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/*************************************************************************
* *
* 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
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