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1/*************************************************************************
2 * *
3 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
4 * All rights reserved. Email: russ@q12.org Web: www.q12.org *
5 * *
6 * This library is free software; you can redistribute it and/or *
7 * modify it under the terms of EITHER: *
8 * (1) The GNU Lesser General Public License as published by the Free *
9 * Software Foundation; either version 2.1 of the License, or (at *
10 * your option) any later version. The text of the GNU Lesser *
11 * General Public License is included with this library in the *
12 * file LICENSE.TXT. *
13 * (2) The BSD-style license that is included with this library in *
14 * the file LICENSE-BSD.TXT. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
19 * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
20 * *
21 *************************************************************************/
22
23#ifndef _ODE_OBJECTS_H_
24#define _ODE_OBJECTS_H_
25
26#include <ode/common.h>
27#include <ode/mass.h>
28#include <ode/contact.h>
29
30#ifdef __cplusplus
31extern "C" {
32#endif
33
34/* world */
35
36dWorldID dWorldCreate();
37void dWorldDestroy (dWorldID);
38
39void dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z);
40void dWorldGetGravity (dWorldID, dVector3 gravity);
41void dWorldSetERP (dWorldID, dReal erp);
42dReal dWorldGetERP (dWorldID);
43void dWorldSetCFM (dWorldID, dReal cfm);
44dReal dWorldGetCFM (dWorldID);
45void dWorldStep (dWorldID, dReal stepsize);
46void dWorldImpulseToForce (dWorldID, dReal stepsize,
47 dReal ix, dReal iy, dReal iz, dVector3 force);
48
49/* StepFast1 functions */
50
51void dWorldStepFast1(dWorldID, dReal stepsize, int maxiterations);
52void dWorldSetAutoEnableDepthSF1(dWorldID, int autoEnableDepth);
53
54int dWorldGetAutoEnableDepthSF1(dWorldID);
55
56void dBodySetAutoDisableThresholdSF1(dBodyID, dReal autoDisableThreshold);
57
58/* These functions are not yet implemented by ODE. */
59/*
60dReal dBodyGetAutoDisableThresholdSF1(dBodyID);
61
62void dBodySetAutoDisableStepsSF1(dBodyID, int AutoDisableSteps);
63
64int dBodyGetAutoDisableStepsSF1(dBodyID);
65
66void dBodySetAutoDisableSF1(dBodyID, int doAutoDisable);
67
68int dBodyGetAutoDisableSF1(dBodyID);
69*/
70
71/* bodies */
72
73dBodyID dBodyCreate (dWorldID);
74void dBodyDestroy (dBodyID);
75
76void dBodySetData (dBodyID, void *data);
77void *dBodyGetData (dBodyID);
78
79void dBodySetPosition (dBodyID, dReal x, dReal y, dReal z);
80void dBodySetRotation (dBodyID, const dMatrix3 R);
81void dBodySetQuaternion (dBodyID, const dQuaternion q);
82void dBodySetLinearVel (dBodyID, dReal x, dReal y, dReal z);
83void dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z);
84const dReal * dBodyGetPosition (dBodyID);
85const dReal * dBodyGetRotation (dBodyID); /* ptr to 4x3 rot matrix */
86const dReal * dBodyGetQuaternion (dBodyID);
87const dReal * dBodyGetLinearVel (dBodyID);
88const dReal * dBodyGetAngularVel (dBodyID);
89
90void dBodySetMass (dBodyID, const dMass *mass);
91void dBodyGetMass (dBodyID, dMass *mass);
92
93void dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz);
94void dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz);
95void dBodyAddRelForce (dBodyID, dReal fx, dReal fy, dReal fz);
96void dBodyAddRelTorque (dBodyID, dReal fx, dReal fy, dReal fz);
97void dBodyAddForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz,
98 dReal px, dReal py, dReal pz);
99void dBodyAddForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz,
100 dReal px, dReal py, dReal pz);
101void dBodyAddRelForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz,
102 dReal px, dReal py, dReal pz);
103void dBodyAddRelForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz,
104 dReal px, dReal py, dReal pz);
105
106const dReal * dBodyGetForce (dBodyID);
107const dReal * dBodyGetTorque (dBodyID);
108void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z);
109void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z);
110
111void dBodyGetRelPointPos (dBodyID, dReal px, dReal py, dReal pz,
112 dVector3 result);
113void dBodyGetRelPointVel (dBodyID, dReal px, dReal py, dReal pz,
114 dVector3 result);
115void dBodyGetPointVel (dBodyID, dReal px, dReal py, dReal pz,
116 dVector3 result);
117void dBodyGetPosRelPoint (dBodyID, dReal px, dReal py, dReal pz,
118 dVector3 result);
119void dBodyVectorToWorld (dBodyID, dReal px, dReal py, dReal pz,
120 dVector3 result);
121void dBodyVectorFromWorld (dBodyID, dReal px, dReal py, dReal pz,
122 dVector3 result);
123
124void dBodySetFiniteRotationMode (dBodyID, int mode);
125void dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z);
126
127int dBodyGetFiniteRotationMode (dBodyID);
128void dBodyGetFiniteRotationAxis (dBodyID, dVector3 result);
129
130int dBodyGetNumJoints (dBodyID b);
131dJointID dBodyGetJoint (dBodyID, int index);
132
133void dBodyEnable (dBodyID);
134void dBodyDisable (dBodyID);
135int dBodyIsEnabled (dBodyID);
136
137void dBodySetGravityMode (dBodyID b, int mode);
138int dBodyGetGravityMode (dBodyID b);
139
140
141/* joints */
142
143dJointID dJointCreateBall (dWorldID, dJointGroupID);
144dJointID dJointCreateHinge (dWorldID, dJointGroupID);
145dJointID dJointCreateSlider (dWorldID, dJointGroupID);
146dJointID dJointCreateContact (dWorldID, dJointGroupID, const dContact *);
147dJointID dJointCreateHinge2 (dWorldID, dJointGroupID);
148dJointID dJointCreateUniversal (dWorldID, dJointGroupID);
149dJointID dJointCreateFixed (dWorldID, dJointGroupID);
150dJointID dJointCreateNull (dWorldID, dJointGroupID);
151dJointID dJointCreateAMotor (dWorldID, dJointGroupID);
152
153void dJointDestroy (dJointID);
154
155dJointGroupID dJointGroupCreate (int max_size);
156void dJointGroupDestroy (dJointGroupID);
157void dJointGroupEmpty (dJointGroupID);
158
159void dJointAttach (dJointID, dBodyID body1, dBodyID body2);
160void dJointSetData (dJointID, void *data);
161void *dJointGetData (dJointID);
162int dJointGetType (dJointID);
163dBodyID dJointGetBody (dJointID, int index);
164
165void dJointSetFeedback (dJointID, dJointFeedback *);
166dJointFeedback *dJointGetFeedback (dJointID);
167
168/******************** breakable joint contribution ***********************/
169void dJointSetBreakable (dJointID, int b);
170void dJointSetBreakCallback (dJointID, dJointBreakCallback *callbackFunc);
171void dJointSetBreakMode (dJointID, int mode);
172int dJointGetBreakMode (dJointID);
173void dJointSetBreakForce (dJointID, int body, dReal x, dReal y, dReal z);
174void dJointSetBreakTorque (dJointID, int body, dReal x, dReal y, dReal z);
175int dJointIsBreakable (dJointID);
176void dJointGetBreakForce (dJointID, int body, dReal *force);
177void dJointGetBreakTorque (dJointID, int body, dReal *torque);
178/*************************************************************************/
179
180void dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z);
181void dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z);
182void dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z);
183void dJointSetHingeParam (dJointID, int parameter, dReal value);
184void dJointAddHingeTorque(dJointID joint, dReal torque);
185void dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z);
186void dJointSetSliderParam (dJointID, int parameter, dReal value);
187void dJointAddSliderForce(dJointID joint, dReal force);
188void dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z);
189void dJointSetHinge2Axis1 (dJointID, dReal x, dReal y, dReal z);
190void dJointSetHinge2Axis2 (dJointID, dReal x, dReal y, dReal z);
191void dJointSetHinge2Param (dJointID, int parameter, dReal value);
192void dJointAddHinge2Torques(dJointID joint, dReal torque1, dReal torque2);
193void dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z);
194void dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z);
195void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z);
196void dJointSetUniversalParam (dJointID, int parameter, dReal value);
197void dJointAddUniversalTorques(dJointID joint, dReal torque1, dReal torque2);
198void dJointSetFixed (dJointID);
199void dJointSetAMotorNumAxes (dJointID, int num);
200void dJointSetAMotorAxis (dJointID, int anum, int rel,
201 dReal x, dReal y, dReal z);
202void dJointSetAMotorAngle (dJointID, int anum, dReal angle);
203void dJointSetAMotorParam (dJointID, int parameter, dReal value);
204void dJointSetAMotorMode (dJointID, int mode);
205void dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3);
206
207void dJointGetBallAnchor (dJointID, dVector3 result);
208void dJointGetBallAnchor2 (dJointID, dVector3 result);
209void dJointGetHingeAnchor (dJointID, dVector3 result);
210void dJointGetHingeAnchor2 (dJointID, dVector3 result);
211void dJointGetHingeAxis (dJointID, dVector3 result);
212dReal dJointGetHingeParam (dJointID, int parameter);
213dReal dJointGetHingeAngle (dJointID);
214dReal dJointGetHingeAngleRate (dJointID);
215dReal dJointGetSliderPosition (dJointID);
216dReal dJointGetSliderPositionRate (dJointID);
217void dJointGetSliderAxis (dJointID, dVector3 result);
218dReal dJointGetSliderParam (dJointID, int parameter);
219void dJointGetHinge2Anchor (dJointID, dVector3 result);
220void dJointGetHinge2Anchor2 (dJointID, dVector3 result);
221void dJointGetHinge2Axis1 (dJointID, dVector3 result);
222void dJointGetHinge2Axis2 (dJointID, dVector3 result);
223dReal dJointGetHinge2Param (dJointID, int parameter);
224dReal dJointGetHinge2Angle1 (dJointID);
225dReal dJointGetHinge2Angle1Rate (dJointID);
226dReal dJointGetHinge2Angle2Rate (dJointID);
227void dJointGetUniversalAnchor (dJointID, dVector3 result);
228void dJointGetUniversalAnchor2 (dJointID, dVector3 result);
229void dJointGetUniversalAxis1 (dJointID, dVector3 result);
230void dJointGetUniversalAxis2 (dJointID, dVector3 result);
231dReal dJointGetUniversalParam (dJointID, int parameter);
232dReal dJointGetUniversalAngle1 (dJointID);
233dReal dJointGetUniversalAngle2 (dJointID);
234dReal dJointGetUniversalAngle1Rate (dJointID);
235dReal dJointGetUniversalAngle2Rate (dJointID);
236int dJointGetAMotorNumAxes (dJointID);
237void dJointGetAMotorAxis (dJointID, int anum, dVector3 result);
238int dJointGetAMotorAxisRel (dJointID, int anum);
239dReal dJointGetAMotorAngle (dJointID, int anum);
240dReal dJointGetAMotorAngleRate (dJointID, int anum);
241dReal dJointGetAMotorParam (dJointID, int parameter);
242int dJointGetAMotorMode (dJointID);
243
244int dAreConnected (dBodyID, dBodyID);
245int dAreConnectedExcluding (dBodyID, dBodyID, int joint_type);
246
247
248#ifdef __cplusplus
249}
250#endif
251
252#endif
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