From fca74b0bf0a0833f5701e9c0de7b3bc15b2233dd Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:20:07 +0000 Subject: dont ask --- libraries/ode-0.9/include/ode/odecpp.h | 712 --------------------------------- 1 file changed, 712 deletions(-) delete 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 deleted file mode 100644 index 62161fd..0000000 --- a/libraries/ode-0.9/include/ode/odecpp.h +++ /dev/null @@ -1,712 +0,0 @@ -/************************************************************************* - * * - * 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