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#pragma once
#include "World.h"
#include "CommonMgd.h"
namespace ODEManaged
{
__gc public class Body
{
public:
//Constructors and Destructors
Body(void);
Body(World &world);
~Body(void);
//Public Methods
dBodyID Id();
void SetData (void *data);
void *GetData (void);
//POSITION
void SetPosition(double x, double y, double z);
Vector3 GetPosition(void);
void GetPosition(double position __gc[]);
//ROTATION
void SetRotationIdentity(void);
void SetRotation(Matrix3 rotation);
Matrix3 GetRotation(void);
//MASS
void SetMass(double mass, Vector3 centerOfGravity, Matrix3 inertia);
void SetMassSphere(double density, double radius);
void SetMassBox(double density, double sideX, double sideY, double sideZ);
void SetMassCappedCylinder(double density, int axis, double cylinderRadius, double cylinderLength);
//FORCE AND TORQUE
void AddForce(double fX, double fY, double fZ);
void AddRelForce(double fX, double fY, double fZ);
void AddForceAtPos(double fX, double fY, double fZ,double pX, double pY, double pZ);
void AddRelForceAtPos(double fX, double fY, double fZ,double pX, double pY, double pZ);
void AddRelForceAtRelPos(double fX, double fY, double fZ,double pX, double pY, double pZ);
void ApplyLinearVelocityDrag(double dragCoef);
void ApplyAngularVelocityDrag(double dragCoef);
void AddTorque(double fX, double fY, double fZ);
void AddRelTorque(double fX, double fY, double fZ);
//LINEAR VELOCITY
void SetLinearVelocity (double x, double y, double z);
Vector3 GetLinearVelocity(void);
//ANGULAR VELOCITY
void SetAngularVelocity (double x, double y, double z);
Vector3 GetAngularVelocity(void);
//POINT
Vector3 GetRelPointPos(double pX, double pY, double pZ);
Vector3 GetRelPointVel(double pX, double pY, double pZ);
//CONNECTED TO
int ConnectedTo (const Body &b);
private:
dBodyID _id;
};
}
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