1 | /************************************************************************* |
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2 | * * |
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3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * |
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4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
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5 | * * |
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6 | * This library is free software; you can redistribute it and/or * |
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7 | * modify it under the terms of EITHER: * |
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8 | * (1) The GNU Lesser General Public License as published by the Free * |
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9 | * Software Foundation; either version 2.1 of the License, or (at * |
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10 | * your option) any later version. The text of the GNU Lesser * |
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11 | * General Public License is included with this library in the * |
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12 | * file LICENSE.TXT. * |
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13 | * (2) The BSD-style license that is included with this library in * |
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14 | * the file LICENSE-BSD.TXT. * |
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15 | * * |
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16 | * This library is distributed in the hope that it will be useful, * |
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17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
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19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
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20 | * * |
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21 | *************************************************************************/ |
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22 | |
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23 | #ifndef _ODE_OBJECTS_H_ |
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24 | #define _ODE_OBJECTS_H_ |
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25 | |
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26 | #include <ode/common.h> |
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27 | #include <ode/mass.h> |
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28 | #include <ode/contact.h> |
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29 | |
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30 | #ifdef __cplusplus |
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31 | extern "C" { |
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32 | #endif |
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33 | |
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34 | /** |
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35 | * @defgroup world World |
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36 | * |
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37 | * The world object is a container for rigid bodies and joints. Objects in |
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38 | * different worlds can not interact, for example rigid bodies from two |
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39 | * different worlds can not collide. |
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40 | * |
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41 | * All the objects in a world exist at the same point in time, thus one |
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42 | * reason to use separate worlds is to simulate systems at different rates. |
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43 | * Most applications will only need one world. |
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44 | */ |
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45 | |
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46 | |
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47 | /** |
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48 | * @brief Create a new, empty world and return its ID number. |
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49 | * @return an identifier |
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50 | * @ingroup world |
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51 | */ |
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52 | ODE_API dWorldID dWorldCreate(void); |
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53 | |
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54 | |
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55 | /** |
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56 | * @brief Destroy a world and everything in it. |
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57 | * |
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58 | * This includes all bodies, and all joints that are not part of a joint |
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59 | * group. Joints that are part of a joint group will be deactivated, and |
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60 | * can be destroyed by calling, for example, dJointGroupEmpty(). |
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61 | * @ingroup world |
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62 | * @param world the identifier for the world the be destroyed. |
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63 | */ |
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64 | ODE_API void dWorldDestroy (dWorldID world); |
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65 | |
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66 | |
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67 | /** |
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68 | * @brief Set the world's global gravity vector. |
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69 | * |
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70 | * The units are m/s^2, so Earth's gravity vector would be (0,0,-9.81), |
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71 | * assuming that +z is up. The default is no gravity, i.e. (0,0,0). |
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72 | * |
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73 | * @ingroup world |
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74 | */ |
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75 | ODE_API void dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z); |
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76 | |
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77 | |
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78 | /** |
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79 | * @brief Get the gravity vector for a given world. |
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80 | * @ingroup world |
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81 | */ |
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82 | ODE_API void dWorldGetGravity (dWorldID, dVector3 gravity); |
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83 | |
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84 | |
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85 | /** |
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86 | * @brief Set the global ERP value, that controls how much error |
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87 | * correction is performed in each time step. |
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88 | * @ingroup world |
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89 | * @param dWorldID the identifier of the world. |
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90 | * @param erp Typical values are in the range 0.1--0.8. The default is 0.2. |
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91 | */ |
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92 | ODE_API void dWorldSetERP (dWorldID, dReal erp); |
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93 | |
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94 | /** |
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95 | * @brief Get the error reduction parameter. |
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96 | * @ingroup world |
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97 | * @return ERP value |
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98 | */ |
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99 | ODE_API dReal dWorldGetERP (dWorldID); |
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100 | |
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101 | |
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102 | /** |
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103 | * @brief Set the global CFM (constraint force mixing) value. |
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104 | * @ingroup world |
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105 | * @param cfm Typical values are in the range @m{10^{-9}} -- 1. |
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106 | * The default is 10^-5 if single precision is being used, or 10^-10 |
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107 | * if double precision is being used. |
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108 | */ |
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109 | ODE_API void dWorldSetCFM (dWorldID, dReal cfm); |
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110 | |
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111 | /** |
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112 | * @brief Get the constraint force mixing value. |
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113 | * @ingroup world |
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114 | * @return CFM value |
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115 | */ |
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116 | ODE_API dReal dWorldGetCFM (dWorldID); |
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117 | |
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118 | |
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119 | /** |
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120 | * @brief Step the world. |
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121 | * |
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122 | * This uses a "big matrix" method that takes time on the order of m^3 |
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123 | * and memory on the order of m^2, where m is the total number of constraint |
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124 | * rows. For large systems this will use a lot of memory and can be very slow, |
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125 | * but this is currently the most accurate method. |
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126 | * @ingroup world |
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127 | * @param stepsize The number of seconds that the simulation has to advance. |
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128 | */ |
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129 | ODE_API void dWorldStep (dWorldID, dReal stepsize); |
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130 | |
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131 | |
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132 | /** |
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133 | * @brief Converts an impulse to a force. |
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134 | * @ingroup world |
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135 | * @remarks |
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136 | * If you want to apply a linear or angular impulse to a rigid body, |
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137 | * instead of a force or a torque, then you can use this function to convert |
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138 | * the desired impulse into a force/torque vector before calling the |
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139 | * BodyAdd... function. |
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140 | * The current algorithm simply scales the impulse by 1/stepsize, |
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141 | * where stepsize is the step size for the next step that will be taken. |
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142 | * This function is given a dWorldID because, in the future, the force |
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143 | * computation may depend on integrator parameters that are set as |
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144 | * properties of the world. |
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145 | */ |
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146 | ODE_API void dWorldImpulseToForce |
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147 | ( |
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148 | dWorldID, dReal stepsize, |
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149 | dReal ix, dReal iy, dReal iz, dVector3 force |
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150 | ); |
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151 | |
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152 | |
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153 | /** |
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154 | * @brief Step the world. |
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155 | * @ingroup world |
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156 | * @remarks |
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157 | * This uses an iterative method that takes time on the order of m*N |
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158 | * and memory on the order of m, where m is the total number of constraint |
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159 | * rows N is the number of iterations. |
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160 | * For large systems this is a lot faster than dWorldStep(), |
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161 | * but it is less accurate. |
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162 | * @remarks |
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163 | * QuickStep is great for stacks of objects especially when the |
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164 | * auto-disable feature is used as well. |
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165 | * However, it has poor accuracy for near-singular systems. |
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166 | * Near-singular systems can occur when using high-friction contacts, motors, |
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167 | * or certain articulated structures. For example, a robot with multiple legs |
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168 | * sitting on the ground may be near-singular. |
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169 | * @remarks |
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170 | * There are ways to help overcome QuickStep's inaccuracy problems: |
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171 | * \li Increase CFM. |
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172 | * \li Reduce the number of contacts in your system (e.g. use the minimum |
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173 | * number of contacts for the feet of a robot or creature). |
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174 | * \li Don't use excessive friction in the contacts. |
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175 | * \li Use contact slip if appropriate |
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176 | * \li Avoid kinematic loops (however, kinematic loops are inevitable in |
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177 | * legged creatures). |
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178 | * \li Don't use excessive motor strength. |
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179 | * \liUse force-based motors instead of velocity-based motors. |
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180 | * |
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181 | * Increasing the number of QuickStep iterations may help a little bit, but |
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182 | * it is not going to help much if your system is really near singular. |
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183 | */ |
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184 | ODE_API void dWorldQuickStep (dWorldID w, dReal stepsize); |
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185 | |
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186 | |
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187 | /** |
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188 | * @brief Set the number of iterations that the QuickStep method performs per |
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189 | * step. |
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190 | * @ingroup world |
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191 | * @remarks |
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192 | * More iterations will give a more accurate solution, but will take |
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193 | * longer to compute. |
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194 | * @param num The default is 20 iterations. |
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195 | */ |
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196 | ODE_API void dWorldSetQuickStepNumIterations (dWorldID, int num); |
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197 | |
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198 | |
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199 | /** |
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200 | * @brief Get the number of iterations that the QuickStep method performs per |
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201 | * step. |
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202 | * @ingroup world |
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203 | * @return nr of iterations |
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204 | */ |
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205 | ODE_API int dWorldGetQuickStepNumIterations (dWorldID); |
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206 | |
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207 | /** |
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208 | * @brief Set the SOR over-relaxation parameter |
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209 | * @ingroup world |
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210 | * @param over_relaxation value to use by SOR |
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211 | */ |
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212 | ODE_API void dWorldSetQuickStepW (dWorldID, dReal over_relaxation); |
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213 | |
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214 | /** |
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215 | * @brief Get the SOR over-relaxation parameter |
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216 | * @ingroup world |
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217 | * @returns the over-relaxation setting |
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218 | */ |
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219 | ODE_API dReal dWorldGetQuickStepW (dWorldID); |
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220 | |
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221 | /* World contact parameter functions */ |
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222 | |
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223 | /** |
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224 | * @brief Set the maximum correcting velocity that contacts are allowed |
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225 | * to generate. |
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226 | * @ingroup world |
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227 | * @param vel The default value is infinity (i.e. no limit). |
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228 | * @remarks |
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229 | * Reducing this value can help prevent "popping" of deeply embedded objects. |
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230 | */ |
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231 | ODE_API void dWorldSetContactMaxCorrectingVel (dWorldID, dReal vel); |
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232 | |
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233 | /** |
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234 | * @brief Get the maximum correcting velocity that contacts are allowed |
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235 | * to generated. |
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236 | * @ingroup world |
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237 | */ |
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238 | ODE_API dReal dWorldGetContactMaxCorrectingVel (dWorldID); |
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239 | |
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240 | /** |
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241 | * @brief Set the depth of the surface layer around all geometry objects. |
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242 | * @ingroup world |
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243 | * @remarks |
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244 | * Contacts are allowed to sink into the surface layer up to the given |
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245 | * depth before coming to rest. |
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246 | * @param depth The default value is zero. |
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247 | * @remarks |
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248 | * Increasing this to some small value (e.g. 0.001) can help prevent |
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249 | * jittering problems due to contacts being repeatedly made and broken. |
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250 | */ |
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251 | ODE_API void dWorldSetContactSurfaceLayer (dWorldID, dReal depth); |
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252 | |
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253 | /** |
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254 | * @brief Get the depth of the surface layer around all geometry objects. |
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255 | * @ingroup world |
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256 | * @returns the depth |
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257 | */ |
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258 | ODE_API dReal dWorldGetContactSurfaceLayer (dWorldID); |
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259 | |
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260 | /* StepFast1 functions */ |
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261 | |
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262 | /** |
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263 | * @brief Step the world using the StepFast1 algorithm. |
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264 | * @param stepsize the nr of seconds to advance the simulation. |
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265 | * @param maxiterations The number of iterations to perform. |
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266 | * @ingroup world |
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267 | */ |
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268 | ODE_API void dWorldStepFast1(dWorldID, dReal stepsize, int maxiterations); |
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269 | |
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270 | |
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271 | /** |
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272 | * @defgroup disable Automatic Enabling and Disabling |
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273 | * |
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274 | * Every body can be enabled or disabled. Enabled bodies participate in the |
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275 | * simulation, while disabled bodies are turned off and do not get updated |
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276 | * during a simulation step. New bodies are always created in the enabled state. |
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277 | * |
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278 | * A disabled body that is connected through a joint to an enabled body will be |
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279 | * automatically re-enabled at the next simulation step. |
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280 | * |
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281 | * Disabled bodies do not consume CPU time, therefore to speed up the simulation |
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282 | * bodies should be disabled when they come to rest. This can be done automatically |
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283 | * with the auto-disable feature. |
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284 | * |
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285 | * If a body has its auto-disable flag turned on, it will automatically disable |
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286 | * itself when |
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287 | * @li It has been idle for a given number of simulation steps. |
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288 | * @li It has also been idle for a given amount of simulation time. |
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289 | * |
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290 | * A body is considered to be idle when the magnitudes of both its |
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291 | * linear average velocity and angular average velocity are below given thresholds. |
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292 | * The sample size for the average defaults to one and can be disabled by setting |
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293 | * to zero with |
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294 | * |
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295 | * Thus, every body has six auto-disable parameters: an enabled flag, a idle step |
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296 | * count, an idle time, linear/angular average velocity thresholds, and the |
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297 | * average samples count. |
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298 | * |
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299 | * Newly created bodies get these parameters from world. |
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300 | */ |
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301 | |
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302 | /** |
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303 | * @brief Set the AutoEnableDepth parameter used by the StepFast1 algorithm. |
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304 | * @ingroup disable |
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305 | */ |
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306 | ODE_API void dWorldSetAutoEnableDepthSF1(dWorldID, int autoEnableDepth); |
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307 | |
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308 | /** |
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309 | * @brief Get the AutoEnableDepth parameter used by the StepFast1 algorithm. |
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310 | * @ingroup disable |
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311 | */ |
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312 | ODE_API int dWorldGetAutoEnableDepthSF1(dWorldID); |
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313 | |
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314 | /** |
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315 | * @brief Get auto disable linear threshold for newly created bodies. |
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316 | * @ingroup disable |
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317 | * @return the threshold |
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318 | */ |
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319 | ODE_API dReal dWorldGetAutoDisableLinearThreshold (dWorldID); |
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320 | |
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321 | /** |
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322 | * @brief Set auto disable linear threshold for newly created bodies. |
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323 | * @param linear_threshold default is 0.01 |
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324 | * @ingroup disable |
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325 | */ |
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326 | ODE_API void dWorldSetAutoDisableLinearThreshold (dWorldID, dReal linear_threshold); |
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327 | |
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328 | /** |
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329 | * @brief Get auto disable angular threshold for newly created bodies. |
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330 | * @ingroup disable |
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331 | * @return the threshold |
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332 | */ |
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333 | ODE_API dReal dWorldGetAutoDisableAngularThreshold (dWorldID); |
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334 | |
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335 | /** |
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336 | * @brief Set auto disable angular threshold for newly created bodies. |
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337 | * @param linear_threshold default is 0.01 |
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338 | * @ingroup disable |
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339 | */ |
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340 | ODE_API void dWorldSetAutoDisableAngularThreshold (dWorldID, dReal angular_threshold); |
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341 | |
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342 | /** |
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343 | * @brief Get auto disable linear average threshold for newly created bodies. |
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344 | * @ingroup disable |
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345 | * @return the threshold |
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346 | */ |
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347 | ODE_API dReal dWorldGetAutoDisableLinearAverageThreshold (dWorldID); |
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348 | |
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349 | /** |
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350 | * @brief Set auto disable linear average threshold for newly created bodies. |
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351 | * @param linear_average_threshold default is 0.01 |
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352 | * @ingroup disable |
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353 | */ |
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354 | ODE_API void dWorldSetAutoDisableLinearAverageThreshold (dWorldID, dReal linear_average_threshold); |
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355 | |
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356 | /** |
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357 | * @brief Get auto disable angular average threshold for newly created bodies. |
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358 | * @ingroup disable |
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359 | * @return the threshold |
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360 | */ |
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361 | ODE_API dReal dWorldGetAutoDisableAngularAverageThreshold (dWorldID); |
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362 | |
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363 | /** |
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364 | * @brief Set auto disable angular average threshold for newly created bodies. |
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365 | * @param linear_average_threshold default is 0.01 |
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366 | * @ingroup disable |
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367 | */ |
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368 | ODE_API void dWorldSetAutoDisableAngularAverageThreshold (dWorldID, dReal angular_average_threshold); |
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369 | |
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370 | /** |
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371 | * @brief Get auto disable sample count for newly created bodies. |
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372 | * @ingroup disable |
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373 | * @return number of samples used |
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374 | */ |
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375 | ODE_API int dWorldGetAutoDisableAverageSamplesCount (dWorldID); |
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376 | |
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377 | /** |
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378 | * @brief Set auto disable average sample count for newly created bodies. |
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379 | * @ingroup disable |
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380 | * @param average_samples_count Default is 1, meaning only instantaneous velocity is used. |
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381 | * Set to zero to disable sampling and thus prevent any body from auto-disabling. |
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382 | */ |
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383 | ODE_API void dWorldSetAutoDisableAverageSamplesCount (dWorldID, unsigned int average_samples_count ); |
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384 | |
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385 | /** |
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386 | * @brief Get auto disable steps for newly created bodies. |
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387 | * @ingroup disable |
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388 | * @return nr of steps |
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389 | */ |
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390 | ODE_API int dWorldGetAutoDisableSteps (dWorldID); |
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391 | |
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392 | /** |
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393 | * @brief Set auto disable steps for newly created bodies. |
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394 | * @ingroup disable |
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395 | * @param steps default is 10 |
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396 | */ |
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397 | ODE_API void dWorldSetAutoDisableSteps (dWorldID, int steps); |
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398 | |
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399 | /** |
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400 | * @brief Get auto disable time for newly created bodies. |
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401 | * @ingroup disable |
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402 | * @return nr of seconds |
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403 | */ |
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404 | ODE_API dReal dWorldGetAutoDisableTime (dWorldID); |
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405 | |
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406 | /** |
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407 | * @brief Set auto disable time for newly created bodies. |
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408 | * @ingroup disable |
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409 | * @param time default is 0 seconds |
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410 | */ |
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411 | ODE_API void dWorldSetAutoDisableTime (dWorldID, dReal time); |
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412 | |
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413 | /** |
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414 | * @brief Get auto disable flag for newly created bodies. |
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415 | * @ingroup disable |
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416 | * @return 0 or 1 |
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417 | */ |
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418 | ODE_API int dWorldGetAutoDisableFlag (dWorldID); |
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419 | |
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420 | /** |
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421 | * @brief Set auto disable flag for newly created bodies. |
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422 | * @ingroup disable |
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423 | * @param do_auto_disable default is false. |
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424 | */ |
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425 | ODE_API void dWorldSetAutoDisableFlag (dWorldID, int do_auto_disable); |
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426 | |
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427 | |
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428 | |
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429 | /** |
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430 | * @defgroup bodies Rigid Bodies |
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431 | * |
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432 | * A rigid body has various properties from the point of view of the |
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433 | * simulation. Some properties change over time: |
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434 | * |
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435 | * @li Position vector (x,y,z) of the body's point of reference. |
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436 | * Currently the point of reference must correspond to the body's center of mass. |
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437 | * @li Linear velocity of the point of reference, a vector (vx,vy,vz). |
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438 | * @li Orientation of a body, represented by a quaternion (qs,qx,qy,qz) or |
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439 | * a 3x3 rotation matrix. |
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440 | * @li Angular velocity vector (wx,wy,wz) which describes how the orientation |
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441 | * changes over time. |
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442 | * |
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443 | * Other body properties are usually constant over time: |
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444 | * |
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445 | * @li Mass of the body. |
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446 | * @li Position of the center of mass with respect to the point of reference. |
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447 | * In the current implementation the center of mass and the point of |
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448 | * reference must coincide. |
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449 | * @li Inertia matrix. This is a 3x3 matrix that describes how the body's mass |
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450 | * is distributed around the center of mass. Conceptually each body has an |
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451 | * x-y-z coordinate frame embedded in it that moves and rotates with the body. |
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452 | * |
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453 | * The origin of this coordinate frame is the body's point of reference. Some values |
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454 | * in ODE (vectors, matrices etc) are relative to the body coordinate frame, and others |
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455 | * are relative to the global coordinate frame. |
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456 | * |
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457 | * Note that the shape of a rigid body is not a dynamical property (except insofar as |
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458 | * it influences the various mass properties). It is only collision detection that cares |
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459 | * about the detailed shape of the body. |
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460 | */ |
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461 | |
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462 | |
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463 | /** |
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464 | * @brief Get auto disable linear average threshold. |
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465 | * @ingroup bodies |
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466 | * @return the threshold |
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467 | */ |
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468 | ODE_API dReal dBodyGetAutoDisableLinearThreshold (dBodyID); |
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469 | |
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470 | /** |
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471 | * @brief Set auto disable linear average threshold. |
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472 | * @ingroup bodies |
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473 | * @return the threshold |
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474 | */ |
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475 | ODE_API void dBodySetAutoDisableLinearThreshold (dBodyID, dReal linear_average_threshold); |
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476 | |
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477 | /** |
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478 | * @brief Get auto disable angular average threshold. |
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479 | * @ingroup bodies |
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480 | * @return the threshold |
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481 | */ |
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482 | ODE_API dReal dBodyGetAutoDisableAngularThreshold (dBodyID); |
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483 | |
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484 | /** |
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485 | * @brief Set auto disable angular average threshold. |
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486 | * @ingroup bodies |
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487 | * @return the threshold |
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488 | */ |
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489 | ODE_API void dBodySetAutoDisableAngularThreshold (dBodyID, dReal angular_average_threshold); |
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490 | |
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491 | /** |
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492 | * @brief Get auto disable average size (samples count). |
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493 | * @ingroup bodies |
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494 | * @return the nr of steps/size. |
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495 | */ |
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496 | ODE_API int dBodyGetAutoDisableAverageSamplesCount (dBodyID); |
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497 | |
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498 | /** |
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499 | * @brief Set auto disable average buffer size (average steps). |
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500 | * @ingroup bodies |
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501 | * @param average_samples_count the nr of samples to review. |
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502 | */ |
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503 | ODE_API void dBodySetAutoDisableAverageSamplesCount (dBodyID, unsigned int average_samples_count); |
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504 | |
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505 | |
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506 | /** |
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507 | * @brief Get auto steps a body must be thought of as idle to disable |
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508 | * @ingroup bodies |
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509 | * @return the nr of steps |
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510 | */ |
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511 | ODE_API int dBodyGetAutoDisableSteps (dBodyID); |
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512 | |
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513 | /** |
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514 | * @brief Set auto disable steps. |
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515 | * @ingroup bodies |
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516 | * @param steps the nr of steps. |
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517 | */ |
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518 | ODE_API void dBodySetAutoDisableSteps (dBodyID, int steps); |
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519 | |
---|
520 | /** |
---|
521 | * @brief Get auto disable time. |
---|
522 | * @ingroup bodies |
---|
523 | * @return nr of seconds |
---|
524 | */ |
---|
525 | ODE_API dReal dBodyGetAutoDisableTime (dBodyID); |
---|
526 | |
---|
527 | /** |
---|
528 | * @brief Set auto disable time. |
---|
529 | * @ingroup bodies |
---|
530 | * @param time nr of seconds. |
---|
531 | */ |
---|
532 | ODE_API void dBodySetAutoDisableTime (dBodyID, dReal time); |
---|
533 | |
---|
534 | /** |
---|
535 | * @brief Get auto disable flag. |
---|
536 | * @ingroup bodies |
---|
537 | * @return 0 or 1 |
---|
538 | */ |
---|
539 | ODE_API int dBodyGetAutoDisableFlag (dBodyID); |
---|
540 | |
---|
541 | /** |
---|
542 | * @brief Set auto disable flag. |
---|
543 | * @ingroup bodies |
---|
544 | * @param do_auto_disable 0 or 1 |
---|
545 | */ |
---|
546 | ODE_API void dBodySetAutoDisableFlag (dBodyID, int do_auto_disable); |
---|
547 | |
---|
548 | /** |
---|
549 | * @brief Set auto disable defaults. |
---|
550 | * @remarks |
---|
551 | * Set the values for the body to those set as default for the world. |
---|
552 | * @ingroup bodies |
---|
553 | */ |
---|
554 | ODE_API void dBodySetAutoDisableDefaults (dBodyID); |
---|
555 | |
---|
556 | |
---|
557 | /** |
---|
558 | * @brief Retrives the world attached to te given body. |
---|
559 | * @remarks |
---|
560 | * |
---|
561 | * @ingroup bodies |
---|
562 | */ |
---|
563 | ODE_API dWorldID dBodyGetWorld (dBodyID); |
---|
564 | |
---|
565 | /** |
---|
566 | * @brief Create a body in given world. |
---|
567 | * @remarks |
---|
568 | * Default mass parameters are at position (0,0,0). |
---|
569 | * @ingroup bodies |
---|
570 | */ |
---|
571 | ODE_API dBodyID dBodyCreate (dWorldID); |
---|
572 | |
---|
573 | /** |
---|
574 | * @brief Destroy a body. |
---|
575 | * @remarks |
---|
576 | * All joints that are attached to this body will be put into limbo: |
---|
577 | * i.e. unattached and not affecting the simulation, but they will NOT be |
---|
578 | * deleted. |
---|
579 | * @ingroup bodies |
---|
580 | */ |
---|
581 | ODE_API void dBodyDestroy (dBodyID); |
---|
582 | |
---|
583 | /** |
---|
584 | * @brief Set the body's user-data pointer. |
---|
585 | * @ingroup bodies |
---|
586 | * @param data arbitraty pointer |
---|
587 | */ |
---|
588 | ODE_API void dBodySetData (dBodyID, void *data); |
---|
589 | |
---|
590 | /** |
---|
591 | * @brief Get the body's user-data pointer. |
---|
592 | * @ingroup bodies |
---|
593 | * @return a pointer to the user's data. |
---|
594 | */ |
---|
595 | ODE_API void *dBodyGetData (dBodyID); |
---|
596 | |
---|
597 | /** |
---|
598 | * @brief Set position of a body. |
---|
599 | * @remarks |
---|
600 | * After setting, the outcome of the simulation is undefined |
---|
601 | * if the new configuration is inconsistent with the joints/constraints |
---|
602 | * that are present. |
---|
603 | * @ingroup bodies |
---|
604 | */ |
---|
605 | ODE_API void dBodySetPosition (dBodyID, dReal x, dReal y, dReal z); |
---|
606 | |
---|
607 | /** |
---|
608 | * @brief Set the orientation of a body. |
---|
609 | * @ingroup bodies |
---|
610 | * @remarks |
---|
611 | * After setting, the outcome of the simulation is undefined |
---|
612 | * if the new configuration is inconsistent with the joints/constraints |
---|
613 | * that are present. |
---|
614 | */ |
---|
615 | ODE_API void dBodySetRotation (dBodyID, const dMatrix3 R); |
---|
616 | |
---|
617 | /** |
---|
618 | * @brief Set the orientation of a body. |
---|
619 | * @ingroup bodies |
---|
620 | * @remarks |
---|
621 | * After setting, the outcome of the simulation is undefined |
---|
622 | * if the new configuration is inconsistent with the joints/constraints |
---|
623 | * that are present. |
---|
624 | */ |
---|
625 | ODE_API void dBodySetQuaternion (dBodyID, const dQuaternion q); |
---|
626 | |
---|
627 | /** |
---|
628 | * @brief Set the linear velocity of a body. |
---|
629 | * @ingroup bodies |
---|
630 | */ |
---|
631 | ODE_API void dBodySetLinearVel (dBodyID, dReal x, dReal y, dReal z); |
---|
632 | |
---|
633 | /** |
---|
634 | * @brief Set the angular velocity of a body. |
---|
635 | * @ingroup bodies |
---|
636 | */ |
---|
637 | ODE_API void dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z); |
---|
638 | |
---|
639 | /** |
---|
640 | * @brief Get the position of a body. |
---|
641 | * @ingroup bodies |
---|
642 | * @remarks |
---|
643 | * When getting, the returned values are pointers to internal data structures, |
---|
644 | * so the vectors are valid until any changes are made to the rigid body |
---|
645 | * system structure. |
---|
646 | * @sa dBodyCopyPosition |
---|
647 | */ |
---|
648 | ODE_API const dReal * dBodyGetPosition (dBodyID); |
---|
649 | |
---|
650 | |
---|
651 | /** |
---|
652 | * @brief Copy the position of a body into a vector. |
---|
653 | * @ingroup bodies |
---|
654 | * @param body the body to query |
---|
655 | * @param pos a copy of the body position |
---|
656 | * @sa dBodyGetPosition |
---|
657 | */ |
---|
658 | ODE_API void dBodyCopyPosition (dBodyID body, dVector3 pos); |
---|
659 | |
---|
660 | |
---|
661 | /** |
---|
662 | * @brief Get the rotation of a body. |
---|
663 | * @ingroup bodies |
---|
664 | * @return pointer to a 4x3 rotation matrix. |
---|
665 | */ |
---|
666 | ODE_API const dReal * dBodyGetRotation (dBodyID); |
---|
667 | |
---|
668 | |
---|
669 | /** |
---|
670 | * @brief Copy the rotation of a body. |
---|
671 | * @ingroup bodies |
---|
672 | * @param body the body to query |
---|
673 | * @param R a copy of the rotation matrix |
---|
674 | * @sa dBodyGetRotation |
---|
675 | */ |
---|
676 | ODE_API void dBodyCopyRotation (dBodyID, dMatrix3 R); |
---|
677 | |
---|
678 | |
---|
679 | /** |
---|
680 | * @brief Get the rotation of a body. |
---|
681 | * @ingroup bodies |
---|
682 | * @return pointer to 4 scalars that represent the quaternion. |
---|
683 | */ |
---|
684 | ODE_API const dReal * dBodyGetQuaternion (dBodyID); |
---|
685 | |
---|
686 | |
---|
687 | /** |
---|
688 | * @brief Copy the orientation of a body into a quaternion. |
---|
689 | * @ingroup bodies |
---|
690 | * @param body the body to query |
---|
691 | * @param quat a copy of the orientation quaternion |
---|
692 | * @sa dBodyGetQuaternion |
---|
693 | */ |
---|
694 | ODE_API void dBodyCopyQuaternion(dBodyID body, dQuaternion quat); |
---|
695 | |
---|
696 | |
---|
697 | /** |
---|
698 | * @brief Get the linear velocity of a body. |
---|
699 | * @ingroup bodies |
---|
700 | */ |
---|
701 | ODE_API const dReal * dBodyGetLinearVel (dBodyID); |
---|
702 | |
---|
703 | /** |
---|
704 | * @brief Get the angular velocity of a body. |
---|
705 | * @ingroup bodies |
---|
706 | */ |
---|
707 | ODE_API const dReal * dBodyGetAngularVel (dBodyID); |
---|
708 | |
---|
709 | /** |
---|
710 | * @brief Set the mass of a body. |
---|
711 | * @ingroup bodies |
---|
712 | */ |
---|
713 | ODE_API void dBodySetMass (dBodyID, const dMass *mass); |
---|
714 | |
---|
715 | /** |
---|
716 | * @brief Get the mass of a body. |
---|
717 | * @ingroup bodies |
---|
718 | */ |
---|
719 | ODE_API void dBodyGetMass (dBodyID, dMass *mass); |
---|
720 | |
---|
721 | /** |
---|
722 | * @brief Add force at centre of mass of body in absolute coordinates. |
---|
723 | * @ingroup bodies |
---|
724 | */ |
---|
725 | ODE_API void dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz); |
---|
726 | |
---|
727 | /** |
---|
728 | * @brief Add torque at centre of mass of body in absolute coordinates. |
---|
729 | * @ingroup bodies |
---|
730 | */ |
---|
731 | ODE_API void dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz); |
---|
732 | |
---|
733 | /** |
---|
734 | * @brief Add force at centre of mass of body in coordinates relative to body. |
---|
735 | * @ingroup bodies |
---|
736 | */ |
---|
737 | ODE_API void dBodyAddRelForce (dBodyID, dReal fx, dReal fy, dReal fz); |
---|
738 | |
---|
739 | /** |
---|
740 | * @brief Add torque at centre of mass of body in coordinates relative to body. |
---|
741 | * @ingroup bodies |
---|
742 | */ |
---|
743 | ODE_API void dBodyAddRelTorque (dBodyID, dReal fx, dReal fy, dReal fz); |
---|
744 | |
---|
745 | /** |
---|
746 | * @brief Add force at specified point in body in global coordinates. |
---|
747 | * @ingroup bodies |
---|
748 | */ |
---|
749 | ODE_API void dBodyAddForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz, |
---|
750 | dReal px, dReal py, dReal pz); |
---|
751 | /** |
---|
752 | * @brief Add force at specified point in body in local coordinates. |
---|
753 | * @ingroup bodies |
---|
754 | */ |
---|
755 | ODE_API void dBodyAddForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz, |
---|
756 | dReal px, dReal py, dReal pz); |
---|
757 | /** |
---|
758 | * @brief Add force at specified point in body in global coordinates. |
---|
759 | * @ingroup bodies |
---|
760 | */ |
---|
761 | ODE_API void dBodyAddRelForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz, |
---|
762 | dReal px, dReal py, dReal pz); |
---|
763 | /** |
---|
764 | * @brief Add force at specified point in body in local coordinates. |
---|
765 | * @ingroup bodies |
---|
766 | */ |
---|
767 | ODE_API void dBodyAddRelForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz, |
---|
768 | dReal px, dReal py, dReal pz); |
---|
769 | |
---|
770 | /** |
---|
771 | * @brief Return the current accumulated force vector. |
---|
772 | * @return points to an array of 3 reals. |
---|
773 | * @remarks |
---|
774 | * The returned values are pointers to internal data structures, so |
---|
775 | * the vectors are only valid until any changes are made to the rigid |
---|
776 | * body system. |
---|
777 | * @ingroup bodies |
---|
778 | */ |
---|
779 | ODE_API const dReal * dBodyGetForce (dBodyID); |
---|
780 | |
---|
781 | /** |
---|
782 | * @brief Return the current accumulated torque vector. |
---|
783 | * @return points to an array of 3 reals. |
---|
784 | * @remarks |
---|
785 | * The returned values are pointers to internal data structures, so |
---|
786 | * the vectors are only valid until any changes are made to the rigid |
---|
787 | * body system. |
---|
788 | * @ingroup bodies |
---|
789 | */ |
---|
790 | ODE_API const dReal * dBodyGetTorque (dBodyID); |
---|
791 | |
---|
792 | /** |
---|
793 | * @brief Set the body force accumulation vector. |
---|
794 | * @remarks |
---|
795 | * This is mostly useful to zero the force and torque for deactivated bodies |
---|
796 | * before they are reactivated, in the case where the force-adding functions |
---|
797 | * were called on them while they were deactivated. |
---|
798 | * @ingroup bodies |
---|
799 | */ |
---|
800 | ODE_API void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z); |
---|
801 | |
---|
802 | /** |
---|
803 | * @brief Set the body torque accumulation vector. |
---|
804 | * @remarks |
---|
805 | * This is mostly useful to zero the force and torque for deactivated bodies |
---|
806 | * before they are reactivated, in the case where the force-adding functions |
---|
807 | * were called on them while they were deactivated. |
---|
808 | * @ingroup bodies |
---|
809 | */ |
---|
810 | ODE_API void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z); |
---|
811 | |
---|
812 | /** |
---|
813 | * @brief Get world position of a relative point on body. |
---|
814 | * @ingroup bodies |
---|
815 | * @param result will contain the result. |
---|
816 | */ |
---|
817 | ODE_API void dBodyGetRelPointPos |
---|
818 | ( |
---|
819 | dBodyID, dReal px, dReal py, dReal pz, |
---|
820 | dVector3 result |
---|
821 | ); |
---|
822 | |
---|
823 | /** |
---|
824 | * @brief Get velocity vector in global coords of a relative point on body. |
---|
825 | * @ingroup bodies |
---|
826 | * @param result will contain the result. |
---|
827 | */ |
---|
828 | ODE_API void dBodyGetRelPointVel |
---|
829 | ( |
---|
830 | dBodyID, dReal px, dReal py, dReal pz, |
---|
831 | dVector3 result |
---|
832 | ); |
---|
833 | |
---|
834 | /** |
---|
835 | * @brief Get velocity vector in global coords of a globally |
---|
836 | * specified point on a body. |
---|
837 | * @ingroup bodies |
---|
838 | * @param result will contain the result. |
---|
839 | */ |
---|
840 | ODE_API void dBodyGetPointVel |
---|
841 | ( |
---|
842 | dBodyID, dReal px, dReal py, dReal pz, |
---|
843 | dVector3 result |
---|
844 | ); |
---|
845 | |
---|
846 | /** |
---|
847 | * @brief takes a point in global coordinates and returns |
---|
848 | * the point's position in body-relative coordinates. |
---|
849 | * @remarks |
---|
850 | * This is the inverse of dBodyGetRelPointPos() |
---|
851 | * @ingroup bodies |
---|
852 | * @param result will contain the result. |
---|
853 | */ |
---|
854 | ODE_API void dBodyGetPosRelPoint |
---|
855 | ( |
---|
856 | dBodyID, dReal px, dReal py, dReal pz, |
---|
857 | dVector3 result |
---|
858 | ); |
---|
859 | |
---|
860 | /** |
---|
861 | * @brief Convert from local to world coordinates. |
---|
862 | * @ingroup bodies |
---|
863 | * @param result will contain the result. |
---|
864 | */ |
---|
865 | ODE_API void dBodyVectorToWorld |
---|
866 | ( |
---|
867 | dBodyID, dReal px, dReal py, dReal pz, |
---|
868 | dVector3 result |
---|
869 | ); |
---|
870 | |
---|
871 | /** |
---|
872 | * @brief Convert from world to local coordinates. |
---|
873 | * @ingroup bodies |
---|
874 | * @param result will contain the result. |
---|
875 | */ |
---|
876 | ODE_API void dBodyVectorFromWorld |
---|
877 | ( |
---|
878 | dBodyID, dReal px, dReal py, dReal pz, |
---|
879 | dVector3 result |
---|
880 | ); |
---|
881 | |
---|
882 | /** |
---|
883 | * @brief controls the way a body's orientation is updated at each timestep. |
---|
884 | * @ingroup bodies |
---|
885 | * @param mode can be 0 or 1: |
---|
886 | * \li 0: An ``infinitesimal'' orientation update is used. |
---|
887 | * This is fast to compute, but it can occasionally cause inaccuracies |
---|
888 | * for bodies that are rotating at high speed, especially when those |
---|
889 | * bodies are joined to other bodies. |
---|
890 | * This is the default for every new body that is created. |
---|
891 | * \li 1: A ``finite'' orientation update is used. |
---|
892 | * This is more costly to compute, but will be more accurate for high |
---|
893 | * speed rotations. |
---|
894 | * @remarks |
---|
895 | * Note however that high speed rotations can result in many types of |
---|
896 | * error in a simulation, and the finite mode will only fix one of those |
---|
897 | * sources of error. |
---|
898 | */ |
---|
899 | ODE_API void dBodySetFiniteRotationMode (dBodyID, int mode); |
---|
900 | |
---|
901 | /** |
---|
902 | * @brief sets the finite rotation axis for a body. |
---|
903 | * @ingroup bodies |
---|
904 | * @remarks |
---|
905 | * This is axis only has meaning when the finite rotation mode is set |
---|
906 | * If this axis is zero (0,0,0), full finite rotations are performed on |
---|
907 | * the body. |
---|
908 | * If this axis is nonzero, the body is rotated by performing a partial finite |
---|
909 | * rotation along the axis direction followed by an infinitesimal rotation |
---|
910 | * along an orthogonal direction. |
---|
911 | * @remarks |
---|
912 | * This can be useful to alleviate certain sources of error caused by quickly |
---|
913 | * spinning bodies. For example, if a car wheel is rotating at high speed |
---|
914 | * you can call this function with the wheel's hinge axis as the argument to |
---|
915 | * try and improve its behavior. |
---|
916 | */ |
---|
917 | ODE_API void dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z); |
---|
918 | |
---|
919 | /** |
---|
920 | * @brief Get the way a body's orientation is updated each timestep. |
---|
921 | * @ingroup bodies |
---|
922 | * @return the mode 0 (infitesimal) or 1 (finite). |
---|
923 | */ |
---|
924 | ODE_API int dBodyGetFiniteRotationMode (dBodyID); |
---|
925 | |
---|
926 | /** |
---|
927 | * @brief Get the finite rotation axis. |
---|
928 | * @param result will contain the axis. |
---|
929 | * @ingroup bodies |
---|
930 | */ |
---|
931 | ODE_API void dBodyGetFiniteRotationAxis (dBodyID, dVector3 result); |
---|
932 | |
---|
933 | /** |
---|
934 | * @brief Get the number of joints that are attached to this body. |
---|
935 | * @ingroup bodies |
---|
936 | * @return nr of joints |
---|
937 | */ |
---|
938 | ODE_API int dBodyGetNumJoints (dBodyID b); |
---|
939 | |
---|
940 | /** |
---|
941 | * @brief Return a joint attached to this body, given by index. |
---|
942 | * @ingroup bodies |
---|
943 | * @param index valid range is 0 to n-1 where n is the value returned by |
---|
944 | * dBodyGetNumJoints(). |
---|
945 | */ |
---|
946 | ODE_API dJointID dBodyGetJoint (dBodyID, int index); |
---|
947 | |
---|
948 | /** |
---|
949 | * @brief Manually enable a body. |
---|
950 | * @param dBodyID identification of body. |
---|
951 | * @ingroup bodies |
---|
952 | */ |
---|
953 | ODE_API void dBodyEnable (dBodyID); |
---|
954 | |
---|
955 | /** |
---|
956 | * @brief Manually disable a body. |
---|
957 | * @ingroup bodies |
---|
958 | * @remarks |
---|
959 | * A disabled body that is connected through a joint to an enabled body will |
---|
960 | * be automatically re-enabled at the next simulation step. |
---|
961 | */ |
---|
962 | ODE_API void dBodyDisable (dBodyID); |
---|
963 | |
---|
964 | /** |
---|
965 | * @brief Check wether a body is enabled. |
---|
966 | * @ingroup bodies |
---|
967 | * @return 1 if a body is currently enabled or 0 if it is disabled. |
---|
968 | */ |
---|
969 | ODE_API int dBodyIsEnabled (dBodyID); |
---|
970 | |
---|
971 | /** |
---|
972 | * @brief Set whether the body is influenced by the world's gravity or not. |
---|
973 | * @ingroup bodies |
---|
974 | * @param mode when nonzero gravity affects this body. |
---|
975 | * @remarks |
---|
976 | * Newly created bodies are always influenced by the world's gravity. |
---|
977 | */ |
---|
978 | ODE_API void dBodySetGravityMode (dBodyID b, int mode); |
---|
979 | |
---|
980 | /** |
---|
981 | * @brief Get whether the body is influenced by the world's gravity or not. |
---|
982 | * @ingroup bodies |
---|
983 | * @return nonzero means gravity affects this body. |
---|
984 | */ |
---|
985 | ODE_API int dBodyGetGravityMode (dBodyID b); |
---|
986 | |
---|
987 | |
---|
988 | |
---|
989 | /** |
---|
990 | * @defgroup joints Joints |
---|
991 | * |
---|
992 | * In real life a joint is something like a hinge, that is used to connect two |
---|
993 | * objects. |
---|
994 | * In ODE a joint is very similar: It is a relationship that is enforced between |
---|
995 | * two bodies so that they can only have certain positions and orientations |
---|
996 | * relative to each other. |
---|
997 | * This relationship is called a constraint -- the words joint and |
---|
998 | * constraint are often used interchangeably. |
---|
999 | * |
---|
1000 | * A joint has a set of parameters that can be set. These include: |
---|
1001 | * |
---|
1002 | * |
---|
1003 | * \li dParamLoStop Low stop angle or position. Setting this to |
---|
1004 | * -dInfinity (the default value) turns off the low stop. |
---|
1005 | * For rotational joints, this stop must be greater than -pi to be |
---|
1006 | * effective. |
---|
1007 | * \li dParamHiStop High stop angle or position. Setting this to |
---|
1008 | * dInfinity (the default value) turns off the high stop. |
---|
1009 | * For rotational joints, this stop must be less than pi to be |
---|
1010 | * effective. |
---|
1011 | * If the high stop is less than the low stop then both stops will |
---|
1012 | * be ineffective. |
---|
1013 | * \li dParamVel Desired motor velocity (this will be an angular or |
---|
1014 | * linear velocity). |
---|
1015 | * \li dParamFMax The maximum force or torque that the motor will use to |
---|
1016 | * achieve the desired velocity. |
---|
1017 | * This must always be greater than or equal to zero. |
---|
1018 | * Setting this to zero (the default value) turns off the motor. |
---|
1019 | * \li dParamFudgeFactor The current joint stop/motor implementation has |
---|
1020 | * a small problem: |
---|
1021 | * when the joint is at one stop and the motor is set to move it away |
---|
1022 | * from the stop, too much force may be applied for one time step, |
---|
1023 | * causing a ``jumping'' motion. |
---|
1024 | * This fudge factor is used to scale this excess force. |
---|
1025 | * It should have a value between zero and one (the default value). |
---|
1026 | * If the jumping motion is too visible in a joint, the value can be |
---|
1027 | * reduced. |
---|
1028 | * Making this value too small can prevent the motor from being able to |
---|
1029 | * move the joint away from a stop. |
---|
1030 | * \li dParamBounce The bouncyness of the stops. |
---|
1031 | * This is a restitution parameter in the range 0..1. |
---|
1032 | * 0 means the stops are not bouncy at all, 1 means maximum bouncyness. |
---|
1033 | * \li dParamCFM The constraint force mixing (CFM) value used when not |
---|
1034 | * at a stop. |
---|
1035 | * \li dParamStopERP The error reduction parameter (ERP) used by the |
---|
1036 | * stops. |
---|
1037 | * \li dParamStopCFM The constraint force mixing (CFM) value used by the |
---|
1038 | * stops. Together with the ERP value this can be used to get spongy or |
---|
1039 | * soft stops. |
---|
1040 | * Note that this is intended for unpowered joints, it does not really |
---|
1041 | * work as expected when a powered joint reaches its limit. |
---|
1042 | * \li dParamSuspensionERP Suspension error reduction parameter (ERP). |
---|
1043 | * Currently this is only implemented on the hinge-2 joint. |
---|
1044 | * \li dParamSuspensionCFM Suspension constraint force mixing (CFM) value. |
---|
1045 | * Currently this is only implemented on the hinge-2 joint. |
---|
1046 | * |
---|
1047 | * If a particular parameter is not implemented by a given joint, setting it |
---|
1048 | * will have no effect. |
---|
1049 | * These parameter names can be optionally followed by a digit (2 or 3) |
---|
1050 | * to indicate the second or third set of parameters, e.g. for the second axis |
---|
1051 | * in a hinge-2 joint, or the third axis in an AMotor joint. |
---|
1052 | */ |
---|
1053 | |
---|
1054 | |
---|
1055 | /** |
---|
1056 | * @brief Create a new joint of the ball type. |
---|
1057 | * @ingroup joints |
---|
1058 | * @remarks |
---|
1059 | * The joint is initially in "limbo" (i.e. it has no effect on the simulation) |
---|
1060 | * because it does not connect to any bodies. |
---|
1061 | * @param dJointGroupID set to 0 to allocate the joint normally. |
---|
1062 | * If it is nonzero the joint is allocated in the given joint group. |
---|
1063 | */ |
---|
1064 | ODE_API dJointID dJointCreateBall (dWorldID, dJointGroupID); |
---|
1065 | |
---|
1066 | /** |
---|
1067 | * @brief Create a new joint of the hinge type. |
---|
1068 | * @ingroup joints |
---|
1069 | * @param dJointGroupID set to 0 to allocate the joint normally. |
---|
1070 | * If it is nonzero the joint is allocated in the given joint group. |
---|
1071 | */ |
---|
1072 | ODE_API dJointID dJointCreateHinge (dWorldID, dJointGroupID); |
---|
1073 | |
---|
1074 | /** |
---|
1075 | * @brief Create a new joint of the slider type. |
---|
1076 | * @ingroup joints |
---|
1077 | * @param dJointGroupID set to 0 to allocate the joint normally. |
---|
1078 | * If it is nonzero the joint is allocated in the given joint group. |
---|
1079 | */ |
---|
1080 | ODE_API dJointID dJointCreateSlider (dWorldID, dJointGroupID); |
---|
1081 | |
---|
1082 | /** |
---|
1083 | * @brief Create a new joint of the contact type. |
---|
1084 | * @ingroup joints |
---|
1085 | * @param dJointGroupID set to 0 to allocate the joint normally. |
---|
1086 | * If it is nonzero the joint is allocated in the given joint group. |
---|
1087 | */ |
---|
1088 | ODE_API dJointID dJointCreateContact (dWorldID, dJointGroupID, const dContact *); |
---|
1089 | |
---|
1090 | /** |
---|
1091 | * @brief Create a new joint of the hinge2 type. |
---|
1092 | * @ingroup joints |
---|
1093 | * @param dJointGroupID set to 0 to allocate the joint normally. |
---|
1094 | * If it is nonzero the joint is allocated in the given joint group. |
---|
1095 | */ |
---|
1096 | ODE_API dJointID dJointCreateHinge2 (dWorldID, dJointGroupID); |
---|
1097 | |
---|
1098 | /** |
---|
1099 | * @brief Create a new joint of the universal type. |
---|
1100 | * @ingroup joints |
---|
1101 | * @param dJointGroupID set to 0 to allocate the joint normally. |
---|
1102 | * If it is nonzero the joint is allocated in the given joint group. |
---|
1103 | */ |
---|
1104 | ODE_API dJointID dJointCreateUniversal (dWorldID, dJointGroupID); |
---|
1105 | |
---|
1106 | /** |
---|
1107 | * @brief Create a new joint of the PR (Prismatic and Rotoide) type. |
---|
1108 | * @ingroup joints |
---|
1109 | * @param dJointGroupID set to 0 to allocate the joint normally. |
---|
1110 | * If it is nonzero the joint is allocated in the given joint group. |
---|
1111 | */ |
---|
1112 | ODE_API dJointID dJointCreatePR (dWorldID, dJointGroupID); |
---|
1113 | |
---|
1114 | /** |
---|
1115 | * @brief Create a new joint of the fixed type. |
---|
1116 | * @ingroup joints |
---|
1117 | * @param dJointGroupID set to 0 to allocate the joint normally. |
---|
1118 | * If it is nonzero the joint is allocated in the given joint group. |
---|
1119 | */ |
---|
1120 | ODE_API dJointID dJointCreateFixed (dWorldID, dJointGroupID); |
---|
1121 | |
---|
1122 | ODE_API dJointID dJointCreateNull (dWorldID, dJointGroupID); |
---|
1123 | |
---|
1124 | /** |
---|
1125 | * @brief Create a new joint of the A-motor type. |
---|
1126 | * @ingroup joints |
---|
1127 | * @param dJointGroupID set to 0 to allocate the joint normally. |
---|
1128 | * If it is nonzero the joint is allocated in the given joint group. |
---|
1129 | */ |
---|
1130 | ODE_API dJointID dJointCreateAMotor (dWorldID, dJointGroupID); |
---|
1131 | |
---|
1132 | /** |
---|
1133 | * @brief Create a new joint of the L-motor type. |
---|
1134 | * @ingroup joints |
---|
1135 | * @param dJointGroupID set to 0 to allocate the joint normally. |
---|
1136 | * If it is nonzero the joint is allocated in the given joint group. |
---|
1137 | */ |
---|
1138 | ODE_API dJointID dJointCreateLMotor (dWorldID, dJointGroupID); |
---|
1139 | |
---|
1140 | /** |
---|
1141 | * @brief Create a new joint of the plane-2d type. |
---|
1142 | * @ingroup joints |
---|
1143 | * @param dJointGroupID set to 0 to allocate the joint normally. |
---|
1144 | * If it is nonzero the joint is allocated in the given joint group. |
---|
1145 | */ |
---|
1146 | ODE_API dJointID dJointCreatePlane2D (dWorldID, dJointGroupID); |
---|
1147 | |
---|
1148 | /** |
---|
1149 | * @brief Destroy a joint. |
---|
1150 | * @ingroup joints |
---|
1151 | * |
---|
1152 | * disconnects it from its attached bodies and removing it from the world. |
---|
1153 | * However, if the joint is a member of a group then this function has no |
---|
1154 | * effect - to destroy that joint the group must be emptied or destroyed. |
---|
1155 | */ |
---|
1156 | ODE_API void dJointDestroy (dJointID); |
---|
1157 | |
---|
1158 | |
---|
1159 | /** |
---|
1160 | * @brief Create a joint group |
---|
1161 | * @ingroup joints |
---|
1162 | * @param max_size deprecated. Set to 0. |
---|
1163 | */ |
---|
1164 | ODE_API dJointGroupID dJointGroupCreate (int max_size); |
---|
1165 | |
---|
1166 | /** |
---|
1167 | * @brief Destroy a joint group. |
---|
1168 | * @ingroup joints |
---|
1169 | * |
---|
1170 | * All joints in the joint group will be destroyed. |
---|
1171 | */ |
---|
1172 | ODE_API void dJointGroupDestroy (dJointGroupID); |
---|
1173 | |
---|
1174 | /** |
---|
1175 | * @brief Empty a joint group. |
---|
1176 | * @ingroup joints |
---|
1177 | * |
---|
1178 | * All joints in the joint group will be destroyed, |
---|
1179 | * but the joint group itself will not be destroyed. |
---|
1180 | */ |
---|
1181 | ODE_API void dJointGroupEmpty (dJointGroupID); |
---|
1182 | |
---|
1183 | /** |
---|
1184 | * @brief Attach the joint to some new bodies. |
---|
1185 | * @ingroup joints |
---|
1186 | * |
---|
1187 | * If the joint is already attached, it will be detached from the old bodies |
---|
1188 | * first. |
---|
1189 | * To attach this joint to only one body, set body1 or body2 to zero - a zero |
---|
1190 | * body refers to the static environment. |
---|
1191 | * Setting both bodies to zero puts the joint into "limbo", i.e. it will |
---|
1192 | * have no effect on the simulation. |
---|
1193 | * @remarks |
---|
1194 | * Some joints, like hinge-2 need to be attached to two bodies to work. |
---|
1195 | */ |
---|
1196 | ODE_API void dJointAttach (dJointID, dBodyID body1, dBodyID body2); |
---|
1197 | |
---|
1198 | /** |
---|
1199 | * @brief Set the user-data pointer |
---|
1200 | * @ingroup joints |
---|
1201 | */ |
---|
1202 | ODE_API void dJointSetData (dJointID, void *data); |
---|
1203 | |
---|
1204 | /** |
---|
1205 | * @brief Get the user-data pointer |
---|
1206 | * @ingroup joints |
---|
1207 | */ |
---|
1208 | ODE_API void *dJointGetData (dJointID); |
---|
1209 | |
---|
1210 | /** |
---|
1211 | * @brief Get the type of the joint |
---|
1212 | * @ingroup joints |
---|
1213 | * @return the type, being one of these: |
---|
1214 | * \li JointTypeBall |
---|
1215 | * \li JointTypeHinge |
---|
1216 | * \li JointTypeSlider |
---|
1217 | * \li JointTypeContact |
---|
1218 | * \li JointTypeUniversal |
---|
1219 | * \li JointTypeHinge2 |
---|
1220 | * \li JointTypeFixed |
---|
1221 | * \li JointTypeAMotor |
---|
1222 | * \li JointTypeLMotor |
---|
1223 | */ |
---|
1224 | ODE_API int dJointGetType (dJointID); |
---|
1225 | |
---|
1226 | /** |
---|
1227 | * @brief Return the bodies that this joint connects. |
---|
1228 | * @ingroup joints |
---|
1229 | * @param index return the first (0) or second (1) body. |
---|
1230 | * @remarks |
---|
1231 | * If one of these returned body IDs is zero, the joint connects the other body |
---|
1232 | * to the static environment. |
---|
1233 | * If both body IDs are zero, the joint is in ``limbo'' and has no effect on |
---|
1234 | * the simulation. |
---|
1235 | */ |
---|
1236 | ODE_API dBodyID dJointGetBody (dJointID, int index); |
---|
1237 | |
---|
1238 | /** |
---|
1239 | * @brief Sets the datastructure that is to receive the feedback. |
---|
1240 | * |
---|
1241 | * The feedback can be used by the user, so that it is known how |
---|
1242 | * much force an individual joint exerts. |
---|
1243 | * @ingroup joints |
---|
1244 | */ |
---|
1245 | ODE_API void dJointSetFeedback (dJointID, dJointFeedback *); |
---|
1246 | |
---|
1247 | /** |
---|
1248 | * @brief Gets the datastructure that is to receive the feedback. |
---|
1249 | * @ingroup joints |
---|
1250 | */ |
---|
1251 | ODE_API dJointFeedback *dJointGetFeedback (dJointID); |
---|
1252 | |
---|
1253 | /** |
---|
1254 | * @brief Set the joint anchor point. |
---|
1255 | * @ingroup joints |
---|
1256 | * |
---|
1257 | * The joint will try to keep this point on each body |
---|
1258 | * together. The input is specified in world coordinates. |
---|
1259 | */ |
---|
1260 | ODE_API void dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z); |
---|
1261 | |
---|
1262 | /** |
---|
1263 | * @brief Set the joint anchor point. |
---|
1264 | * @ingroup joints |
---|
1265 | */ |
---|
1266 | ODE_API void dJointSetBallAnchor2 (dJointID, dReal x, dReal y, dReal z); |
---|
1267 | |
---|
1268 | /** |
---|
1269 | * @brief Param setting for Ball joints |
---|
1270 | * @ingroup joints |
---|
1271 | */ |
---|
1272 | ODE_API void dJointSetBallParam (dJointID, int parameter, dReal value); |
---|
1273 | |
---|
1274 | /** |
---|
1275 | * @brief Set hinge anchor parameter. |
---|
1276 | * @ingroup joints |
---|
1277 | */ |
---|
1278 | ODE_API void dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z); |
---|
1279 | |
---|
1280 | ODE_API void dJointSetHingeAnchorDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); |
---|
1281 | |
---|
1282 | /** |
---|
1283 | * @brief Set hinge axis. |
---|
1284 | * @ingroup joints |
---|
1285 | */ |
---|
1286 | ODE_API void dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z); |
---|
1287 | |
---|
1288 | /** |
---|
1289 | * @brief set joint parameter |
---|
1290 | * @ingroup joints |
---|
1291 | */ |
---|
1292 | ODE_API void dJointSetHingeParam (dJointID, int parameter, dReal value); |
---|
1293 | |
---|
1294 | /** |
---|
1295 | * @brief Applies the torque about the hinge axis. |
---|
1296 | * |
---|
1297 | * That is, it applies a torque with specified magnitude in the direction |
---|
1298 | * of the hinge axis, to body 1, and with the same magnitude but in opposite |
---|
1299 | * direction to body 2. This function is just a wrapper for dBodyAddTorque()} |
---|
1300 | * @ingroup joints |
---|
1301 | */ |
---|
1302 | ODE_API void dJointAddHingeTorque(dJointID joint, dReal torque); |
---|
1303 | |
---|
1304 | /** |
---|
1305 | * @brief set the joint axis |
---|
1306 | * @ingroup joints |
---|
1307 | */ |
---|
1308 | ODE_API void dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z); |
---|
1309 | |
---|
1310 | /** |
---|
1311 | * @ingroup joints |
---|
1312 | */ |
---|
1313 | ODE_API void dJointSetSliderAxisDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); |
---|
1314 | |
---|
1315 | /** |
---|
1316 | * @brief set joint parameter |
---|
1317 | * @ingroup joints |
---|
1318 | */ |
---|
1319 | ODE_API void dJointSetSliderParam (dJointID, int parameter, dReal value); |
---|
1320 | |
---|
1321 | /** |
---|
1322 | * @brief Applies the given force in the slider's direction. |
---|
1323 | * |
---|
1324 | * That is, it applies a force with specified magnitude, in the direction of |
---|
1325 | * slider's axis, to body1, and with the same magnitude but opposite |
---|
1326 | * direction to body2. This function is just a wrapper for dBodyAddForce(). |
---|
1327 | * @ingroup joints |
---|
1328 | */ |
---|
1329 | ODE_API void dJointAddSliderForce(dJointID joint, dReal force); |
---|
1330 | |
---|
1331 | /** |
---|
1332 | * @brief set anchor |
---|
1333 | * @ingroup joints |
---|
1334 | */ |
---|
1335 | ODE_API void dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z); |
---|
1336 | |
---|
1337 | /** |
---|
1338 | * @brief set axis |
---|
1339 | * @ingroup joints |
---|
1340 | */ |
---|
1341 | ODE_API void dJointSetHinge2Axis1 (dJointID, dReal x, dReal y, dReal z); |
---|
1342 | |
---|
1343 | /** |
---|
1344 | * @brief set axis |
---|
1345 | * @ingroup joints |
---|
1346 | */ |
---|
1347 | ODE_API void dJointSetHinge2Axis2 (dJointID, dReal x, dReal y, dReal z); |
---|
1348 | |
---|
1349 | /** |
---|
1350 | * @brief set joint parameter |
---|
1351 | * @ingroup joints |
---|
1352 | */ |
---|
1353 | ODE_API void dJointSetHinge2Param (dJointID, int parameter, dReal value); |
---|
1354 | |
---|
1355 | /** |
---|
1356 | * @brief Applies torque1 about the hinge2's axis 1, torque2 about the |
---|
1357 | * hinge2's axis 2. |
---|
1358 | * @remarks This function is just a wrapper for dBodyAddTorque(). |
---|
1359 | * @ingroup joints |
---|
1360 | */ |
---|
1361 | ODE_API void dJointAddHinge2Torques(dJointID joint, dReal torque1, dReal torque2); |
---|
1362 | |
---|
1363 | /** |
---|
1364 | * @brief set anchor |
---|
1365 | * @ingroup joints |
---|
1366 | */ |
---|
1367 | ODE_API void dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z); |
---|
1368 | |
---|
1369 | /** |
---|
1370 | * @brief set axis |
---|
1371 | * @ingroup joints |
---|
1372 | */ |
---|
1373 | ODE_API void dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z); |
---|
1374 | |
---|
1375 | /** |
---|
1376 | * @brief set axis |
---|
1377 | * @ingroup joints |
---|
1378 | */ |
---|
1379 | ODE_API void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z); |
---|
1380 | |
---|
1381 | /** |
---|
1382 | * @brief set joint parameter |
---|
1383 | * @ingroup joints |
---|
1384 | */ |
---|
1385 | ODE_API void dJointSetUniversalParam (dJointID, int parameter, dReal value); |
---|
1386 | |
---|
1387 | /** |
---|
1388 | * @brief Applies torque1 about the universal's axis 1, torque2 about the |
---|
1389 | * universal's axis 2. |
---|
1390 | * @remarks This function is just a wrapper for dBodyAddTorque(). |
---|
1391 | * @ingroup joints |
---|
1392 | */ |
---|
1393 | ODE_API void dJointAddUniversalTorques(dJointID joint, dReal torque1, dReal torque2); |
---|
1394 | |
---|
1395 | |
---|
1396 | /** |
---|
1397 | * @brief set anchor |
---|
1398 | * @ingroup joints |
---|
1399 | */ |
---|
1400 | ODE_API void dJointSetPRAnchor (dJointID, dReal x, dReal y, dReal z); |
---|
1401 | |
---|
1402 | /** |
---|
1403 | * @brief set the axis for the prismatic articulation |
---|
1404 | * @ingroup joints |
---|
1405 | */ |
---|
1406 | ODE_API void dJointSetPRAxis1 (dJointID, dReal x, dReal y, dReal z); |
---|
1407 | |
---|
1408 | /** |
---|
1409 | * @brief set the axis for the rotoide articulation |
---|
1410 | * @ingroup joints |
---|
1411 | */ |
---|
1412 | ODE_API void dJointSetPRAxis2 (dJointID, dReal x, dReal y, dReal z); |
---|
1413 | |
---|
1414 | /** |
---|
1415 | * @brief set joint parameter |
---|
1416 | * @ingroup joints |
---|
1417 | * |
---|
1418 | * @note parameterX where X equal 2 refer to parameter for the rotoide articulation |
---|
1419 | */ |
---|
1420 | ODE_API void dJointSetPRParam (dJointID, int parameter, dReal value); |
---|
1421 | |
---|
1422 | /** |
---|
1423 | * @brief Applies the torque about the rotoide axis of the PR joint |
---|
1424 | * |
---|
1425 | * That is, it applies a torque with specified magnitude in the direction |
---|
1426 | * of the rotoide axis, to body 1, and with the same magnitude but in opposite |
---|
1427 | * direction to body 2. This function is just a wrapper for dBodyAddTorque()} |
---|
1428 | * @ingroup joints |
---|
1429 | */ |
---|
1430 | ODE_API void dJointAddPRTorque (dJointID j, dReal torque); |
---|
1431 | |
---|
1432 | |
---|
1433 | /** |
---|
1434 | * @brief Call this on the fixed joint after it has been attached to |
---|
1435 | * remember the current desired relative offset and desired relative |
---|
1436 | * rotation between the bodies. |
---|
1437 | * @ingroup joints |
---|
1438 | */ |
---|
1439 | ODE_API void dJointSetFixed (dJointID); |
---|
1440 | |
---|
1441 | /* |
---|
1442 | * @brief Sets joint parameter |
---|
1443 | * |
---|
1444 | * @ingroup joints |
---|
1445 | */ |
---|
1446 | ODE_API void dJointSetFixedParam (dJointID, int parameter, dReal value); |
---|
1447 | |
---|
1448 | /** |
---|
1449 | * @brief set the nr of axes |
---|
1450 | * @param num 0..3 |
---|
1451 | * @ingroup joints |
---|
1452 | */ |
---|
1453 | ODE_API void dJointSetAMotorNumAxes (dJointID, int num); |
---|
1454 | |
---|
1455 | /** |
---|
1456 | * @brief set axis |
---|
1457 | * @ingroup joints |
---|
1458 | */ |
---|
1459 | ODE_API void dJointSetAMotorAxis (dJointID, int anum, int rel, |
---|
1460 | dReal x, dReal y, dReal z); |
---|
1461 | |
---|
1462 | /** |
---|
1463 | * @brief Tell the AMotor what the current angle is along axis anum. |
---|
1464 | * |
---|
1465 | * This function should only be called in dAMotorUser mode, because in this |
---|
1466 | * mode the AMotor has no other way of knowing the joint angles. |
---|
1467 | * The angle information is needed if stops have been set along the axis, |
---|
1468 | * but it is not needed for axis motors. |
---|
1469 | * @ingroup joints |
---|
1470 | */ |
---|
1471 | ODE_API void dJointSetAMotorAngle (dJointID, int anum, dReal angle); |
---|
1472 | |
---|
1473 | /** |
---|
1474 | * @brief set joint parameter |
---|
1475 | * @ingroup joints |
---|
1476 | */ |
---|
1477 | ODE_API void dJointSetAMotorParam (dJointID, int parameter, dReal value); |
---|
1478 | |
---|
1479 | /** |
---|
1480 | * @brief set mode |
---|
1481 | * @ingroup joints |
---|
1482 | */ |
---|
1483 | ODE_API void dJointSetAMotorMode (dJointID, int mode); |
---|
1484 | |
---|
1485 | /** |
---|
1486 | * @brief Applies torque0 about the AMotor's axis 0, torque1 about the |
---|
1487 | * AMotor's axis 1, and torque2 about the AMotor's axis 2. |
---|
1488 | * @remarks |
---|
1489 | * If the motor has fewer than three axes, the higher torques are ignored. |
---|
1490 | * This function is just a wrapper for dBodyAddTorque(). |
---|
1491 | * @ingroup joints |
---|
1492 | */ |
---|
1493 | ODE_API void dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3); |
---|
1494 | |
---|
1495 | /** |
---|
1496 | * @brief Set the number of axes that will be controlled by the LMotor. |
---|
1497 | * @param num can range from 0 (which effectively deactivates the joint) to 3. |
---|
1498 | * @ingroup joints |
---|
1499 | */ |
---|
1500 | ODE_API void dJointSetLMotorNumAxes (dJointID, int num); |
---|
1501 | |
---|
1502 | /** |
---|
1503 | * @brief Set the AMotor axes. |
---|
1504 | * @param anum selects the axis to change (0,1 or 2). |
---|
1505 | * @param rel Each axis can have one of three ``relative orientation'' modes |
---|
1506 | * \li 0: The axis is anchored to the global frame. |
---|
1507 | * \li 1: The axis is anchored to the first body. |
---|
1508 | * \li 2: The axis is anchored to the second body. |
---|
1509 | * @remarks The axis vector is always specified in global coordinates |
---|
1510 | * regardless of the setting of rel. |
---|
1511 | * @ingroup joints |
---|
1512 | */ |
---|
1513 | ODE_API void dJointSetLMotorAxis (dJointID, int anum, int rel, dReal x, dReal y, dReal z); |
---|
1514 | |
---|
1515 | /** |
---|
1516 | * @brief set joint parameter |
---|
1517 | * @ingroup joints |
---|
1518 | */ |
---|
1519 | ODE_API void dJointSetLMotorParam (dJointID, int parameter, dReal value); |
---|
1520 | |
---|
1521 | /** |
---|
1522 | * @ingroup joints |
---|
1523 | */ |
---|
1524 | ODE_API void dJointSetPlane2DXParam (dJointID, int parameter, dReal value); |
---|
1525 | |
---|
1526 | /** |
---|
1527 | * @ingroup joints |
---|
1528 | */ |
---|
1529 | |
---|
1530 | ODE_API void dJointSetPlane2DYParam (dJointID, int parameter, dReal value); |
---|
1531 | |
---|
1532 | /** |
---|
1533 | * @ingroup joints |
---|
1534 | */ |
---|
1535 | ODE_API void dJointSetPlane2DAngleParam (dJointID, int parameter, dReal value); |
---|
1536 | |
---|
1537 | /** |
---|
1538 | * @brief Get the joint anchor point, in world coordinates. |
---|
1539 | * |
---|
1540 | * This returns the point on body 1. If the joint is perfectly satisfied, |
---|
1541 | * this will be the same as the point on body 2. |
---|
1542 | */ |
---|
1543 | ODE_API void dJointGetBallAnchor (dJointID, dVector3 result); |
---|
1544 | |
---|
1545 | /** |
---|
1546 | * @brief Get the joint anchor point, in world coordinates. |
---|
1547 | * |
---|
1548 | * This returns the point on body 2. You can think of a ball and socket |
---|
1549 | * joint as trying to keep the result of dJointGetBallAnchor() and |
---|
1550 | * dJointGetBallAnchor2() the same. If the joint is perfectly satisfied, |
---|
1551 | * this function will return the same value as dJointGetBallAnchor() to |
---|
1552 | * within roundoff errors. dJointGetBallAnchor2() can be used, along with |
---|
1553 | * dJointGetBallAnchor(), to see how far the joint has come apart. |
---|
1554 | */ |
---|
1555 | ODE_API void dJointGetBallAnchor2 (dJointID, dVector3 result); |
---|
1556 | |
---|
1557 | /** |
---|
1558 | * @brief get joint parameter |
---|
1559 | * @ingroup joints |
---|
1560 | */ |
---|
1561 | ODE_API dReal dJointGetBallParam (dJointID, int parameter); |
---|
1562 | |
---|
1563 | /** |
---|
1564 | * @brief Get the hinge anchor point, in world coordinates. |
---|
1565 | * |
---|
1566 | * This returns the point on body 1. If the joint is perfectly satisfied, |
---|
1567 | * this will be the same as the point on body 2. |
---|
1568 | * @ingroup joints |
---|
1569 | */ |
---|
1570 | ODE_API void dJointGetHingeAnchor (dJointID, dVector3 result); |
---|
1571 | |
---|
1572 | /** |
---|
1573 | * @brief Get the joint anchor point, in world coordinates. |
---|
1574 | * @return The point on body 2. If the joint is perfectly satisfied, |
---|
1575 | * this will return the same value as dJointGetHingeAnchor(). |
---|
1576 | * If not, this value will be slightly different. |
---|
1577 | * This can be used, for example, to see how far the joint has come apart. |
---|
1578 | * @ingroup joints |
---|
1579 | */ |
---|
1580 | ODE_API void dJointGetHingeAnchor2 (dJointID, dVector3 result); |
---|
1581 | |
---|
1582 | /** |
---|
1583 | * @brief get axis |
---|
1584 | * @ingroup joints |
---|
1585 | */ |
---|
1586 | ODE_API void dJointGetHingeAxis (dJointID, dVector3 result); |
---|
1587 | |
---|
1588 | /** |
---|
1589 | * @brief get joint parameter |
---|
1590 | * @ingroup joints |
---|
1591 | */ |
---|
1592 | ODE_API dReal dJointGetHingeParam (dJointID, int parameter); |
---|
1593 | |
---|
1594 | /** |
---|
1595 | * @brief Get the hinge angle. |
---|
1596 | * |
---|
1597 | * The angle is measured between the two bodies, or between the body and |
---|
1598 | * the static environment. |
---|
1599 | * The angle will be between -pi..pi. |
---|
1600 | * When the hinge anchor or axis is set, the current position of the attached |
---|
1601 | * bodies is examined and that position will be the zero angle. |
---|
1602 | * @ingroup joints |
---|
1603 | */ |
---|
1604 | ODE_API dReal dJointGetHingeAngle (dJointID); |
---|
1605 | |
---|
1606 | /** |
---|
1607 | * @brief Get the hinge angle time derivative. |
---|
1608 | * @ingroup joints |
---|
1609 | */ |
---|
1610 | ODE_API dReal dJointGetHingeAngleRate (dJointID); |
---|
1611 | |
---|
1612 | /** |
---|
1613 | * @brief Get the slider linear position (i.e. the slider's extension) |
---|
1614 | * |
---|
1615 | * When the axis is set, the current position of the attached bodies is |
---|
1616 | * examined and that position will be the zero position. |
---|
1617 | * @ingroup joints |
---|
1618 | */ |
---|
1619 | ODE_API dReal dJointGetSliderPosition (dJointID); |
---|
1620 | |
---|
1621 | /** |
---|
1622 | * @brief Get the slider linear position's time derivative. |
---|
1623 | * @ingroup joints |
---|
1624 | */ |
---|
1625 | ODE_API dReal dJointGetSliderPositionRate (dJointID); |
---|
1626 | |
---|
1627 | /** |
---|
1628 | * @brief Get the slider axis |
---|
1629 | * @ingroup joints |
---|
1630 | */ |
---|
1631 | ODE_API void dJointGetSliderAxis (dJointID, dVector3 result); |
---|
1632 | |
---|
1633 | /** |
---|
1634 | * @brief get joint parameter |
---|
1635 | * @ingroup joints |
---|
1636 | */ |
---|
1637 | ODE_API dReal dJointGetSliderParam (dJointID, int parameter); |
---|
1638 | |
---|
1639 | /** |
---|
1640 | * @brief Get the joint anchor point, in world coordinates. |
---|
1641 | * @return the point on body 1. If the joint is perfectly satisfied, |
---|
1642 | * this will be the same as the point on body 2. |
---|
1643 | * @ingroup joints |
---|
1644 | */ |
---|
1645 | ODE_API void dJointGetHinge2Anchor (dJointID, dVector3 result); |
---|
1646 | |
---|
1647 | /** |
---|
1648 | * @brief Get the joint anchor point, in world coordinates. |
---|
1649 | * This returns the point on body 2. If the joint is perfectly satisfied, |
---|
1650 | * this will return the same value as dJointGetHinge2Anchor. |
---|
1651 | * If not, this value will be slightly different. |
---|
1652 | * This can be used, for example, to see how far the joint has come apart. |
---|
1653 | * @ingroup joints |
---|
1654 | */ |
---|
1655 | ODE_API void dJointGetHinge2Anchor2 (dJointID, dVector3 result); |
---|
1656 | |
---|
1657 | /** |
---|
1658 | * @brief Get joint axis |
---|
1659 | * @ingroup joints |
---|
1660 | */ |
---|
1661 | ODE_API void dJointGetHinge2Axis1 (dJointID, dVector3 result); |
---|
1662 | |
---|
1663 | /** |
---|
1664 | * @brief Get joint axis |
---|
1665 | * @ingroup joints |
---|
1666 | */ |
---|
1667 | ODE_API void dJointGetHinge2Axis2 (dJointID, dVector3 result); |
---|
1668 | |
---|
1669 | /** |
---|
1670 | * @brief get joint parameter |
---|
1671 | * @ingroup joints |
---|
1672 | */ |
---|
1673 | ODE_API dReal dJointGetHinge2Param (dJointID, int parameter); |
---|
1674 | |
---|
1675 | /** |
---|
1676 | * @brief Get angle |
---|
1677 | * @ingroup joints |
---|
1678 | */ |
---|
1679 | ODE_API dReal dJointGetHinge2Angle1 (dJointID); |
---|
1680 | |
---|
1681 | /** |
---|
1682 | * @brief Get time derivative of angle |
---|
1683 | * @ingroup joints |
---|
1684 | */ |
---|
1685 | ODE_API dReal dJointGetHinge2Angle1Rate (dJointID); |
---|
1686 | |
---|
1687 | /** |
---|
1688 | * @brief Get time derivative of angle |
---|
1689 | * @ingroup joints |
---|
1690 | */ |
---|
1691 | ODE_API dReal dJointGetHinge2Angle2Rate (dJointID); |
---|
1692 | |
---|
1693 | /** |
---|
1694 | * @brief Get the joint anchor point, in world coordinates. |
---|
1695 | * @return the point on body 1. If the joint is perfectly satisfied, |
---|
1696 | * this will be the same as the point on body 2. |
---|
1697 | * @ingroup joints |
---|
1698 | */ |
---|
1699 | ODE_API void dJointGetUniversalAnchor (dJointID, dVector3 result); |
---|
1700 | |
---|
1701 | /** |
---|
1702 | * @brief Get the joint anchor point, in world coordinates. |
---|
1703 | * @return This returns the point on body 2. |
---|
1704 | * @remarks |
---|
1705 | * You can think of the ball and socket part of a universal joint as |
---|
1706 | * trying to keep the result of dJointGetBallAnchor() and |
---|
1707 | * dJointGetBallAnchor2() the same. If the joint is |
---|
1708 | * perfectly satisfied, this function will return the same value |
---|
1709 | * as dJointGetUniversalAnchor() to within roundoff errors. |
---|
1710 | * dJointGetUniversalAnchor2() can be used, along with |
---|
1711 | * dJointGetUniversalAnchor(), to see how far the joint has come apart. |
---|
1712 | * @ingroup joints |
---|
1713 | */ |
---|
1714 | ODE_API void dJointGetUniversalAnchor2 (dJointID, dVector3 result); |
---|
1715 | |
---|
1716 | /** |
---|
1717 | * @brief Get axis |
---|
1718 | * @ingroup joints |
---|
1719 | */ |
---|
1720 | ODE_API void dJointGetUniversalAxis1 (dJointID, dVector3 result); |
---|
1721 | |
---|
1722 | /** |
---|
1723 | * @brief Get axis |
---|
1724 | * @ingroup joints |
---|
1725 | */ |
---|
1726 | ODE_API void dJointGetUniversalAxis2 (dJointID, dVector3 result); |
---|
1727 | |
---|
1728 | |
---|
1729 | /** |
---|
1730 | * @brief get joint parameter |
---|
1731 | * @ingroup joints |
---|
1732 | */ |
---|
1733 | ODE_API dReal dJointGetUniversalParam (dJointID, int parameter); |
---|
1734 | |
---|
1735 | /** |
---|
1736 | * @brief Get both angles at the same time. |
---|
1737 | * @ingroup joints |
---|
1738 | * |
---|
1739 | * @param joint The universal joint for which we want to calculate the angles |
---|
1740 | * @param angle1 The angle between the body1 and the axis 1 |
---|
1741 | * @param angle2 The angle between the body2 and the axis 2 |
---|
1742 | * |
---|
1743 | * @note This function combine getUniversalAngle1 and getUniversalAngle2 together |
---|
1744 | * and try to avoid redundant calculation |
---|
1745 | */ |
---|
1746 | ODE_API void dJointGetUniversalAngles (dJointID, dReal *angle1, dReal *angle2); |
---|
1747 | |
---|
1748 | /** |
---|
1749 | * @brief Get angle |
---|
1750 | * @ingroup joints |
---|
1751 | */ |
---|
1752 | ODE_API dReal dJointGetUniversalAngle1 (dJointID); |
---|
1753 | |
---|
1754 | /** |
---|
1755 | * @brief Get angle |
---|
1756 | * @ingroup joints |
---|
1757 | */ |
---|
1758 | ODE_API dReal dJointGetUniversalAngle2 (dJointID); |
---|
1759 | |
---|
1760 | /** |
---|
1761 | * @brief Get time derivative of angle |
---|
1762 | * @ingroup joints |
---|
1763 | */ |
---|
1764 | ODE_API dReal dJointGetUniversalAngle1Rate (dJointID); |
---|
1765 | |
---|
1766 | /** |
---|
1767 | * @brief Get time derivative of angle |
---|
1768 | * @ingroup joints |
---|
1769 | */ |
---|
1770 | ODE_API dReal dJointGetUniversalAngle2Rate (dJointID); |
---|
1771 | |
---|
1772 | |
---|
1773 | |
---|
1774 | /** |
---|
1775 | * @brief Get the joint anchor point, in world coordinates. |
---|
1776 | * @return the point on body 1. If the joint is perfectly satisfied, |
---|
1777 | * this will be the same as the point on body 2. |
---|
1778 | * @ingroup joints |
---|
1779 | */ |
---|
1780 | ODE_API void dJointGetPRAnchor (dJointID, dVector3 result); |
---|
1781 | |
---|
1782 | /** |
---|
1783 | * @brief Get the PR linear position (i.e. the prismatic's extension) |
---|
1784 | * |
---|
1785 | * When the axis is set, the current position of the attached bodies is |
---|
1786 | * examined and that position will be the zero position. |
---|
1787 | * |
---|
1788 | * The position is the "oriented" length between the |
---|
1789 | * position = (Prismatic axis) dot_product [(body1 + offset) - (body2 + anchor2)] |
---|
1790 | * |
---|
1791 | * @ingroup joints |
---|
1792 | */ |
---|
1793 | ODE_API dReal dJointGetPRPosition (dJointID); |
---|
1794 | |
---|
1795 | /** |
---|
1796 | * @brief Get the PR linear position's time derivative |
---|
1797 | * |
---|
1798 | * @ingroup joints |
---|
1799 | */ |
---|
1800 | ODE_API dReal dJointGetPRPositionRate (dJointID); |
---|
1801 | |
---|
1802 | |
---|
1803 | /** |
---|
1804 | * @brief Get the prismatic axis |
---|
1805 | * @ingroup joints |
---|
1806 | */ |
---|
1807 | ODE_API void dJointGetPRAxis1 (dJointID, dVector3 result); |
---|
1808 | |
---|
1809 | /** |
---|
1810 | * @brief Get the Rotoide axis |
---|
1811 | * @ingroup joints |
---|
1812 | */ |
---|
1813 | ODE_API void dJointGetPRAxis2 (dJointID, dVector3 result); |
---|
1814 | |
---|
1815 | /** |
---|
1816 | * @brief get joint parameter |
---|
1817 | * @ingroup joints |
---|
1818 | */ |
---|
1819 | ODE_API dReal dJointGetPRParam (dJointID, int parameter); |
---|
1820 | |
---|
1821 | |
---|
1822 | |
---|
1823 | /** |
---|
1824 | * @brief Get the number of angular axes that will be controlled by the |
---|
1825 | * AMotor. |
---|
1826 | * @param num can range from 0 (which effectively deactivates the |
---|
1827 | * joint) to 3. |
---|
1828 | * This is automatically set to 3 in dAMotorEuler mode. |
---|
1829 | * @ingroup joints |
---|
1830 | */ |
---|
1831 | ODE_API int dJointGetAMotorNumAxes (dJointID); |
---|
1832 | |
---|
1833 | /** |
---|
1834 | * @brief Get the AMotor axes. |
---|
1835 | * @param anum selects the axis to change (0,1 or 2). |
---|
1836 | * @param rel Each axis can have one of three ``relative orientation'' modes. |
---|
1837 | * \li 0: The axis is anchored to the global frame. |
---|
1838 | * \li 1: The axis is anchored to the first body. |
---|
1839 | * \li 2: The axis is anchored to the second body. |
---|
1840 | * @ingroup joints |
---|
1841 | */ |
---|
1842 | ODE_API void dJointGetAMotorAxis (dJointID, int anum, dVector3 result); |
---|
1843 | |
---|
1844 | /** |
---|
1845 | * @brief Get axis |
---|
1846 | * @remarks |
---|
1847 | * The axis vector is always specified in global coordinates regardless |
---|
1848 | * of the setting of rel. |
---|
1849 | * There are two GetAMotorAxis functions, one to return the axis and one to |
---|
1850 | * return the relative mode. |
---|
1851 | * |
---|
1852 | * For dAMotorEuler mode: |
---|
1853 | * \li Only axes 0 and 2 need to be set. Axis 1 will be determined |
---|
1854 | automatically at each time step. |
---|
1855 | * \li Axes 0 and 2 must be perpendicular to each other. |
---|
1856 | * \li Axis 0 must be anchored to the first body, axis 2 must be anchored |
---|
1857 | to the second body. |
---|
1858 | * @ingroup joints |
---|
1859 | */ |
---|
1860 | ODE_API int dJointGetAMotorAxisRel (dJointID, int anum); |
---|
1861 | |
---|
1862 | /** |
---|
1863 | * @brief Get the current angle for axis. |
---|
1864 | * @remarks |
---|
1865 | * In dAMotorUser mode this is simply the value that was set with |
---|
1866 | * dJointSetAMotorAngle(). |
---|
1867 | * In dAMotorEuler mode this is the corresponding euler angle. |
---|
1868 | * @ingroup joints |
---|
1869 | */ |
---|
1870 | ODE_API dReal dJointGetAMotorAngle (dJointID, int anum); |
---|
1871 | |
---|
1872 | /** |
---|
1873 | * @brief Get the current angle rate for axis anum. |
---|
1874 | * @remarks |
---|
1875 | * In dAMotorUser mode this is always zero, as not enough information is |
---|
1876 | * available. |
---|
1877 | * In dAMotorEuler mode this is the corresponding euler angle rate. |
---|
1878 | * @ingroup joints |
---|
1879 | */ |
---|
1880 | ODE_API dReal dJointGetAMotorAngleRate (dJointID, int anum); |
---|
1881 | |
---|
1882 | /** |
---|
1883 | * @brief get joint parameter |
---|
1884 | * @ingroup joints |
---|
1885 | */ |
---|
1886 | ODE_API dReal dJointGetAMotorParam (dJointID, int parameter); |
---|
1887 | |
---|
1888 | /** |
---|
1889 | * @brief Get the angular motor mode. |
---|
1890 | * @param mode must be one of the following constants: |
---|
1891 | * \li dAMotorUser The AMotor axes and joint angle settings are entirely |
---|
1892 | * controlled by the user. This is the default mode. |
---|
1893 | * \li dAMotorEuler Euler angles are automatically computed. |
---|
1894 | * The axis a1 is also automatically computed. |
---|
1895 | * The AMotor axes must be set correctly when in this mode, |
---|
1896 | * as described below. |
---|
1897 | * When this mode is initially set the current relative orientations |
---|
1898 | * of the bodies will correspond to all euler angles at zero. |
---|
1899 | * @ingroup joints |
---|
1900 | */ |
---|
1901 | ODE_API int dJointGetAMotorMode (dJointID); |
---|
1902 | |
---|
1903 | /** |
---|
1904 | * @brief Get nr of axes. |
---|
1905 | * @ingroup joints |
---|
1906 | */ |
---|
1907 | ODE_API int dJointGetLMotorNumAxes (dJointID); |
---|
1908 | |
---|
1909 | /** |
---|
1910 | * @brief Get axis. |
---|
1911 | * @ingroup joints |
---|
1912 | */ |
---|
1913 | ODE_API void dJointGetLMotorAxis (dJointID, int anum, dVector3 result); |
---|
1914 | |
---|
1915 | /** |
---|
1916 | * @brief get joint parameter |
---|
1917 | * @ingroup joints |
---|
1918 | */ |
---|
1919 | ODE_API dReal dJointGetLMotorParam (dJointID, int parameter); |
---|
1920 | |
---|
1921 | /** |
---|
1922 | * @brief get joint parameter |
---|
1923 | * @ingroup joints |
---|
1924 | */ |
---|
1925 | ODE_API dReal dJointGetFixedParam (dJointID, int parameter); |
---|
1926 | |
---|
1927 | |
---|
1928 | /** |
---|
1929 | * @ingroup joints |
---|
1930 | */ |
---|
1931 | ODE_API dJointID dConnectingJoint (dBodyID, dBodyID); |
---|
1932 | |
---|
1933 | /** |
---|
1934 | * @ingroup joints |
---|
1935 | */ |
---|
1936 | ODE_API int dConnectingJointList (dBodyID, dBodyID, dJointID*); |
---|
1937 | |
---|
1938 | /** |
---|
1939 | * @brief Utility function |
---|
1940 | * @return 1 if the two bodies are connected together by |
---|
1941 | * a joint, otherwise return 0. |
---|
1942 | * @ingroup joints |
---|
1943 | */ |
---|
1944 | ODE_API int dAreConnected (dBodyID, dBodyID); |
---|
1945 | |
---|
1946 | /** |
---|
1947 | * @brief Utility function |
---|
1948 | * @return 1 if the two bodies are connected together by |
---|
1949 | * a joint that does not have type @arg{joint_type}, otherwise return 0. |
---|
1950 | * @param body1 A body to check. |
---|
1951 | * @param body2 A body to check. |
---|
1952 | * @param joint_type is a dJointTypeXXX constant. |
---|
1953 | * This is useful for deciding whether to add contact joints between two bodies: |
---|
1954 | * if they are already connected by non-contact joints then it may not be |
---|
1955 | * appropriate to add contacts, however it is okay to add more contact between- |
---|
1956 | * bodies that already have contacts. |
---|
1957 | * @ingroup joints |
---|
1958 | */ |
---|
1959 | ODE_API int dAreConnectedExcluding (dBodyID body1, dBodyID body2, int joint_type); |
---|
1960 | |
---|
1961 | |
---|
1962 | #ifdef __cplusplus |
---|
1963 | } |
---|
1964 | #endif |
---|
1965 | |
---|
1966 | #endif |
---|