From f205de7847da7ae1c10212d82e7042d0100b4ce0 Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:24:38 +0000 Subject: from the start... checking in ode-0.9 --- libraries/ode-0.9/docs/group__bodies.html | 1827 +++++++++++++++++++++++++++++ 1 file changed, 1827 insertions(+) create mode 100644 libraries/ode-0.9/docs/group__bodies.html (limited to 'libraries/ode-0.9/docs/group__bodies.html') diff --git a/libraries/ode-0.9/docs/group__bodies.html b/libraries/ode-0.9/docs/group__bodies.html new file mode 100644 index 0000000..951ff2b --- /dev/null +++ b/libraries/ode-0.9/docs/group__bodies.html @@ -0,0 +1,1827 @@ + +
+Functions | |
ODE_API dReal | dBodyGetAutoDisableLinearThreshold (dBodyID) |
Get auto disable linear average threshold. | |
ODE_API void | dBodySetAutoDisableLinearThreshold (dBodyID, dReal linear_average_threshold) |
Set auto disable linear average threshold. | |
ODE_API dReal | dBodyGetAutoDisableAngularThreshold (dBodyID) |
Get auto disable angular average threshold. | |
ODE_API void | dBodySetAutoDisableAngularThreshold (dBodyID, dReal angular_average_threshold) |
Set auto disable angular average threshold. | |
ODE_API int | dBodyGetAutoDisableAverageSamplesCount (dBodyID) |
Get auto disable average size (samples count). | |
ODE_API void | dBodySetAutoDisableAverageSamplesCount (dBodyID, unsigned int average_samples_count) |
Set auto disable average buffer size (average steps). | |
ODE_API int | dBodyGetAutoDisableSteps (dBodyID) |
Get auto steps a body must be thought of as idle to disable. | |
ODE_API void | dBodySetAutoDisableSteps (dBodyID, int steps) |
Set auto disable steps. | |
ODE_API dReal | dBodyGetAutoDisableTime (dBodyID) |
Get auto disable time. | |
ODE_API void | dBodySetAutoDisableTime (dBodyID, dReal time) |
Set auto disable time. | |
ODE_API int | dBodyGetAutoDisableFlag (dBodyID) |
Get auto disable flag. | |
ODE_API void | dBodySetAutoDisableFlag (dBodyID, int do_auto_disable) |
Set auto disable flag. | |
ODE_API void | dBodySetAutoDisableDefaults (dBodyID) |
Set auto disable defaults. | |
ODE_API dWorldID | dBodyGetWorld (dBodyID) |
Retrives the world attached to te given body. | |
ODE_API dBodyID | dBodyCreate (dWorldID) |
Create a body in given world. | |
ODE_API void | dBodyDestroy (dBodyID) |
Destroy a body. | |
ODE_API void | dBodySetData (dBodyID, void *data) |
Set the body's user-data pointer. | |
ODE_API void * | dBodyGetData (dBodyID) |
Get the body's user-data pointer. | |
ODE_API void | dBodySetPosition (dBodyID, dReal x, dReal y, dReal z) |
Set position of a body. | |
ODE_API void | dBodySetRotation (dBodyID, const dMatrix3 R) |
Set the orientation of a body. | |
ODE_API void | dBodySetQuaternion (dBodyID, const dQuaternion q) |
Set the orientation of a body. | |
+ODE_API void | dBodySetLinearVel (dBodyID, dReal x, dReal y, dReal z) |
Set the linear velocity of a body. | |
+ODE_API void | dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z) |
Set the angular velocity of a body. | |
ODE_API const dReal * | dBodyGetPosition (dBodyID) |
Get the position of a body. | |
ODE_API void | dBodyCopyPosition (dBodyID body, dVector3 pos) |
Copy the position of a body into a vector. | |
ODE_API const dReal * | dBodyGetRotation (dBodyID) |
Get the rotation of a body. | |
ODE_API void | dBodyCopyRotation (dBodyID, dMatrix3 R) |
Copy the rotation of a body. | |
ODE_API const dReal * | dBodyGetQuaternion (dBodyID) |
Get the rotation of a body. | |
ODE_API void | dBodyCopyQuaternion (dBodyID body, dQuaternion quat) |
Copy the orientation of a body into a quaternion. | |
+ODE_API const dReal * | dBodyGetLinearVel (dBodyID) |
Get the linear velocity of a body. | |
+ODE_API const dReal * | dBodyGetAngularVel (dBodyID) |
Get the angular velocity of a body. | |
+ODE_API void | dBodySetMass (dBodyID, const dMass *mass) |
Set the mass of a body. | |
+ODE_API void | dBodyGetMass (dBodyID, dMass *mass) |
Get the mass of a body. | |
+ODE_API void | dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz) |
Add force at centre of mass of body in absolute coordinates. | |
+ODE_API void | dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz) |
Add torque at centre of mass of body in absolute coordinates. | |
+ODE_API void | dBodyAddRelForce (dBodyID, dReal fx, dReal fy, dReal fz) |
Add force at centre of mass of body in coordinates relative to body. | |
+ODE_API void | dBodyAddRelTorque (dBodyID, dReal fx, dReal fy, dReal fz) |
Add torque at centre of mass of body in coordinates relative to body. | |
+ODE_API void | dBodyAddForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz) |
Add force at specified point in body in global coordinates. | |
+ODE_API void | dBodyAddForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz) |
Add force at specified point in body in local coordinates. | |
+ODE_API void | dBodyAddRelForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz) |
Add force at specified point in body in global coordinates. | |
+ODE_API void | dBodyAddRelForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz) |
Add force at specified point in body in local coordinates. | |
ODE_API const dReal * | dBodyGetForce (dBodyID) |
Return the current accumulated force vector. | |
ODE_API const dReal * | dBodyGetTorque (dBodyID) |
Return the current accumulated torque vector. | |
ODE_API void | dBodySetForce (dBodyID b, dReal x, dReal y, dReal z) |
Set the body force accumulation vector. | |
ODE_API void | dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z) |
Set the body torque accumulation vector. | |
ODE_API void | dBodyGetRelPointPos (dBodyID, dReal px, dReal py, dReal pz, dVector3 result) |
Get world position of a relative point on body. | |
ODE_API void | dBodyGetRelPointVel (dBodyID, dReal px, dReal py, dReal pz, dVector3 result) |
Get velocity vector in global coords of a relative point on body. | |
ODE_API void | dBodyGetPointVel (dBodyID, dReal px, dReal py, dReal pz, dVector3 result) |
Get velocity vector in global coords of a globally specified point on a body. | |
ODE_API void | dBodyGetPosRelPoint (dBodyID, dReal px, dReal py, dReal pz, dVector3 result) |
takes a point in global coordinates and returns the point's position in body-relative coordinates. | |
ODE_API void | dBodyVectorToWorld (dBodyID, dReal px, dReal py, dReal pz, dVector3 result) |
Convert from local to world coordinates. | |
ODE_API void | dBodyVectorFromWorld (dBodyID, dReal px, dReal py, dReal pz, dVector3 result) |
Convert from world to local coordinates. | |
ODE_API void | dBodySetFiniteRotationMode (dBodyID, int mode) |
controls the way a body's orientation is updated at each timestep. | |
ODE_API void | dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z) |
sets the finite rotation axis for a body. | |
ODE_API int | dBodyGetFiniteRotationMode (dBodyID) |
Get the way a body's orientation is updated each timestep. | |
ODE_API void | dBodyGetFiniteRotationAxis (dBodyID, dVector3 result) |
Get the finite rotation axis. | |
ODE_API int | dBodyGetNumJoints (dBodyID b) |
Get the number of joints that are attached to this body. | |
ODE_API dJointID | dBodyGetJoint (dBodyID, int index) |
Return a joint attached to this body, given by index. | |
ODE_API void | dBodyEnable (dBodyID) |
Manually enable a body. | |
ODE_API void | dBodyDisable (dBodyID) |
Manually disable a body. | |
ODE_API int | dBodyIsEnabled (dBodyID) |
Check wether a body is enabled. | |
ODE_API void | dBodySetGravityMode (dBodyID b, int mode) |
Set whether the body is influenced by the world's gravity or not. | |
ODE_API int | dBodyGetGravityMode (dBodyID b) |
Get whether the body is influenced by the world's gravity or not. |
+
+
+Note that the shape of a rigid body is not a dynamical property (except insofar as it influences the various mass properties). It is only collision detection that cares about the detailed shape of the body.
ODE_API void dBodyCopyPosition | +( | +dBodyID | +body, | +|
+ | + | dVector3 | +pos | + |
+ | ) | ++ |
+Copy the position of a body into a vector. +
+
body | the body to query | |
pos | a copy of the body position |
ODE_API void dBodyCopyQuaternion | +( | +dBodyID | +body, | +|
+ | + | dQuaternion | +quat | + |
+ | ) | ++ |
+Copy the orientation of a body into a quaternion. +
+
body | the body to query | |
quat | a copy of the orientation quaternion |
ODE_API void dBodyCopyRotation | +( | +dBodyID | +, | +|
+ | + | dMatrix3 | +R | + |
+ | ) | ++ |
+Copy the rotation of a body. +
+
body | the body to query | |
R | a copy of the rotation matrix |
ODE_API dBodyID dBodyCreate | +( | +dWorldID | ++ | ) | ++ |
+Create a body in given world. +
+
ODE_API void dBodyDestroy | +( | +dBodyID | ++ | ) | ++ |
+Destroy a body. +
+
ODE_API void dBodyDisable | +( | +dBodyID | ++ | ) | ++ |
+Manually disable a body. +
+
ODE_API void dBodyEnable | +( | +dBodyID | ++ | ) | ++ |
+Manually enable a body. +
+
dBodyID | identification of body. |
ODE_API dReal dBodyGetAutoDisableAngularThreshold | +( | +dBodyID | ++ | ) | ++ |
+Get auto disable angular average threshold. +
+
ODE_API int dBodyGetAutoDisableAverageSamplesCount | +( | +dBodyID | ++ | ) | ++ |
+Get auto disable average size (samples count). +
+
ODE_API int dBodyGetAutoDisableFlag | +( | +dBodyID | ++ | ) | ++ |
+Get auto disable flag. +
+
ODE_API dReal dBodyGetAutoDisableLinearThreshold | +( | +dBodyID | ++ | ) | ++ |
+Get auto disable linear average threshold. +
+
ODE_API int dBodyGetAutoDisableSteps | +( | +dBodyID | ++ | ) | ++ |
+Get auto steps a body must be thought of as idle to disable. +
+
ODE_API dReal dBodyGetAutoDisableTime | +( | +dBodyID | ++ | ) | ++ |
+Get auto disable time. +
+
ODE_API void* dBodyGetData | +( | +dBodyID | ++ | ) | ++ |
+Get the body's user-data pointer. +
+
ODE_API void dBodyGetFiniteRotationAxis | +( | +dBodyID | +, | +|
+ | + | dVector3 | +result | + |
+ | ) | ++ |
+Get the finite rotation axis. +
+
result | will contain the axis. |
ODE_API int dBodyGetFiniteRotationMode | +( | +dBodyID | ++ | ) | ++ |
+Get the way a body's orientation is updated each timestep. +
+
ODE_API const dReal* dBodyGetForce | +( | +dBodyID | ++ | ) | ++ |
+Return the current accumulated force vector. +
+
ODE_API int dBodyGetGravityMode | +( | +dBodyID | +b | +) | ++ |
+Get whether the body is influenced by the world's gravity or not. +
+
ODE_API dJointID dBodyGetJoint | +( | +dBodyID | +, | +|
+ | + | int | +index | + |
+ | ) | ++ |
+Return a joint attached to this body, given by index. +
+
index | valid range is 0 to n-1 where n is the value returned by dBodyGetNumJoints(). |
ODE_API int dBodyGetNumJoints | +( | +dBodyID | +b | +) | ++ |
+Get the number of joints that are attached to this body. +
+
ODE_API void dBodyGetPointVel | +( | +dBodyID | +, | +|
+ | + | dReal | +px, | +|
+ | + | dReal | +py, | +|
+ | + | dReal | +pz, | +|
+ | + | dVector3 | +result | + |
+ | ) | ++ |
+Get velocity vector in global coords of a globally specified point on a body. +
+
result | will contain the result. |
ODE_API const dReal* dBodyGetPosition | +( | +dBodyID | ++ | ) | ++ |
+Get the position of a body. +
+
ODE_API void dBodyGetPosRelPoint | +( | +dBodyID | +, | +|
+ | + | dReal | +px, | +|
+ | + | dReal | +py, | +|
+ | + | dReal | +pz, | +|
+ | + | dVector3 | +result | + |
+ | ) | ++ |
+takes a point in global coordinates and returns the point's position in body-relative coordinates. +
+
result | will contain the result. |
ODE_API const dReal* dBodyGetQuaternion | +( | +dBodyID | ++ | ) | ++ |
+Get the rotation of a body. +
+
ODE_API void dBodyGetRelPointPos | +( | +dBodyID | +, | +|
+ | + | dReal | +px, | +|
+ | + | dReal | +py, | +|
+ | + | dReal | +pz, | +|
+ | + | dVector3 | +result | + |
+ | ) | ++ |
+Get world position of a relative point on body. +
+
result | will contain the result. |
ODE_API void dBodyGetRelPointVel | +( | +dBodyID | +, | +|
+ | + | dReal | +px, | +|
+ | + | dReal | +py, | +|
+ | + | dReal | +pz, | +|
+ | + | dVector3 | +result | + |
+ | ) | ++ |
+Get velocity vector in global coords of a relative point on body. +
+
result | will contain the result. |
ODE_API const dReal* dBodyGetRotation | +( | +dBodyID | ++ | ) | ++ |
+Get the rotation of a body. +
+
ODE_API const dReal* dBodyGetTorque | +( | +dBodyID | ++ | ) | ++ |
+Return the current accumulated torque vector. +
+
ODE_API dWorldID dBodyGetWorld | +( | +dBodyID | ++ | ) | ++ |
+Retrives the world attached to te given body. +
+
ODE_API int dBodyIsEnabled | +( | +dBodyID | ++ | ) | ++ |
+Check wether a body is enabled. +
+
ODE_API void dBodySetAutoDisableAngularThreshold | +( | +dBodyID | +, | +|
+ | + | dReal | +angular_average_threshold | + |
+ | ) | ++ |
+Set auto disable angular average threshold. +
+
ODE_API void dBodySetAutoDisableAverageSamplesCount | +( | +dBodyID | +, | +|
+ | + | unsigned int | +average_samples_count | + |
+ | ) | ++ |
+Set auto disable average buffer size (average steps). +
+
average_samples_count | the nr of samples to review. |
ODE_API void dBodySetAutoDisableDefaults | +( | +dBodyID | ++ | ) | ++ |
+Set auto disable defaults. +
+
ODE_API void dBodySetAutoDisableFlag | +( | +dBodyID | +, | +|
+ | + | int | +do_auto_disable | + |
+ | ) | ++ |
+Set auto disable flag. +
+
do_auto_disable | 0 or 1 |
ODE_API void dBodySetAutoDisableLinearThreshold | +( | +dBodyID | +, | +|
+ | + | dReal | +linear_average_threshold | + |
+ | ) | ++ |
+Set auto disable linear average threshold. +
+
ODE_API void dBodySetAutoDisableSteps | +( | +dBodyID | +, | +|
+ | + | int | +steps | + |
+ | ) | ++ |
+Set auto disable steps. +
+
steps | the nr of steps. |
ODE_API void dBodySetAutoDisableTime | +( | +dBodyID | +, | +|
+ | + | dReal | +time | + |
+ | ) | ++ |
+Set auto disable time. +
+
time | nr of seconds. |
ODE_API void dBodySetData | +( | +dBodyID | +, | +|
+ | + | void * | +data | + |
+ | ) | ++ |
+Set the body's user-data pointer. +
+
data | arbitraty pointer |
ODE_API void dBodySetFiniteRotationAxis | +( | +dBodyID | +, | +|
+ | + | dReal | +x, | +|
+ | + | dReal | +y, | +|
+ | + | dReal | +z | + |
+ | ) | ++ |
+sets the finite rotation axis for a body. +
+
+This can be useful to alleviate certain sources of error caused by quickly spinning bodies. For example, if a car wheel is rotating at high speed you can call this function with the wheel's hinge axis as the argument to try and improve its behavior.
ODE_API void dBodySetFiniteRotationMode | +( | +dBodyID | +, | +|
+ | + | int | +mode | + |
+ | ) | ++ |
+controls the way a body's orientation is updated at each timestep. +
+
mode | can be 0 or 1:
|
ODE_API void dBodySetForce | +( | +dBodyID | +b, | +|
+ | + | dReal | +x, | +|
+ | + | dReal | +y, | +|
+ | + | dReal | +z | + |
+ | ) | ++ |
+Set the body force accumulation vector. +
+
ODE_API void dBodySetGravityMode | +( | +dBodyID | +b, | +|
+ | + | int | +mode | + |
+ | ) | ++ |
+Set whether the body is influenced by the world's gravity or not. +
+
mode | when nonzero gravity affects this body. |
ODE_API void dBodySetPosition | +( | +dBodyID | +, | +|
+ | + | dReal | +x, | +|
+ | + | dReal | +y, | +|
+ | + | dReal | +z | + |
+ | ) | ++ |
+Set position of a body. +
+
ODE_API void dBodySetQuaternion | +( | +dBodyID | +, | +|
+ | + | const dQuaternion | +q | + |
+ | ) | ++ |
+Set the orientation of a body. +
+
ODE_API void dBodySetRotation | +( | +dBodyID | +, | +|
+ | + | const dMatrix3 | +R | + |
+ | ) | ++ |
+Set the orientation of a body. +
+
ODE_API void dBodySetTorque | +( | +dBodyID | +b, | +|
+ | + | dReal | +x, | +|
+ | + | dReal | +y, | +|
+ | + | dReal | +z | + |
+ | ) | ++ |
+Set the body torque accumulation vector. +
+
ODE_API void dBodyVectorFromWorld | +( | +dBodyID | +, | +|
+ | + | dReal | +px, | +|
+ | + | dReal | +py, | +|
+ | + | dReal | +pz, | +|
+ | + | dVector3 | +result | + |
+ | ) | ++ |
+Convert from world to local coordinates. +
+
result | will contain the result. |
ODE_API void dBodyVectorToWorld | +( | +dBodyID | +, | +|
+ | + | dReal | +px, | +|
+ | + | dReal | +py, | +|
+ | + | dReal | +pz, | +|
+ | + | dVector3 | +result | + |
+ | ) | ++ |
+Convert from local to world coordinates. +
+
result | will contain the result. |
+