From 79eca25c945a535a7a0325999034bae17da92412 Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:15:33 +0000 Subject: resubmitting ode --- libraries/ode-0.9/include/ode/odecpp.h | 712 +++++++++++++++++++++++++++++++++ 1 file changed, 712 insertions(+) create mode 100644 libraries/ode-0.9/include/ode/odecpp.h (limited to 'libraries/ode-0.9/include/ode/odecpp.h') diff --git a/libraries/ode-0.9/include/ode/odecpp.h b/libraries/ode-0.9/include/ode/odecpp.h new file mode 100644 index 0000000..62161fd --- /dev/null +++ b/libraries/ode-0.9/include/ode/odecpp.h @@ -0,0 +1,712 @@ +/************************************************************************* + * * + * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * + * All rights reserved. Email: russ@q12.org Web: www.q12.org * + * * + * This library is free software; you can redistribute it and/or * + * modify it under the terms of EITHER: * + * (1) The GNU Lesser General Public License as published by the Free * + * Software Foundation; either version 2.1 of the License, or (at * + * your option) any later version. The text of the GNU Lesser * + * General Public License is included with this library in the * + * file LICENSE.TXT. * + * (2) The BSD-style license that is included with this library in * + * the file LICENSE-BSD.TXT. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * + * LICENSE.TXT and LICENSE-BSD.TXT for more details. * + * * + *************************************************************************/ + +/* C++ interface for non-collision stuff */ + + +#ifndef _ODE_ODECPP_H_ +#define _ODE_ODECPP_H_ +#ifdef __cplusplus + +#include + + +class dWorld { + dWorldID _id; + + // intentionally undefined, don't use these + dWorld (const dWorld &); + void operator= (const dWorld &); + +public: + dWorld() + { _id = dWorldCreate(); } + ~dWorld() + { dWorldDestroy (_id); } + + dWorldID id() const + { return _id; } + operator dWorldID() const + { return _id; } + + void setGravity (dReal x, dReal y, dReal z) + { dWorldSetGravity (_id,x,y,z); } + void getGravity (dVector3 g) const + { dWorldGetGravity (_id,g); } + + void setERP (dReal erp) + { dWorldSetERP(_id, erp); } + dReal getERP() const + { return dWorldGetERP(_id); } + + void setCFM (dReal cfm) + { dWorldSetCFM(_id, cfm); } + dReal getCFM() const + { return dWorldGetCFM(_id); } + + void step (dReal stepsize) + { dWorldStep (_id,stepsize); } + + void stepFast1 (dReal stepsize, int maxiterations) + { dWorldStepFast1 (_id,stepsize,maxiterations); } + void setAutoEnableDepthSF1(dWorldID, int depth) + { dWorldSetAutoEnableDepthSF1 (_id, depth); } + int getAutoEnableDepthSF1(dWorldID) + { return dWorldGetAutoEnableDepthSF1 (_id); } + + void setAutoDisableLinearThreshold (dReal threshold) + { dWorldSetAutoDisableLinearThreshold (_id,threshold); } + dReal getAutoDisableLinearThreshold() + { return dWorldGetAutoDisableLinearThreshold (_id); } + void setAutoDisableAngularThreshold (dReal threshold) + { dWorldSetAutoDisableAngularThreshold (_id,threshold); } + dReal getAutoDisableAngularThreshold() + { return dWorldGetAutoDisableAngularThreshold (_id); } + void setAutoDisableSteps (int steps) + { dWorldSetAutoDisableSteps (_id,steps); } + int getAutoDisableSteps() + { return dWorldGetAutoDisableSteps (_id); } + void setAutoDisableTime (dReal time) + { dWorldSetAutoDisableTime (_id,time); } + dReal getAutoDisableTime() + { return dWorldGetAutoDisableTime (_id); } + void setAutoDisableFlag (int do_auto_disable) + { dWorldSetAutoDisableFlag (_id,do_auto_disable); } + int getAutoDisableFlag() + { return dWorldGetAutoDisableFlag (_id); } + + void impulseToForce (dReal stepsize, dReal ix, dReal iy, dReal iz, + dVector3 force) + { dWorldImpulseToForce (_id,stepsize,ix,iy,iz,force); } +}; + + +class dBody { + dBodyID _id; + + // intentionally undefined, don't use these + dBody (const dBody &); + void operator= (const dBody &); + +public: + dBody() + { _id = 0; } + dBody (dWorldID world) + { _id = dBodyCreate (world); } + ~dBody() + { if (_id) dBodyDestroy (_id); } + + void create (dWorldID world) { + if (_id) dBodyDestroy (_id); + _id = dBodyCreate (world); + } + + dBodyID id() const + { return _id; } + operator dBodyID() const + { return _id; } + + void setData (void *data) + { dBodySetData (_id,data); } + void *getData() const + { return dBodyGetData (_id); } + + void setPosition (dReal x, dReal y, dReal z) + { dBodySetPosition (_id,x,y,z); } + void setRotation (const dMatrix3 R) + { dBodySetRotation (_id,R); } + void setQuaternion (const dQuaternion q) + { dBodySetQuaternion (_id,q); } + void setLinearVel (dReal x, dReal y, dReal z) + { dBodySetLinearVel (_id,x,y,z); } + void setAngularVel (dReal x, dReal y, dReal z) + { dBodySetAngularVel (_id,x,y,z); } + + const dReal * getPosition() const + { return dBodyGetPosition (_id); } + const dReal * getRotation() const + { return dBodyGetRotation (_id); } + const dReal * getQuaternion() const + { return dBodyGetQuaternion (_id); } + const dReal * getLinearVel() const + { return dBodyGetLinearVel (_id); } + const dReal * getAngularVel() const + { return dBodyGetAngularVel (_id); } + + void setMass (const dMass *mass) + { dBodySetMass (_id,mass); } + void getMass (dMass *mass) const + { dBodyGetMass (_id,mass); } + + void addForce (dReal fx, dReal fy, dReal fz) + { dBodyAddForce (_id, fx, fy, fz); } + void addTorque (dReal fx, dReal fy, dReal fz) + { dBodyAddTorque (_id, fx, fy, fz); } + void addRelForce (dReal fx, dReal fy, dReal fz) + { dBodyAddRelForce (_id, fx, fy, fz); } + void addRelTorque (dReal fx, dReal fy, dReal fz) + { dBodyAddRelTorque (_id, fx, fy, fz); } + void addForceAtPos (dReal fx, dReal fy, dReal fz, + dReal px, dReal py, dReal pz) + { dBodyAddForceAtPos (_id, fx, fy, fz, px, py, pz); } + void addForceAtRelPos (dReal fx, dReal fy, dReal fz, + dReal px, dReal py, dReal pz) + { dBodyAddForceAtRelPos (_id, fx, fy, fz, px, py, pz); } + void addRelForceAtPos (dReal fx, dReal fy, dReal fz, + dReal px, dReal py, dReal pz) + { dBodyAddRelForceAtPos (_id, fx, fy, fz, px, py, pz); } + void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz, + dReal px, dReal py, dReal pz) + { dBodyAddRelForceAtRelPos (_id, fx, fy, fz, px, py, pz); } + + const dReal * getForce() const + { return dBodyGetForce(_id); } + const dReal * getTorque() const + { return dBodyGetTorque(_id); } + void setForce (dReal x, dReal y, dReal z) + { dBodySetForce (_id,x,y,z); } + void setTorque (dReal x, dReal y, dReal z) + { dBodySetTorque (_id,x,y,z); } + + void enable() + { dBodyEnable (_id); } + void disable() + { dBodyDisable (_id); } + int isEnabled() const + { return dBodyIsEnabled (_id); } + + void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const + { dBodyGetRelPointPos (_id, px, py, pz, result); } + void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result) const + { dBodyGetRelPointVel (_id, px, py, pz, result); } + void getPointVel (dReal px, dReal py, dReal pz, dVector3 result) const + { dBodyGetPointVel (_id,px,py,pz,result); } + void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const + { dBodyGetPosRelPoint (_id,px,py,pz,result); } + void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const + { dBodyVectorToWorld (_id,px,py,pz,result); } + void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const + { dBodyVectorFromWorld (_id,px,py,pz,result); } + + void setFiniteRotationMode (int mode) + { dBodySetFiniteRotationMode (_id, mode); } + void setFiniteRotationAxis (dReal x, dReal y, dReal z) + { dBodySetFiniteRotationAxis (_id, x, y, z); } + + int getFiniteRotationMode() const + { return dBodyGetFiniteRotationMode (_id); } + void getFiniteRotationAxis (dVector3 result) const + { dBodyGetFiniteRotationAxis (_id, result); } + + int getNumJoints() const + { return dBodyGetNumJoints (_id); } + dJointID getJoint (int index) const + { return dBodyGetJoint (_id, index); } + + void setGravityMode (int mode) + { dBodySetGravityMode (_id,mode); } + int getGravityMode() const + { return dBodyGetGravityMode (_id); } + + int isConnectedTo (dBodyID body) const + { return dAreConnected (_id, body); } + + void setAutoDisableLinearThreshold (dReal threshold) + { dBodySetAutoDisableLinearThreshold (_id,threshold); } + dReal getAutoDisableLinearThreshold() + { return dBodyGetAutoDisableLinearThreshold (_id); } + void setAutoDisableAngularThreshold (dReal threshold) + { dBodySetAutoDisableAngularThreshold (_id,threshold); } + dReal getAutoDisableAngularThreshold() + { return dBodyGetAutoDisableAngularThreshold (_id); } + void setAutoDisableSteps (int steps) + { dBodySetAutoDisableSteps (_id,steps); } + int getAutoDisableSteps() + { return dBodyGetAutoDisableSteps (_id); } + void setAutoDisableTime (dReal time) + { dBodySetAutoDisableTime (_id,time); } + dReal getAutoDisableTime() + { return dBodyGetAutoDisableTime (_id); } + void setAutoDisableFlag (int do_auto_disable) + { dBodySetAutoDisableFlag (_id,do_auto_disable); } + int getAutoDisableFlag() + { return dBodyGetAutoDisableFlag (_id); } +}; + + +class dJointGroup { + dJointGroupID _id; + + // intentionally undefined, don't use these + dJointGroup (const dJointGroup &); + void operator= (const dJointGroup &); + +public: + dJointGroup (int dummy_arg=0) + { _id = dJointGroupCreate (0); } + ~dJointGroup() + { dJointGroupDestroy (_id); } + void create (int dummy_arg=0) { + if (_id) dJointGroupDestroy (_id); + _id = dJointGroupCreate (0); + } + + dJointGroupID id() const + { return _id; } + operator dJointGroupID() const + { return _id; } + + void empty() + { dJointGroupEmpty (_id); } +}; + + +class dJoint { +private: + // intentionally undefined, don't use these + dJoint (const dJoint &) ; + void operator= (const dJoint &); + +protected: + dJointID _id; + +public: + dJoint() + { _id = 0; } + ~dJoint() + { if (_id) dJointDestroy (_id); } + + dJointID id() const + { return _id; } + operator dJointID() const + { return _id; } + + void attach (dBodyID body1, dBodyID body2) + { dJointAttach (_id, body1, body2); } + + void setData (void *data) + { dJointSetData (_id, data); } + void *getData() const + { return dJointGetData (_id); } + + int getType() const + { return dJointGetType (_id); } + + dBodyID getBody (int index) const + { return dJointGetBody (_id, index); } + + void setFeedback(dJointFeedback *fb) + { dJointSetFeedback(_id, fb); } + dJointFeedback *getFeedback() const + { return dJointGetFeedback(_id); } +}; + + +class dBallJoint : public dJoint { +private: + // intentionally undefined, don't use these + dBallJoint (const dBallJoint &); + void operator= (const dBallJoint &); + +public: + dBallJoint() { } + dBallJoint (dWorldID world, dJointGroupID group=0) + { _id = dJointCreateBall (world, group); } + + void create (dWorldID world, dJointGroupID group=0) { + if (_id) dJointDestroy (_id); + _id = dJointCreateBall (world, group); + } + + void setAnchor (dReal x, dReal y, dReal z) + { dJointSetBallAnchor (_id, x, y, z); } + void getAnchor (dVector3 result) const + { dJointGetBallAnchor (_id, result); } + void getAnchor2 (dVector3 result) const + { dJointGetBallAnchor2 (_id, result); } + void setParam (int parameter, dReal value) + { dJointSetBallParam (_id, parameter, value); } + dReal getParam (int parameter) const + { return dJointGetBallParam (_id, parameter); } +} ; + + +class dHingeJoint : public dJoint { + // intentionally undefined, don't use these + dHingeJoint (const dHingeJoint &); + void operator = (const dHingeJoint &); + +public: + dHingeJoint() { } + dHingeJoint (dWorldID world, dJointGroupID group=0) + { _id = dJointCreateHinge (world, group); } + + void create (dWorldID world, dJointGroupID group=0) { + if (_id) dJointDestroy (_id); + _id = dJointCreateHinge (world, group); + } + + void setAnchor (dReal x, dReal y, dReal z) + { dJointSetHingeAnchor (_id, x, y, z); } + void getAnchor (dVector3 result) const + { dJointGetHingeAnchor (_id, result); } + void getAnchor2 (dVector3 result) const + { dJointGetHingeAnchor2 (_id, result); } + + void setAxis (dReal x, dReal y, dReal z) + { dJointSetHingeAxis (_id, x, y, z); } + void getAxis (dVector3 result) const + { dJointGetHingeAxis (_id, result); } + + dReal getAngle() const + { return dJointGetHingeAngle (_id); } + dReal getAngleRate() const + { return dJointGetHingeAngleRate (_id); } + + void setParam (int parameter, dReal value) + { dJointSetHingeParam (_id, parameter, value); } + dReal getParam (int parameter) const + { return dJointGetHingeParam (_id, parameter); } + + void addTorque (dReal torque) + { dJointAddHingeTorque(_id, torque); } +}; + + +class dSliderJoint : public dJoint { + // intentionally undefined, don't use these + dSliderJoint (const dSliderJoint &); + void operator = (const dSliderJoint &); + +public: + dSliderJoint() { } + dSliderJoint (dWorldID world, dJointGroupID group=0) + { _id = dJointCreateSlider (world, group); } + + void create (dWorldID world, dJointGroupID group=0) { + if (_id) dJointDestroy (_id); + _id = dJointCreateSlider (world, group); + } + + void setAxis (dReal x, dReal y, dReal z) + { dJointSetSliderAxis (_id, x, y, z); } + void getAxis (dVector3 result) const + { dJointGetSliderAxis (_id, result); } + + dReal getPosition() const + { return dJointGetSliderPosition (_id); } + dReal getPositionRate() const + { return dJointGetSliderPositionRate (_id); } + + void setParam (int parameter, dReal value) + { dJointSetSliderParam (_id, parameter, value); } + dReal getParam (int parameter) const + { return dJointGetSliderParam (_id, parameter); } + + void addForce (dReal force) + { dJointAddSliderForce(_id, force); } +}; + + +class dUniversalJoint : public dJoint { + // intentionally undefined, don't use these + dUniversalJoint (const dUniversalJoint &); + void operator = (const dUniversalJoint &); + +public: + dUniversalJoint() { } + dUniversalJoint (dWorldID world, dJointGroupID group=0) + { _id = dJointCreateUniversal (world, group); } + + void create (dWorldID world, dJointGroupID group=0) { + if (_id) dJointDestroy (_id); + _id = dJointCreateUniversal (world, group); + } + + void setAnchor (dReal x, dReal y, dReal z) + { dJointSetUniversalAnchor (_id, x, y, z); } + void setAxis1 (dReal x, dReal y, dReal z) + { dJointSetUniversalAxis1 (_id, x, y, z); } + void setAxis2 (dReal x, dReal y, dReal z) + { dJointSetUniversalAxis2 (_id, x, y, z); } + void setParam (int parameter, dReal value) + { dJointSetUniversalParam (_id, parameter, value); } + + void getAnchor (dVector3 result) const + { dJointGetUniversalAnchor (_id, result); } + void getAnchor2 (dVector3 result) const + { dJointGetUniversalAnchor2 (_id, result); } + void getAxis1 (dVector3 result) const + { dJointGetUniversalAxis1 (_id, result); } + void getAxis2 (dVector3 result) const + { dJointGetUniversalAxis2 (_id, result); } + dReal getParam (int parameter) const + { return dJointGetUniversalParam (_id, parameter); } + void getAngles(dReal *angle1, dReal *angle2) const + { dJointGetUniversalAngles (_id, angle1, angle2); } + + dReal getAngle1() const + { return dJointGetUniversalAngle1 (_id); } + dReal getAngle1Rate() const + { return dJointGetUniversalAngle1Rate (_id); } + dReal getAngle2() const + { return dJointGetUniversalAngle2 (_id); } + dReal getAngle2Rate() const + { return dJointGetUniversalAngle2Rate (_id); } + + void addTorques (dReal torque1, dReal torque2) + { dJointAddUniversalTorques(_id, torque1, torque2); } +}; + + +class dHinge2Joint : public dJoint { + // intentionally undefined, don't use these + dHinge2Joint (const dHinge2Joint &); + void operator = (const dHinge2Joint &); + +public: + dHinge2Joint() { } + dHinge2Joint (dWorldID world, dJointGroupID group=0) + { _id = dJointCreateHinge2 (world, group); } + + void create (dWorldID world, dJointGroupID group=0) { + if (_id) dJointDestroy (_id); + _id = dJointCreateHinge2 (world, group); + } + + void setAnchor (dReal x, dReal y, dReal z) + { dJointSetHinge2Anchor (_id, x, y, z); } + void setAxis1 (dReal x, dReal y, dReal z) + { dJointSetHinge2Axis1 (_id, x, y, z); } + void setAxis2 (dReal x, dReal y, dReal z) + { dJointSetHinge2Axis2 (_id, x, y, z); } + + void getAnchor (dVector3 result) const + { dJointGetHinge2Anchor (_id, result); } + void getAnchor2 (dVector3 result) const + { dJointGetHinge2Anchor2 (_id, result); } + void getAxis1 (dVector3 result) const + { dJointGetHinge2Axis1 (_id, result); } + void getAxis2 (dVector3 result) const + { dJointGetHinge2Axis2 (_id, result); } + + dReal getAngle1() const + { return dJointGetHinge2Angle1 (_id); } + dReal getAngle1Rate() const + { return dJointGetHinge2Angle1Rate (_id); } + dReal getAngle2Rate() const + { return dJointGetHinge2Angle2Rate (_id); } + + void setParam (int parameter, dReal value) + { dJointSetHinge2Param (_id, parameter, value); } + dReal getParam (int parameter) const + { return dJointGetHinge2Param (_id, parameter); } + + void addTorques(dReal torque1, dReal torque2) + { dJointAddHinge2Torques(_id, torque1, torque2); } +}; + + +class dPRJoint : public dJoint { + dPRJoint (const dPRJoint &); + void operator = (const dPRJoint &); + +public: + dPRJoint() { } + dPRJoint (dWorldID world, dJointGroupID group=0) + { _id = dJointCreatePR (world, group); } + + void create (dWorldID world, dJointGroupID group=0) { + if (_id) dJointDestroy (_id); + _id = dJointCreatePR (world, group); + } + + void setAnchor (dReal x, dReal y, dReal z) + { dJointSetPRAnchor (_id, x, y, z); } + void setAxis1 (dReal x, dReal y, dReal z) + { dJointSetPRAxis1 (_id, x, y, z); } + void setAxis2 (dReal x, dReal y, dReal z) + { dJointSetPRAxis2 (_id, x, y, z); } + + void getAnchor (dVector3 result) const + { dJointGetPRAnchor (_id, result); } + void getAxis1 (dVector3 result) const + { dJointGetPRAxis1 (_id, result); } + void getAxis2 (dVector3 result) const + { dJointGetPRAxis2 (_id, result); } + + dReal getPosition() const + { return dJointGetPRPosition (_id); } + dReal getPositionRate() const + { return dJointGetPRPositionRate (_id); } + + void setParam (int parameter, dReal value) + { dJointSetPRParam (_id, parameter, value); } + dReal getParam (int parameter) const + { return dJointGetPRParam (_id, parameter); } +}; + + +class dFixedJoint : public dJoint { + // intentionally undefined, don't use these + dFixedJoint (const dFixedJoint &); + void operator = (const dFixedJoint &); + +public: + dFixedJoint() { } + dFixedJoint (dWorldID world, dJointGroupID group=0) + { _id = dJointCreateFixed (world, group); } + + void create (dWorldID world, dJointGroupID group=0) { + if (_id) dJointDestroy (_id); + _id = dJointCreateFixed (world, group); + } + + void set() + { dJointSetFixed (_id); } + + void setParam (int parameter, dReal value) + { dJointSetFixedParam (_id, parameter, value); } + + dReal getParam (int parameter) const + { return dJointGetFixedParam (_id, parameter); } +}; + + +class dContactJoint : public dJoint { + // intentionally undefined, don't use these + dContactJoint (const dContactJoint &); + void operator = (const dContactJoint &); + +public: + dContactJoint() { } + dContactJoint (dWorldID world, dJointGroupID group, dContact *contact) + { _id = dJointCreateContact (world, group, contact); } + + void create (dWorldID world, dJointGroupID group, dContact *contact) { + if (_id) dJointDestroy (_id); + _id = dJointCreateContact (world, group, contact); + } +}; + + +class dNullJoint : public dJoint { + // intentionally undefined, don't use these + dNullJoint (const dNullJoint &); + void operator = (const dNullJoint &); + +public: + dNullJoint() { } + dNullJoint (dWorldID world, dJointGroupID group=0) + { _id = dJointCreateNull (world, group); } + + void create (dWorldID world, dJointGroupID group=0) { + if (_id) dJointDestroy (_id); + _id = dJointCreateNull (world, group); + } +}; + + +class dAMotorJoint : public dJoint { + // intentionally undefined, don't use these + dAMotorJoint (const dAMotorJoint &); + void operator = (const dAMotorJoint &); + +public: + dAMotorJoint() { } + dAMotorJoint (dWorldID world, dJointGroupID group=0) + { _id = dJointCreateAMotor (world, group); } + + void create (dWorldID world, dJointGroupID group=0) { + if (_id) dJointDestroy (_id); + _id = dJointCreateAMotor (world, group); + } + + void setMode (int mode) + { dJointSetAMotorMode (_id, mode); } + int getMode() const + { return dJointGetAMotorMode (_id); } + + void setNumAxes (int num) + { dJointSetAMotorNumAxes (_id, num); } + int getNumAxes() const + { return dJointGetAMotorNumAxes (_id); } + + void setAxis (int anum, int rel, dReal x, dReal y, dReal z) + { dJointSetAMotorAxis (_id, anum, rel, x, y, z); } + void getAxis (int anum, dVector3 result) const + { dJointGetAMotorAxis (_id, anum, result); } + int getAxisRel (int anum) const + { return dJointGetAMotorAxisRel (_id, anum); } + + void setAngle (int anum, dReal angle) + { dJointSetAMotorAngle (_id, anum, angle); } + dReal getAngle (int anum) const + { return dJointGetAMotorAngle (_id, anum); } + dReal getAngleRate (int anum) + { return dJointGetAMotorAngleRate (_id,anum); } + + void setParam (int parameter, dReal value) + { dJointSetAMotorParam (_id, parameter, value); } + dReal getParam (int parameter) const + { return dJointGetAMotorParam (_id, parameter); } + + void addTorques(dReal torque1, dReal torque2, dReal torque3) + { dJointAddAMotorTorques(_id, torque1, torque2, torque3); } +}; + + +class dLMotorJoint : public dJoint { + // intentionally undefined, don't use these + dLMotorJoint (const dLMotorJoint &); + void operator = (const dLMotorJoint &); + +public: + dLMotorJoint() { } + dLMotorJoint (dWorldID world, dJointGroupID group=0) + { _id = dJointCreateLMotor (world, group); } + + void create (dWorldID world, dJointGroupID group=0) { + if (_id) dJointDestroy (_id); + _id = dJointCreateLMotor (world, group); + } + + void setNumAxes (int num) + { dJointSetLMotorNumAxes (_id, num); } + int getNumAxes() const + { return dJointGetLMotorNumAxes (_id); } + + void setAxis (int anum, int rel, dReal x, dReal y, dReal z) + { dJointSetLMotorAxis (_id, anum, rel, x, y, z); } + void getAxis (int anum, dVector3 result) const + { dJointGetLMotorAxis (_id, anum, result); } + + void setParam (int parameter, dReal value) + { dJointSetLMotorParam (_id, parameter, value); } + dReal getParam (int parameter) const + { return dJointGetLMotorParam (_id, parameter); } +}; + + + +#endif +#endif -- cgit v1.1