resubmitting ode

1 files changed, 252 insertions, 0 deletions

diff --git a/libraries/ode-0.9/contrib/BreakableJoints/objects.h b/libraries/ode-0.9/contrib/BreakableJoints/objects.h
new file mode 100644
index 0000000..de08391
--- /dev/null
+++ b/libraries/ode-0.9/contrib/BreakableJoints/objects.h
@@ -0,0 +1,252 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_OBJECTS_H_
+#define _ODE_OBJECTS_H_
+
+#include <ode/common.h>
+#include <ode/mass.h>
+#include <ode/contact.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* world */
+
+dWorldID dWorldCreate();
+void dWorldDestroy (dWorldID);
+
+void dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z);
+void dWorldGetGravity (dWorldID, dVector3 gravity);
+void dWorldSetERP (dWorldID, dReal erp);
+dReal dWorldGetERP (dWorldID);
+void dWorldSetCFM (dWorldID, dReal cfm);
+dReal dWorldGetCFM (dWorldID);
+void dWorldStep (dWorldID, dReal stepsize);
+void dWorldImpulseToForce (dWorldID, dReal stepsize,
+                           dReal ix, dReal iy, dReal iz, dVector3 force);
+
+/* StepFast1 functions */
+
+void dWorldStepFast1(dWorldID, dReal stepsize, int maxiterations);
+void dWorldSetAutoEnableDepthSF1(dWorldID, int autoEnableDepth);
+
+int dWorldGetAutoEnableDepthSF1(dWorldID);
+
+void dBodySetAutoDisableThresholdSF1(dBodyID, dReal autoDisableThreshold);
+
+/* These functions are not yet implemented by ODE. */
+/*
+dReal dBodyGetAutoDisableThresholdSF1(dBodyID);
+
+void dBodySetAutoDisableStepsSF1(dBodyID, int AutoDisableSteps);
+
+int dBodyGetAutoDisableStepsSF1(dBodyID);
+
+void dBodySetAutoDisableSF1(dBodyID, int doAutoDisable);
+
+int dBodyGetAutoDisableSF1(dBodyID);
+*/
+
+/* bodies */
+
+dBodyID dBodyCreate (dWorldID);
+void dBodyDestroy (dBodyID);
+
+void  dBodySetData (dBodyID, void *data);
+void *dBodyGetData (dBodyID);
+
+void dBodySetPosition   (dBodyID, dReal x, dReal y, dReal z);
+void dBodySetRotation   (dBodyID, const dMatrix3 R);
+void dBodySetQuaternion (dBodyID, const dQuaternion q);
+void dBodySetLinearVel  (dBodyID, dReal x, dReal y, dReal z);
+void dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z);
+const dReal * dBodyGetPosition   (dBodyID);
+const dReal * dBodyGetRotation   (dBodyID);     /* ptr to 4x3 rot matrix */
+const dReal * dBodyGetQuaternion (dBodyID);
+const dReal * dBodyGetLinearVel  (dBodyID);
+const dReal * dBodyGetAngularVel (dBodyID);
+
+void dBodySetMass (dBodyID, const dMass *mass);
+void dBodyGetMass (dBodyID, dMass *mass);
+
+void dBodyAddForce            (dBodyID, dReal fx, dReal fy, dReal fz);
+void dBodyAddTorque           (dBodyID, dReal fx, dReal fy, dReal fz);
+void dBodyAddRelForce         (dBodyID, dReal fx, dReal fy, dReal fz);
+void dBodyAddRelTorque        (dBodyID, dReal fx, dReal fy, dReal fz);
+void dBodyAddForceAtPos       (dBodyID, dReal fx, dReal fy, dReal fz,
+                                        dReal px, dReal py, dReal pz);
+void dBodyAddForceAtRelPos    (dBodyID, dReal fx, dReal fy, dReal fz,
+                                        dReal px, dReal py, dReal pz);
+void dBodyAddRelForceAtPos    (dBodyID, dReal fx, dReal fy, dReal fz,
+                                        dReal px, dReal py, dReal pz);
+void dBodyAddRelForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz,
+                                        dReal px, dReal py, dReal pz);
+
+const dReal * dBodyGetForce   (dBodyID);
+const dReal * dBodyGetTorque  (dBodyID);
+void dBodySetForce  (dBodyID b, dReal x, dReal y, dReal z);
+void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z);
+
+void dBodyGetRelPointPos    (dBodyID, dReal px, dReal py, dReal pz,
+                             dVector3 result);
+void dBodyGetRelPointVel    (dBodyID, dReal px, dReal py, dReal pz,
+                             dVector3 result);
+void dBodyGetPointVel       (dBodyID, dReal px, dReal py, dReal pz,
+                             dVector3 result);
+void dBodyGetPosRelPoint    (dBodyID, dReal px, dReal py, dReal pz,
+                             dVector3 result);
+void dBodyVectorToWorld     (dBodyID, dReal px, dReal py, dReal pz,
+                             dVector3 result);
+void dBodyVectorFromWorld   (dBodyID, dReal px, dReal py, dReal pz,
+                             dVector3 result);
+
+void dBodySetFiniteRotationMode (dBodyID, int mode);
+void dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z);
+
+int dBodyGetFiniteRotationMode (dBodyID);
+void dBodyGetFiniteRotationAxis (dBodyID, dVector3 result);
+
+int dBodyGetNumJoints (dBodyID b);
+dJointID dBodyGetJoint (dBodyID, int index);
+
+void dBodyEnable (dBodyID);
+void dBodyDisable (dBodyID);
+int dBodyIsEnabled (dBodyID);
+
+void dBodySetGravityMode (dBodyID b, int mode);
+int dBodyGetGravityMode (dBodyID b);
+
+
+/* joints */
+
+dJointID dJointCreateBall (dWorldID, dJointGroupID);
+dJointID dJointCreateHinge (dWorldID, dJointGroupID);
+dJointID dJointCreateSlider (dWorldID, dJointGroupID);
+dJointID dJointCreateContact (dWorldID, dJointGroupID, const dContact *);
+dJointID dJointCreateHinge2 (dWorldID, dJointGroupID);
+dJointID dJointCreateUniversal (dWorldID, dJointGroupID);
+dJointID dJointCreateFixed (dWorldID, dJointGroupID);
+dJointID dJointCreateNull (dWorldID, dJointGroupID);
+dJointID dJointCreateAMotor (dWorldID, dJointGroupID);
+
+void dJointDestroy (dJointID);
+
+dJointGroupID dJointGroupCreate (int max_size);
+void dJointGroupDestroy (dJointGroupID);
+void dJointGroupEmpty (dJointGroupID);
+
+void dJointAttach (dJointID, dBodyID body1, dBodyID body2);
+void dJointSetData (dJointID, void *data);
+void *dJointGetData (dJointID);
+int dJointGetType (dJointID);
+dBodyID dJointGetBody (dJointID, int index);
+
+void dJointSetFeedback (dJointID, dJointFeedback *);
+dJointFeedback *dJointGetFeedback (dJointID);
+
+/******************** breakable joint contribution ***********************/
+void dJointSetBreakable (dJointID, int b);
+void dJointSetBreakCallback (dJointID, dJointBreakCallback *callbackFunc);
+void dJointSetBreakMode (dJointID, int mode);
+int dJointGetBreakMode (dJointID);
+void dJointSetBreakForce (dJointID, int body, dReal x, dReal y, dReal z);
+void dJointSetBreakTorque (dJointID, int body, dReal x, dReal y, dReal z);
+int dJointIsBreakable (dJointID);
+void dJointGetBreakForce (dJointID, int body, dReal *force);
+void dJointGetBreakTorque (dJointID, int body, dReal *torque);
+/*************************************************************************/
+
+void dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z);
+void dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z);
+void dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z);
+void dJointSetHingeParam (dJointID, int parameter, dReal value);
+void dJointAddHingeTorque(dJointID joint, dReal torque);
+void dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z);
+void dJointSetSliderParam (dJointID, int parameter, dReal value);
+void dJointAddSliderForce(dJointID joint, dReal force);
+void dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z);
+void dJointSetHinge2Axis1 (dJointID, dReal x, dReal y, dReal z);
+void dJointSetHinge2Axis2 (dJointID, dReal x, dReal y, dReal z);
+void dJointSetHinge2Param (dJointID, int parameter, dReal value);
+void dJointAddHinge2Torques(dJointID joint, dReal torque1, dReal torque2);
+void dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z);
+void dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z);
+void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z);
+void dJointSetUniversalParam (dJointID, int parameter, dReal value);
+void dJointAddUniversalTorques(dJointID joint, dReal torque1, dReal torque2);
+void dJointSetFixed (dJointID);
+void dJointSetAMotorNumAxes (dJointID, int num);
+void dJointSetAMotorAxis (dJointID, int anum, int rel,
+                          dReal x, dReal y, dReal z);
+void dJointSetAMotorAngle (dJointID, int anum, dReal angle);
+void dJointSetAMotorParam (dJointID, int parameter, dReal value);
+void dJointSetAMotorMode (dJointID, int mode);
+void dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3);
+
+void dJointGetBallAnchor (dJointID, dVector3 result);
+void dJointGetBallAnchor2 (dJointID, dVector3 result);
+void dJointGetHingeAnchor (dJointID, dVector3 result);
+void dJointGetHingeAnchor2 (dJointID, dVector3 result);
+void dJointGetHingeAxis (dJointID, dVector3 result);
+dReal dJointGetHingeParam (dJointID, int parameter);
+dReal dJointGetHingeAngle (dJointID);
+dReal dJointGetHingeAngleRate (dJointID);
+dReal dJointGetSliderPosition (dJointID);
+dReal dJointGetSliderPositionRate (dJointID);
+void dJointGetSliderAxis (dJointID, dVector3 result);
+dReal dJointGetSliderParam (dJointID, int parameter);
+void dJointGetHinge2Anchor (dJointID, dVector3 result);
+void dJointGetHinge2Anchor2 (dJointID, dVector3 result);
+void dJointGetHinge2Axis1 (dJointID, dVector3 result);
+void dJointGetHinge2Axis2 (dJointID, dVector3 result);
+dReal dJointGetHinge2Param (dJointID, int parameter);
+dReal dJointGetHinge2Angle1 (dJointID);
+dReal dJointGetHinge2Angle1Rate (dJointID);
+dReal dJointGetHinge2Angle2Rate (dJointID);
+void dJointGetUniversalAnchor (dJointID, dVector3 result);
+void dJointGetUniversalAnchor2 (dJointID, dVector3 result);
+void dJointGetUniversalAxis1 (dJointID, dVector3 result);
+void dJointGetUniversalAxis2 (dJointID, dVector3 result);
+dReal dJointGetUniversalParam (dJointID, int parameter);
+dReal dJointGetUniversalAngle1 (dJointID);
+dReal dJointGetUniversalAngle2 (dJointID);
+dReal dJointGetUniversalAngle1Rate (dJointID);
+dReal dJointGetUniversalAngle2Rate (dJointID);
+int dJointGetAMotorNumAxes (dJointID);
+void dJointGetAMotorAxis (dJointID, int anum, dVector3 result);
+int dJointGetAMotorAxisRel (dJointID, int anum);
+dReal dJointGetAMotorAngle (dJointID, int anum);
+dReal dJointGetAMotorAngleRate (dJointID, int anum);
+dReal dJointGetAMotorParam (dJointID, int parameter);
+int dJointGetAMotorMode (dJointID);
+
+int dAreConnected (dBodyID, dBodyID);
+int dAreConnectedExcluding (dBodyID, dBodyID, int joint_type);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif