|
|
{ dJointSetFixed (get_id()); }
|
||
|
|
|
||
|
|
virtual void setParam (int parameter, dReal value)
|
||
|
|
{ dJointSetFixedParam (get_id(), parameter, value); }
|
||
|
|
|
||
|
|
virtual dReal getParam (int parameter) const
|
||
|
|
{ return dJointGetFixedParam (get_id(), parameter); }
|
||
|
|
// TODO: expose params through methods
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
|
||
|
|
class dContactJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
|
||
|
|
private:
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dContactJointTemplate (const dContactJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
void operator = (const dContactJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
|
||
|
|
|
||
|
|
dJointID get_id() const { return dBaseTemplate::get_id(); }
|
||
|
|
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
|
||
|
|
|
||
|
|
void destroy() { dBaseTemplate::destroy(); }
|
||
|
|
|
||
|
|
public:
|
||
|
|
dContactJointTemplate() { }
|
||
|
|
dContactJointTemplate (dWorldID world, dJointGroupID group, dContact *contact)
|
||
|
|
{ set_id(dJointCreateContact(world, group, contact)); }
|
||
|
|
dContactJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group, dContact *contact)
|
||
|
|
{ set_id(dJointCreateContact(world.id(), group, contact)); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group, dContact *contact) {
|
||
|
|
destroy();
|
||
|
|
set_id(dJointCreateContact(world, group, contact));
|
||
|
|
}
|
||
|
|
|
||
|
|
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group, dContact *contact)
|
||
|
|
{ create(world.id(), group, contact); }
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
|
||
|
|
class dNullJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
|
||
|
|
private:
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dNullJointTemplate (const dNullJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
void operator = (const dNullJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
|
||
|
|
|
||
|
|
dJointID get_id() const { return dBaseTemplate::get_id(); }
|
||
|
|
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
|
||
|
|
|
||
|
|
void destroy() { dBaseTemplate::destroy(); }
|
||
|
|
|
||
|
|
public:
|
||
|
|
dNullJointTemplate() { }
|
||
|
|
dNullJointTemplate (dWorldID world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreateNull(world, group)); }
|
||
|
|
dNullJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreateNull (world.id(), group)); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group=0) {
|
||
|
|
destroy();
|
||
|
|
set_id(dJointCreateNull(world, group));
|
||
|
|
}
|
||
|
|
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ create(world.id(), group); }
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
|
||
|
|
class dAMotorJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
|
||
|
|
private:
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dAMotorJointTemplate (const dAMotorJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
void operator = (const dAMotorJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
|
||
|
|
|
||
|
|
dJointID get_id() const { return dBaseTemplate::get_id(); }
|
||
|
|
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
|
||
|
|
|
||
|
|
void destroy() { dBaseTemplate::destroy(); }
|
||
|
|
|
||
|
|
public:
|
||
|
|
dAMotorJointTemplate() { }
|
||
|
|
dAMotorJointTemplate (dWorldID world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreateAMotor(world, group)); }
|
||
|
|
dAMotorJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreateAMotor(world.id(), group)); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group=0) {
|
||
|
|
destroy();
|
||
|
|
set_id(dJointCreateAMotor(world, group));
|
||
|
|
}
|
||
|
|
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ create(world.id(), group); }
|
||
|
|
|
||
|
|
void setMode (int mode)
|
||
|
|
{ dJointSetAMotorMode (get_id(), mode); }
|
||
|
|
int getMode() const
|
||
|
|
{ return dJointGetAMotorMode (get_id()); }
|
||
|
|
|
||
|
|
void setNumAxes (int num)
|
||
|
|
{ dJointSetAMotorNumAxes (get_id(), num); }
|
||
|
|
int getNumAxes() const
|
||
|
|
{ return dJointGetAMotorNumAxes (get_id()); }
|
||
|
|
|
||
|
|
void setAxis (int anum, int rel, dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetAMotorAxis (get_id(), anum, rel, x, y, z); }
|
||
|
|
void setAxis (int anum, int rel, const dVector3 a)
|
||
|
|
{ setAxis(anum, rel, a[0], a[1], a[2]); }
|
||
|
|
void getAxis (int anum, dVector3 result) const
|
||
|
|
{ dJointGetAMotorAxis (get_id(), anum, result); }
|
||
|
|
int getAxisRel (int anum) const
|
||
|
|
{ return dJointGetAMotorAxisRel (get_id(), anum); }
|
||
|
|
|
||
|
|
void setAngle (int anum, dReal angle)
|
||
|
|
{ dJointSetAMotorAngle (get_id(), anum, angle); }
|
||
|
|
dReal getAngle (int anum) const
|
||
|
|
{ return dJointGetAMotorAngle (get_id(), anum); }
|
||
|
|
dReal getAngleRate (int anum)
|
||
|
|
{ return dJointGetAMotorAngleRate (get_id(), anum); }
|
||
|
|
|
||
|
|
void setParam (int parameter, dReal value)
|
||
|
|
{ dJointSetAMotorParam (get_id(), parameter, value); }
|
||
|
|
dReal getParam (int parameter) const
|
||
|
|
{ return dJointGetAMotorParam (get_id(), parameter); }
|
||
|
|
// TODO: expose params through methods
|
||
|
|
|
||
|
|
void addTorques(dReal torque1, dReal torque2, dReal torque3)
|
||
|
|
{ dJointAddAMotorTorques(get_id(), torque1, torque2, torque3); }
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
|
||
|
|
class dLMotorJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
|
||
|
|
private:
|
||
|
|
// intentionally undefined, don't use these
|
||
|
|
dLMotorJointTemplate (const dLMotorJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
void operator = (const dLMotorJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
|
||
|
|
|
||
|
|
dJointID get_id() const { return dBaseTemplate::get_id(); }
|
||
|
|
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
|
||
|
|
|
||
|
|
void destroy() { dBaseTemplate::destroy(); }
|
||
|
|
|
||
|
|
public:
|
||
|
|
dLMotorJointTemplate() { }
|
||
|
|
dLMotorJointTemplate (dWorldID world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreateLMotor(world, group)); }
|
||
|
|
dLMotorJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ set_id(dJointCreateLMotor(world.id(), group)); }
|
||
|
|
|
||
|
|
void create (dWorldID world, dJointGroupID group=0) {
|
||
|
|
destroy();
|
||
|
|
set_id(dJointCreateLMotor(world, group));
|
||
|
|
}
|
||
|
|
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
|
||
|
|
{ create(world.id(), group); }
|
||
|
|
|
||
|
|
void setNumAxes (int num)
|
||
|
|
{ dJointSetLMotorNumAxes (get_id(), num); }
|
||
|
|
int getNumAxes() const
|
||
|
|
{ return dJointGetLMotorNumAxes (get_id()); }
|
||
|
|
|
||
|
|
void setAxis (int anum, int rel, dReal x, dReal y, dReal z)
|
||
|
|
{ dJointSetLMotorAxis (get_id(), anum, rel, x, y, z); }
|
||
|
|
void setAxis (int anum, int rel, const dVector3 a)
|
||
|
|
{ setAxis(anum, rel, a[0], a[1], a[2]); }
|
||
|
|
void getAxis (int anum, dVector3 result) const
|
||
|
|
{ dJointGetLMotorAxis (get_id(), anum, result); }
|
||
|
|
|
||
|
|
void setParam (int parameter, dReal value)
|
||
|
|
{ dJointSetLMotorParam (get_id(), parameter, value); }
|
||
|
|
dReal getParam (int parameter) const
|
||
|
|
{ return dJointGetLMotorParam (get_id(), parameter); }
|
||
|
|
// TODO: expose params through methods
|
||
|
|
};
|
||
|
|
|
||
|
|
//}
|
||
|
|
|
||
|
|
#if !defined(dODECPP_WORLD_TEMPLATE_BASE)
|
||
|
|
|
||
|
|
#if defined(dODECPP_BODY_TEMPLATE_BASE) || defined(dODECPP_JOINTGROUP_TEMPLATE_BASE) || defined(dODECPP_JOINT_TEMPLATE_BASE)
|
||
|
|
#error All the odecpp template bases must be defined or not defined together
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#define dODECPP_WORLD_TEMPLATE_BASE dWorldDynamicIDContainer
|
||
|
|
#define dODECPP_BODY_TEMPLATE_BASE dBodyDynamicIDContainer
|
||
|
|
#define dODECPP_JOINTGROUP_TEMPLATE_BASE dJointGroupDynamicIDContainer
|
||
|
|
#define dODECPP_JOINT_TEMPLATE_BASE dJointDynamicIDContainer
|
||
|
|
|
||
|
|
#else // #if defined(dODECPP_WORLD_TEMPLATE_BASE)
|
||
|
|
|
||
|
|
#if !defined(dODECPP_BODY_TEMPLATE_BASE) || !defined(dODECPP_JOINTGROUP_TEMPLATE_BASE) || !defined(dODECPP_JOINT_TEMPLATE_BASE)
|
||
|
|
#error All the odecpp template bases must be defined or not defined together
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif // #if defined(dODECPP_WORLD_TEMPLATE_BASE)
|
||
|
|
|
||
|
|
|
||
|
|
typedef dWorldTemplate<dODECPP_WORLD_TEMPLATE_BASE> dWorld;
|
||
|
|
typedef dBodyTemplate<dODECPP_BODY_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE> dBody;
|
||
|
|
typedef dJointGroupTemplate<dODECPP_JOINTGROUP_TEMPLATE_BASE> dJointGroup;
|
||
|
|
typedef dJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dJoint;
|
||
|
|
typedef dBallJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dBallJoint;
|
||
|
|
typedef dHingeJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dHingeJoint;
|
||
|
|
typedef dSliderJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dSliderJoint;
|
||
|
|
typedef dScrewJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dScrewJoint;
|
||
|
|
typedef dUniversalJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dUniversalJoint;
|
||
|
|
typedef dHinge2JointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dHinge2Joint;
|
||
|
|
typedef dPRJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dPRJoint;
|
||
|
|
typedef dPUJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dPUJoint;
|
||
|
|
typedef dPistonJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dPistonJoint;
|
||
|
|
typedef dFixedJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dFixedJoint;
|
||
|
|
typedef dContactJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dContactJoint;
|
||
|
|
typedef dNullJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dNullJoint;
|
||
|
|
typedef dAMotorJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dAMotorJoint;
|
||
|
|
typedef dLMotorJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dLMotorJoint;
|
||
|
|
|
||
|
|
|
||
|
|
#endif
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// Local variables:
|
||
|
|
// mode:c++
|
||
|
|
// c-basic-offset:2
|
||
|
|
// End:
|