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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/* C++ interface for non-collision stuff */
24
25
26#ifndef _ODE_ODECPP_H_
27#define _ODE_ODECPP_H_
28#ifdef __cplusplus
29
30#include <ode/error.h>
31
32
33class dWorld {
34 dWorldID _id;
35
36 // intentionally undefined, don't use these
37 dWorld (const dWorld &);
38 void operator= (const dWorld &);
39
40public:
41 dWorld()
42 { _id = dWorldCreate(); }
43 ~dWorld()
44 { dWorldDestroy (_id); }
45
46 dWorldID id() const
47 { return _id; }
48 operator dWorldID() const
49 { return _id; }
50
51 void setGravity (dReal x, dReal y, dReal z)
52 { dWorldSetGravity (_id,x,y,z); }
53 void getGravity (dVector3 g) const
54 { dWorldGetGravity (_id,g); }
55
56 void setERP (dReal erp)
57 { dWorldSetERP(_id, erp); }
58 dReal getERP() const
59 { return dWorldGetERP(_id); }
60
61 void setCFM (dReal cfm)
62 { dWorldSetCFM(_id, cfm); }
63 dReal getCFM() const
64 { return dWorldGetCFM(_id); }
65
66 void step (dReal stepsize)
67 { dWorldStep (_id,stepsize); }
68
69 void stepFast1 (dReal stepsize, int maxiterations)
70 { dWorldStepFast1 (_id,stepsize,maxiterations); }
71 void setAutoEnableDepthSF1(dWorldID, int depth)
72 { dWorldSetAutoEnableDepthSF1 (_id, depth); }
73 int getAutoEnableDepthSF1(dWorldID)
74 { return dWorldGetAutoEnableDepthSF1 (_id); }
75
76 void setAutoDisableLinearThreshold (dReal threshold)
77 { dWorldSetAutoDisableLinearThreshold (_id,threshold); }
78 dReal getAutoDisableLinearThreshold()
79 { return dWorldGetAutoDisableLinearThreshold (_id); }
80 void setAutoDisableAngularThreshold (dReal threshold)
81 { dWorldSetAutoDisableAngularThreshold (_id,threshold); }
82 dReal getAutoDisableAngularThreshold()
83 { return dWorldGetAutoDisableAngularThreshold (_id); }
84 void setAutoDisableSteps (int steps)
85 { dWorldSetAutoDisableSteps (_id,steps); }
86 int getAutoDisableSteps()
87 { return dWorldGetAutoDisableSteps (_id); }
88 void setAutoDisableTime (dReal time)
89 { dWorldSetAutoDisableTime (_id,time); }
90 dReal getAutoDisableTime()
91 { return dWorldGetAutoDisableTime (_id); }
92 void setAutoDisableFlag (int do_auto_disable)
93 { dWorldSetAutoDisableFlag (_id,do_auto_disable); }
94 int getAutoDisableFlag()
95 { return dWorldGetAutoDisableFlag (_id); }
96
97 void impulseToForce (dReal stepsize, dReal ix, dReal iy, dReal iz,
98 dVector3 force)
99 { dWorldImpulseToForce (_id,stepsize,ix,iy,iz,force); }
100};
101
102
103class dBody {
104 dBodyID _id;
105
106 // intentionally undefined, don't use these
107 dBody (const dBody &);
108 void operator= (const dBody &);
109
110public:
111 dBody()
112 { _id = 0; }
113 dBody (dWorldID world)
114 { _id = dBodyCreate (world); }
115 ~dBody()
116 { if (_id) dBodyDestroy (_id); }
117
118 void create (dWorldID world) {
119 if (_id) dBodyDestroy (_id);
120 _id = dBodyCreate (world);
121 }
122
123 dBodyID id() const
124 { return _id; }
125 operator dBodyID() const
126 { return _id; }
127
128 void setData (void *data)
129 { dBodySetData (_id,data); }
130 void *getData() const
131 { return dBodyGetData (_id); }
132
133 void setPosition (dReal x, dReal y, dReal z)
134 { dBodySetPosition (_id,x,y,z); }
135 void setRotation (const dMatrix3 R)
136 { dBodySetRotation (_id,R); }
137 void setQuaternion (const dQuaternion q)
138 { dBodySetQuaternion (_id,q); }
139 void setLinearVel (dReal x, dReal y, dReal z)
140 { dBodySetLinearVel (_id,x,y,z); }
141 void setAngularVel (dReal x, dReal y, dReal z)
142 { dBodySetAngularVel (_id,x,y,z); }
143
144 const dReal * getPosition() const
145 { return dBodyGetPosition (_id); }
146 const dReal * getRotation() const
147 { return dBodyGetRotation (_id); }
148 const dReal * getQuaternion() const
149 { return dBodyGetQuaternion (_id); }
150 const dReal * getLinearVel() const
151 { return dBodyGetLinearVel (_id); }
152 const dReal * getAngularVel() const
153 { return dBodyGetAngularVel (_id); }
154
155 void setMass (const dMass *mass)
156 { dBodySetMass (_id,mass); }
157 void getMass (dMass *mass) const
158 { dBodyGetMass (_id,mass); }
159
160 void addForce (dReal fx, dReal fy, dReal fz)
161 { dBodyAddForce (_id, fx, fy, fz); }
162 void addTorque (dReal fx, dReal fy, dReal fz)
163 { dBodyAddTorque (_id, fx, fy, fz); }
164 void addRelForce (dReal fx, dReal fy, dReal fz)
165 { dBodyAddRelForce (_id, fx, fy, fz); }
166 void addRelTorque (dReal fx, dReal fy, dReal fz)
167 { dBodyAddRelTorque (_id, fx, fy, fz); }
168 void addForceAtPos (dReal fx, dReal fy, dReal fz,
169 dReal px, dReal py, dReal pz)
170 { dBodyAddForceAtPos (_id, fx, fy, fz, px, py, pz); }
171 void addForceAtRelPos (dReal fx, dReal fy, dReal fz,
172 dReal px, dReal py, dReal pz)
173 { dBodyAddForceAtRelPos (_id, fx, fy, fz, px, py, pz); }
174 void addRelForceAtPos (dReal fx, dReal fy, dReal fz,
175 dReal px, dReal py, dReal pz)
176 { dBodyAddRelForceAtPos (_id, fx, fy, fz, px, py, pz); }
177 void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz,
178 dReal px, dReal py, dReal pz)
179 { dBodyAddRelForceAtRelPos (_id, fx, fy, fz, px, py, pz); }
180
181 const dReal * getForce() const
182 { return dBodyGetForce(_id); }
183 const dReal * getTorque() const
184 { return dBodyGetTorque(_id); }
185 void setForce (dReal x, dReal y, dReal z)
186 { dBodySetForce (_id,x,y,z); }
187 void setTorque (dReal x, dReal y, dReal z)
188 { dBodySetTorque (_id,x,y,z); }
189
190 void enable()
191 { dBodyEnable (_id); }
192 void disable()
193 { dBodyDisable (_id); }
194 int isEnabled() const
195 { return dBodyIsEnabled (_id); }
196
197 void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const
198 { dBodyGetRelPointPos (_id, px, py, pz, result); }
199 void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result) const
200 { dBodyGetRelPointVel (_id, px, py, pz, result); }
201 void getPointVel (dReal px, dReal py, dReal pz, dVector3 result) const
202 { dBodyGetPointVel (_id,px,py,pz,result); }
203 void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const
204 { dBodyGetPosRelPoint (_id,px,py,pz,result); }
205 void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const
206 { dBodyVectorToWorld (_id,px,py,pz,result); }
207 void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const
208 { dBodyVectorFromWorld (_id,px,py,pz,result); }
209
210 void setFiniteRotationMode (int mode)
211 { dBodySetFiniteRotationMode (_id, mode); }
212 void setFiniteRotationAxis (dReal x, dReal y, dReal z)
213 { dBodySetFiniteRotationAxis (_id, x, y, z); }
214
215 int getFiniteRotationMode() const
216 { return dBodyGetFiniteRotationMode (_id); }
217 void getFiniteRotationAxis (dVector3 result) const
218 { dBodyGetFiniteRotationAxis (_id, result); }
219
220 int getNumJoints() const
221 { return dBodyGetNumJoints (_id); }
222 dJointID getJoint (int index) const
223 { return dBodyGetJoint (_id, index); }
224
225 void setGravityMode (int mode)
226 { dBodySetGravityMode (_id,mode); }
227 int getGravityMode() const
228 { return dBodyGetGravityMode (_id); }
229
230 int isConnectedTo (dBodyID body) const
231 { return dAreConnected (_id, body); }
232
233 void setAutoDisableLinearThreshold (dReal threshold)
234 { dBodySetAutoDisableLinearThreshold (_id,threshold); }
235 dReal getAutoDisableLinearThreshold()
236 { return dBodyGetAutoDisableLinearThreshold (_id); }
237 void setAutoDisableAngularThreshold (dReal threshold)
238 { dBodySetAutoDisableAngularThreshold (_id,threshold); }
239 dReal getAutoDisableAngularThreshold()
240 { return dBodyGetAutoDisableAngularThreshold (_id); }
241 void setAutoDisableSteps (int steps)
242 { dBodySetAutoDisableSteps (_id,steps); }
243 int getAutoDisableSteps()
244 { return dBodyGetAutoDisableSteps (_id); }
245 void setAutoDisableTime (dReal time)
246 { dBodySetAutoDisableTime (_id,time); }
247 dReal getAutoDisableTime()
248 { return dBodyGetAutoDisableTime (_id); }
249 void setAutoDisableFlag (int do_auto_disable)
250 { dBodySetAutoDisableFlag (_id,do_auto_disable); }
251 int getAutoDisableFlag()
252 { return dBodyGetAutoDisableFlag (_id); }
253};
254
255
256class dJointGroup {
257 dJointGroupID _id;
258
259 // intentionally undefined, don't use these
260 dJointGroup (const dJointGroup &);
261 void operator= (const dJointGroup &);
262
263public:
264 dJointGroup (int dummy_arg=0)
265 { _id = dJointGroupCreate (0); }
266 ~dJointGroup()
267 { dJointGroupDestroy (_id); }
268 void create (int dummy_arg=0) {
269 if (_id) dJointGroupDestroy (_id);
270 _id = dJointGroupCreate (0);
271 }
272
273 dJointGroupID id() const
274 { return _id; }
275 operator dJointGroupID() const
276 { return _id; }
277
278 void empty()
279 { dJointGroupEmpty (_id); }
280};
281
282
283class dJoint {
284private:
285 // intentionally undefined, don't use these
286 dJoint (const dJoint &) ;
287 void operator= (const dJoint &);
288
289protected:
290 dJointID _id;
291
292public:
293 dJoint()
294 { _id = 0; }
295 ~dJoint()
296 { if (_id) dJointDestroy (_id); }
297
298 dJointID id() const
299 { return _id; }
300 operator dJointID() const
301 { return _id; }
302
303 void attach (dBodyID body1, dBodyID body2)
304 { dJointAttach (_id, body1, body2); }
305
306 void setData (void *data)
307 { dJointSetData (_id, data); }
308 void *getData() const
309 { return dJointGetData (_id); }
310
311 int getType() const
312 { return dJointGetType (_id); }
313
314 dBodyID getBody (int index) const
315 { return dJointGetBody (_id, index); }
316
317 void setFeedback(dJointFeedback *fb)
318 { dJointSetFeedback(_id, fb); }
319 dJointFeedback *getFeedback() const
320 { return dJointGetFeedback(_id); }
321};
322
323
324class dBallJoint : public dJoint {
325private:
326 // intentionally undefined, don't use these
327 dBallJoint (const dBallJoint &);
328 void operator= (const dBallJoint &);
329
330public:
331 dBallJoint() { }
332 dBallJoint (dWorldID world, dJointGroupID group=0)
333 { _id = dJointCreateBall (world, group); }
334
335 void create (dWorldID world, dJointGroupID group=0) {
336 if (_id) dJointDestroy (_id);
337 _id = dJointCreateBall (world, group);
338 }
339
340 void setAnchor (dReal x, dReal y, dReal z)
341 { dJointSetBallAnchor (_id, x, y, z); }
342 void getAnchor (dVector3 result) const
343 { dJointGetBallAnchor (_id, result); }
344 void getAnchor2 (dVector3 result) const
345 { dJointGetBallAnchor2 (_id, result); }
346 void setParam (int parameter, dReal value)
347 { dJointSetBallParam (_id, parameter, value); }
348 dReal getParam (int parameter) const
349 { return dJointGetBallParam (_id, parameter); }
350} ;
351
352
353class dHingeJoint : public dJoint {
354 // intentionally undefined, don't use these
355 dHingeJoint (const dHingeJoint &);
356 void operator = (const dHingeJoint &);
357
358public:
359 dHingeJoint() { }
360 dHingeJoint (dWorldID world, dJointGroupID group=0)
361 { _id = dJointCreateHinge (world, group); }
362
363 void create (dWorldID world, dJointGroupID group=0) {
364 if (_id) dJointDestroy (_id);
365 _id = dJointCreateHinge (world, group);
366 }
367
368 void setAnchor (dReal x, dReal y, dReal z)
369 { dJointSetHingeAnchor (_id, x, y, z); }
370 void getAnchor (dVector3 result) const
371 { dJointGetHingeAnchor (_id, result); }
372 void getAnchor2 (dVector3 result) const
373 { dJointGetHingeAnchor2 (_id, result); }
374
375 void setAxis (dReal x, dReal y, dReal z)
376 { dJointSetHingeAxis (_id, x, y, z); }
377 void getAxis (dVector3 result) const
378 { dJointGetHingeAxis (_id, result); }
379
380 dReal getAngle() const
381 { return dJointGetHingeAngle (_id); }
382 dReal getAngleRate() const
383 { return dJointGetHingeAngleRate (_id); }
384
385 void setParam (int parameter, dReal value)
386 { dJointSetHingeParam (_id, parameter, value); }
387 dReal getParam (int parameter) const
388 { return dJointGetHingeParam (_id, parameter); }
389
390 void addTorque (dReal torque)
391 { dJointAddHingeTorque(_id, torque); }
392};
393
394
395class dSliderJoint : public dJoint {
396 // intentionally undefined, don't use these
397 dSliderJoint (const dSliderJoint &);
398 void operator = (const dSliderJoint &);
399
400public:
401 dSliderJoint() { }
402 dSliderJoint (dWorldID world, dJointGroupID group=0)
403 { _id = dJointCreateSlider (world, group); }
404
405 void create (dWorldID world, dJointGroupID group=0) {
406 if (_id) dJointDestroy (_id);
407 _id = dJointCreateSlider (world, group);
408 }
409
410 void setAxis (dReal x, dReal y, dReal z)
411 { dJointSetSliderAxis (_id, x, y, z); }
412 void getAxis (dVector3 result) const
413 { dJointGetSliderAxis (_id, result); }
414
415 dReal getPosition() const
416 { return dJointGetSliderPosition (_id); }
417 dReal getPositionRate() const
418 { return dJointGetSliderPositionRate (_id); }
419
420 void setParam (int parameter, dReal value)
421 { dJointSetSliderParam (_id, parameter, value); }
422 dReal getParam (int parameter) const
423 { return dJointGetSliderParam (_id, parameter); }
424
425 void addForce (dReal force)
426 { dJointAddSliderForce(_id, force); }
427};
428
429
430class dUniversalJoint : public dJoint {
431 // intentionally undefined, don't use these
432 dUniversalJoint (const dUniversalJoint &);
433 void operator = (const dUniversalJoint &);
434
435public:
436 dUniversalJoint() { }
437 dUniversalJoint (dWorldID world, dJointGroupID group=0)
438 { _id = dJointCreateUniversal (world, group); }
439
440 void create (dWorldID world, dJointGroupID group=0) {
441 if (_id) dJointDestroy (_id);
442 _id = dJointCreateUniversal (world, group);
443 }
444
445 void setAnchor (dReal x, dReal y, dReal z)
446 { dJointSetUniversalAnchor (_id, x, y, z); }
447 void setAxis1 (dReal x, dReal y, dReal z)
448 { dJointSetUniversalAxis1 (_id, x, y, z); }
449 void setAxis2 (dReal x, dReal y, dReal z)
450 { dJointSetUniversalAxis2 (_id, x, y, z); }
451 void setParam (int parameter, dReal value)
452 { dJointSetUniversalParam (_id, parameter, value); }
453
454 void getAnchor (dVector3 result) const
455 { dJointGetUniversalAnchor (_id, result); }
456 void getAnchor2 (dVector3 result) const
457 { dJointGetUniversalAnchor2 (_id, result); }
458 void getAxis1 (dVector3 result) const
459 { dJointGetUniversalAxis1 (_id, result); }
460 void getAxis2 (dVector3 result) const
461 { dJointGetUniversalAxis2 (_id, result); }
462 dReal getParam (int parameter) const
463 { return dJointGetUniversalParam (_id, parameter); }
464 void getAngles(dReal *angle1, dReal *angle2) const
465 { dJointGetUniversalAngles (_id, angle1, angle2); }
466
467 dReal getAngle1() const
468 { return dJointGetUniversalAngle1 (_id); }
469 dReal getAngle1Rate() const
470 { return dJointGetUniversalAngle1Rate (_id); }
471 dReal getAngle2() const
472 { return dJointGetUniversalAngle2 (_id); }
473 dReal getAngle2Rate() const
474 { return dJointGetUniversalAngle2Rate (_id); }
475
476 void addTorques (dReal torque1, dReal torque2)
477 { dJointAddUniversalTorques(_id, torque1, torque2); }
478};
479
480
481class dHinge2Joint : public dJoint {
482 // intentionally undefined, don't use these
483 dHinge2Joint (const dHinge2Joint &);
484 void operator = (const dHinge2Joint &);
485
486public:
487 dHinge2Joint() { }
488 dHinge2Joint (dWorldID world, dJointGroupID group=0)
489 { _id = dJointCreateHinge2 (world, group); }
490
491 void create (dWorldID world, dJointGroupID group=0) {
492 if (_id) dJointDestroy (_id);
493 _id = dJointCreateHinge2 (world, group);
494 }
495
496 void setAnchor (dReal x, dReal y, dReal z)
497 { dJointSetHinge2Anchor (_id, x, y, z); }
498 void setAxis1 (dReal x, dReal y, dReal z)
499 { dJointSetHinge2Axis1 (_id, x, y, z); }
500 void setAxis2 (dReal x, dReal y, dReal z)
501 { dJointSetHinge2Axis2 (_id, x, y, z); }
502
503 void getAnchor (dVector3 result) const
504 { dJointGetHinge2Anchor (_id, result); }
505 void getAnchor2 (dVector3 result) const
506 { dJointGetHinge2Anchor2 (_id, result); }
507 void getAxis1 (dVector3 result) const
508 { dJointGetHinge2Axis1 (_id, result); }
509 void getAxis2 (dVector3 result) const
510 { dJointGetHinge2Axis2 (_id, result); }
511
512 dReal getAngle1() const
513 { return dJointGetHinge2Angle1 (_id); }
514 dReal getAngle1Rate() const
515 { return dJointGetHinge2Angle1Rate (_id); }
516 dReal getAngle2Rate() const
517 { return dJointGetHinge2Angle2Rate (_id); }
518
519 void setParam (int parameter, dReal value)
520 { dJointSetHinge2Param (_id, parameter, value); }
521 dReal getParam (int parameter) const
522 { return dJointGetHinge2Param (_id, parameter); }
523
524 void addTorques(dReal torque1, dReal torque2)
525 { dJointAddHinge2Torques(_id, torque1, torque2); }
526};
527
528
529class dPRJoint : public dJoint {
530 dPRJoint (const dPRJoint &);
531 void operator = (const dPRJoint &);
532
533public:
534 dPRJoint() { }
535 dPRJoint (dWorldID world, dJointGroupID group=0)
536 { _id = dJointCreatePR (world, group); }
537
538 void create (dWorldID world, dJointGroupID group=0) {
539 if (_id) dJointDestroy (_id);
540 _id = dJointCreatePR (world, group);
541 }
542
543 void setAnchor (dReal x, dReal y, dReal z)
544 { dJointSetPRAnchor (_id, x, y, z); }
545 void setAxis1 (dReal x, dReal y, dReal z)
546 { dJointSetPRAxis1 (_id, x, y, z); }
547 void setAxis2 (dReal x, dReal y, dReal z)
548 { dJointSetPRAxis2 (_id, x, y, z); }
549
550 void getAnchor (dVector3 result) const
551 { dJointGetPRAnchor (_id, result); }
552 void getAxis1 (dVector3 result) const
553 { dJointGetPRAxis1 (_id, result); }
554 void getAxis2 (dVector3 result) const
555 { dJointGetPRAxis2 (_id, result); }
556
557 dReal getPosition() const
558 { return dJointGetPRPosition (_id); }
559 dReal getPositionRate() const
560 { return dJointGetPRPositionRate (_id); }
561
562 void setParam (int parameter, dReal value)
563 { dJointSetPRParam (_id, parameter, value); }
564 dReal getParam (int parameter) const
565 { return dJointGetPRParam (_id, parameter); }
566};
567
568
569class dFixedJoint : public dJoint {
570 // intentionally undefined, don't use these
571 dFixedJoint (const dFixedJoint &);
572 void operator = (const dFixedJoint &);
573
574public:
575 dFixedJoint() { }
576 dFixedJoint (dWorldID world, dJointGroupID group=0)
577 { _id = dJointCreateFixed (world, group); }
578
579 void create (dWorldID world, dJointGroupID group=0) {
580 if (_id) dJointDestroy (_id);
581 _id = dJointCreateFixed (world, group);
582 }
583
584 void set()
585 { dJointSetFixed (_id); }
586
587 void setParam (int parameter, dReal value)
588 { dJointSetFixedParam (_id, parameter, value); }
589
590 dReal getParam (int parameter) const
591 { return dJointGetFixedParam (_id, parameter); }
592};
593
594
595class dContactJoint : public dJoint {
596 // intentionally undefined, don't use these
597 dContactJoint (const dContactJoint &);
598 void operator = (const dContactJoint &);
599
600public:
601 dContactJoint() { }
602 dContactJoint (dWorldID world, dJointGroupID group, dContact *contact)
603 { _id = dJointCreateContact (world, group, contact); }
604
605 void create (dWorldID world, dJointGroupID group, dContact *contact) {
606 if (_id) dJointDestroy (_id);
607 _id = dJointCreateContact (world, group, contact);
608 }
609};
610
611
612class dNullJoint : public dJoint {
613 // intentionally undefined, don't use these
614 dNullJoint (const dNullJoint &);
615 void operator = (const dNullJoint &);
616
617public:
618 dNullJoint() { }
619 dNullJoint (dWorldID world, dJointGroupID group=0)
620 { _id = dJointCreateNull (world, group); }
621
622 void create (dWorldID world, dJointGroupID group=0) {
623 if (_id) dJointDestroy (_id);
624 _id = dJointCreateNull (world, group);
625 }
626};
627
628
629class dAMotorJoint : public dJoint {
630 // intentionally undefined, don't use these
631 dAMotorJoint (const dAMotorJoint &);
632 void operator = (const dAMotorJoint &);
633
634public:
635 dAMotorJoint() { }
636 dAMotorJoint (dWorldID world, dJointGroupID group=0)
637 { _id = dJointCreateAMotor (world, group); }
638
639 void create (dWorldID world, dJointGroupID group=0) {
640 if (_id) dJointDestroy (_id);
641 _id = dJointCreateAMotor (world, group);
642 }
643
644 void setMode (int mode)
645 { dJointSetAMotorMode (_id, mode); }
646 int getMode() const
647 { return dJointGetAMotorMode (_id); }
648
649 void setNumAxes (int num)
650 { dJointSetAMotorNumAxes (_id, num); }
651 int getNumAxes() const
652 { return dJointGetAMotorNumAxes (_id); }
653
654 void setAxis (int anum, int rel, dReal x, dReal y, dReal z)
655 { dJointSetAMotorAxis (_id, anum, rel, x, y, z); }
656 void getAxis (int anum, dVector3 result) const
657 { dJointGetAMotorAxis (_id, anum, result); }
658 int getAxisRel (int anum) const
659 { return dJointGetAMotorAxisRel (_id, anum); }
660
661 void setAngle (int anum, dReal angle)
662 { dJointSetAMotorAngle (_id, anum, angle); }
663 dReal getAngle (int anum) const
664 { return dJointGetAMotorAngle (_id, anum); }
665 dReal getAngleRate (int anum)
666 { return dJointGetAMotorAngleRate (_id,anum); }
667
668 void setParam (int parameter, dReal value)
669 { dJointSetAMotorParam (_id, parameter, value); }
670 dReal getParam (int parameter) const
671 { return dJointGetAMotorParam (_id, parameter); }
672
673 void addTorques(dReal torque1, dReal torque2, dReal torque3)
674 { dJointAddAMotorTorques(_id, torque1, torque2, torque3); }
675};
676
677
678class dLMotorJoint : public dJoint {
679 // intentionally undefined, don't use these
680 dLMotorJoint (const dLMotorJoint &);
681 void operator = (const dLMotorJoint &);
682
683public:
684 dLMotorJoint() { }
685 dLMotorJoint (dWorldID world, dJointGroupID group=0)
686 { _id = dJointCreateLMotor (world, group); }
687
688 void create (dWorldID world, dJointGroupID group=0) {
689 if (_id) dJointDestroy (_id);
690 _id = dJointCreateLMotor (world, group);
691 }
692
693 void setNumAxes (int num)
694 { dJointSetLMotorNumAxes (_id, num); }
695 int getNumAxes() const
696 { return dJointGetLMotorNumAxes (_id); }
697
698 void setAxis (int anum, int rel, dReal x, dReal y, dReal z)
699 { dJointSetLMotorAxis (_id, anum, rel, x, y, z); }
700 void getAxis (int anum, dVector3 result) const
701 { dJointGetLMotorAxis (_id, anum, result); }
702
703 void setParam (int parameter, dReal value)
704 { dJointSetLMotorParam (_id, parameter, value); }
705 dReal getParam (int parameter) const
706 { return dJointGetLMotorParam (_id, parameter); }
707};
708
709
710
711#endif
712#endif
generated by cgit v1.1 at 2024-11-10 16:58:11 +0000